67 lines
1.8 KiB
TypeScript
67 lines
1.8 KiB
TypeScript
const enum GyroSensorMode {
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None = -1,
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Angle = 0,
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Rate = 1,
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}
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namespace input {
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//% fixedInstances
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export class GyroSensor extends internal.UartSensor {
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constructor(port: number) {
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super(port)
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}
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_deviceType() {
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return DAL.DEVICE_TYPE_GYRO
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}
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setMode(m: GyroSensorMode) {
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this._setMode(m)
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}
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/**
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* Get the current angle from the gyroscope.
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* @param sensor the gyroscope to query the request
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*/
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//% help=input/gyro/angle
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//% block="%sensor|angle"
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//% blockId=gyroGetAngle
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//% parts="gyroscope"
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//% blockNamespace=input
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//% weight=65 blockGap=8
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//% group="Gyro Sensor"
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angle() {
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this.setMode(GyroSensorMode.Angle)
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return this.getNumber(NumberFormat.Int16LE, 0)
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}
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/**
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* Get the current rotation rate from the gyroscope.
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* @param sensor the gyroscope to query the request
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*/
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//% help=input/gyro/rate
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//% block="%sensor|rotation rate"
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//% blockId=gyroGetRate
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//% parts="gyroscope"
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//% blockNamespace=input
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//% weight=65 blockGap=8
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//% group="Gyro Sensor"
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rate() {
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this.setMode(GyroSensorMode.Rate)
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return this.getNumber(NumberFormat.Int16LE, 0)
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}
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}
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//% fixedInstance whenUsed block="gyro sensor 2"
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export const gyro2: GyroSensor = new GyroSensor(2)
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//% fixedInstance whenUsed block="gyro sensor 1"
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export const gyro1: GyroSensor = new GyroSensor(1)
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//% fixedInstance whenUsed block="gyro sensor 3"
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export const gyro3: GyroSensor = new GyroSensor(3)
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//% fixedInstance whenUsed block="gyro sensor 4"
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export const gyro4: GyroSensor = new GyroSensor(4)
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}
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