111 lines
3.5 KiB
TypeScript
111 lines
3.5 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 sensors {
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//% fixedInstances
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export class GyroSensor extends internal.UartSensor {
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private calibrating: boolean;
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constructor(port: number) {
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super(port)
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this.calibrating = false;
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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=sensors
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//% sensor.fieldEditor="ports"
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//% weight=64 blockGap=8
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//% group="Gyro Sensor"
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angle(): number {
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if (this.calibrating)
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pauseUntil(() => !this.calibrating, 2000);
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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|rate"
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//% blockId=gyroGetRate
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//% parts="gyroscope"
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//% blockNamespace=sensors
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//% sensor.fieldEditor="ports"
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//% weight=65 blockGap=8
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//% group="Gyro Sensor"
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rate(): number {
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if (this.calibrating)
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pauseUntil(() => !this.calibrating, 2000);
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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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* Forces a calibration of the gyro. Must be called when the sensor is completely still.
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*/
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//% help=input/gyro/calibrate
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//% block="%sensor|reset"
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//% blockId=gyroReset
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//% parts="gyroscope"
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//% blockNamespace=sensors
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//% sensor.fieldEditor="ports"
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//% weight=50 blockGap=8
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//% group="Gyro Sensor"
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reset(): void {
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if (this.calibrating) return; // already in calibration mode
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this.calibrating = true;
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// may be triggered by a button click, give time to settle
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loops.pause(500);
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// send a reset command
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this.reset();
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// we need to switch mode twice to perform a calibration
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if (this.mode == GyroSensorMode.Rate)
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this.setMode(GyroSensorMode.Angle);
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else
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this.setMode(GyroSensorMode.Rate);
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// switch back and wait
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if (this.mode == GyroSensorMode.Rate)
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this.setMode(GyroSensorMode.Angle);
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else
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this.setMode(GyroSensorMode.Rate);
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// give it more time to settle
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loops.pause(500);
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this.calibrating = false;
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}
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}
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//% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2
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export const gyro2: GyroSensor = new GyroSensor(2)
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//% fixedInstance whenUsed block="gyro 1" jres=icons.port1
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export const gyro1: GyroSensor = new GyroSensor(1)
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//% fixedInstance whenUsed block="gyro 3" jres=icons.port3
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export const gyro3: GyroSensor = new GyroSensor(3)
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//% fixedInstance whenUsed block="gyro 4" jres=icons.port4
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export const gyro4: GyroSensor = new GyroSensor(4)
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}
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