101 lines
3.4 KiB
TypeScript
101 lines
3.4 KiB
TypeScript
const enum UltrasonicSensorEvent {
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//% block="object near"
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ObjectNear = 1,
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//% block="object detected"
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ObjectDetected = 2
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}
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namespace sensors {
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//% fixedInstances
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export class UltraSonicSensor extends internal.UartSensor {
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private promixityThreshold: number;
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private movementThreshold: number;
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constructor(port: number) {
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super(port)
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this.promixityThreshold = 10;
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this.movementThreshold = 1;
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}
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_deviceType() {
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return DAL.DEVICE_TYPE_ULTRASONIC
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}
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_query(): number {
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return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
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}
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_update(prev: number, curr: number) {
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// is there an object near?
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if (prev >= this.promixityThreshold && curr < this.promixityThreshold)
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control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectNear); // TODO proper HI-LO sensor
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// did something change?
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if (Math.abs(prev - curr) > this.movementThreshold)
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control.raiseEvent(this._id, UltrasonicSensorEvent.ObjectDetected); // TODO debouncing
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}
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/**
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* Registers code to run when the given color is close
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* @param handler the code to run when detected
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*/
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//% help=input/ultrasonic/on
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//% blockId=ultrasonicOn
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//% block="on `icons.ultrasonicSensor` %sensor|%event"
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//% parts="ultrasonicsensor"
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//% blockNamespace=sensors
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//% weight=100 blockGap=8
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//% group="Ultrasonic Sensor"
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on(event: UltrasonicSensorEvent, handler: () => void) {
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control.onEvent(this._id, event, handler);
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if (event == UltrasonicSensorEvent.ObjectNear
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&& this.distance() < this.promixityThreshold)
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control.runInBackground(handler);
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}
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/**
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* Waits for the event to occur
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*/
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//% help=input/ultrasonic/wait
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//% block="wait `icons.ultrasonicSensor` %sensor|for %event"
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//% blockId=ultrasonicWait
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//% parts="ultrasonicsensor"
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//% blockNamespace=sensors
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//% weight=99 blockGap=8
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//% group="Ultrasonic Sensor"
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wait(event: UltrasonicSensorEvent) {
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// TODO
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}
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/**
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* Gets the distance from the sonar in millimeters
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* @param sensor the ultrasonic sensor port
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*/
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//% help=input/ultrasonic/distance
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//% block="`icons.ultrasonicSensor` %sensor|distance"
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//% blockId=sonarGetDistance
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//% parts="ultrasonicsensor"
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//% blockNamespace=sensors
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//% weight=65 blockGap=8
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//% group="Ultrasonic Sensor"
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distance() {
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// it supposedly also has an inch mode, but we stick to cm
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this._setMode(0)
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return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
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}
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}
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//% fixedInstance whenUsed block="1"
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export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
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//% fixedInstance whenUsed block="4"
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export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
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//% fixedInstance whenUsed block="2"
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export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)
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//% fixedInstance whenUsed block="3"
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export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
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}
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