mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-24 23:12:24 -05:00
Motor position reporter kinda working. LED commands working. Added mode information to generateOutputCommand-function. Removed value-format switch-case in favor of hard-coded value-interpretation, but put in a TODO that we perhaps should consider doing it in the future.
This commit is contained in:
Kevin Andersen
parent
af800956fe
commit
0557fc8e09
2 changed files with 64 additions and 57 deletions
47
package-lock.json
generated
47
package-lock.json
generated
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@ -2177,7 +2177,7 @@
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},
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"bl": {
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"version": "1.2.2",
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"resolved": "http://registry.npmjs.org/bl/-/bl-1.2.2.tgz",
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"dev": true,
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"requires": {
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@ -2193,7 +2193,7 @@
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},
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"readable-stream": {
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"version": "2.3.6",
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"resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
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"resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
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"dev": true,
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"requires": {
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@ -4950,7 +4950,7 @@
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"dependencies": {
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"commander": {
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"version": "2.1.0",
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"resolved": "http://registry.npmjs.org/commander/-/commander-2.1.0.tgz",
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"resolved": "https://registry.npmjs.org/commander/-/commander-2.1.0.tgz",
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"integrity": "sha1-0SG7roYNmZKj1Re6lvVliOR8Z4E=",
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"dev": true
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}
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@ -7617,7 +7617,7 @@
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},
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"magic-string": {
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"version": "0.22.5",
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"resolved": "http://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz",
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"resolved": "https://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz",
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"integrity": "sha512-oreip9rJZkzvA8Qzk9HFs8fZGF/u7H/gtrE8EN6RjKJ9kh2HlC+yQ2QezifqTZfGyiuAV0dRv5a+y/8gBb1m9w==",
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"dev": true,
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"requires": {
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@ -11645,7 +11645,7 @@
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"dependencies": {
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"minimist": {
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"version": "1.2.0",
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"resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
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"resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz",
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"integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ=",
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"dev": true
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}
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@ -12112,9 +12112,9 @@
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}
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},
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"scratch-audio": {
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"version": "0.1.0-prerelease.20181023202904",
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"resolved": "https://registry.npmjs.org/scratch-audio/-/scratch-audio-0.1.0-prerelease.20181023202904.tgz",
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"integrity": "sha512-0cf+snpT04RFWFgMsMzbztzNVyh2PkUaT8mjlwNNoIRy5p7yDN3EMC2zGbR71nZMus1tO2EDxqrpan2ix4IWDw==",
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"version": "0.1.0-prerelease.20190108181031",
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"resolved": "https://registry.npmjs.org/scratch-audio/-/scratch-audio-0.1.0-prerelease.20190108181031.tgz",
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"integrity": "sha512-Ygu+pN2u9det8HTIo+2wj8ibqe0QjAA624N9GxC62nrdGH39NxDRJyiwheeuZH/oEjM9RTsCSSOH+C9fXA9ekA==",
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"dev": true,
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"requires": {
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"audio-context": "1.0.1",
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@ -12168,9 +12168,9 @@
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}
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},
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"scratch-render": {
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"version": "0.1.0-prerelease.20190103190631",
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"resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190103190631.tgz",
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"integrity": "sha512-DFh5dnvLQ0iv2UahMJgUrCqnMOPjM4NAN0fQUBtm4w5gskkFOem6QvTGPWcUf75II4MDwUbj+LGZclqEYWTnSw==",
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"version": "0.1.0-prerelease.20190109203013",
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"resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190109203013.tgz",
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"integrity": "sha512-yrkBuF1zLHrXEHQmbQhpATDxot/wqoN/oDW2aIjzV9ylxCy+zNdGI2XJ9tRy10bCcM5bdC879ROX9fCr+n6FwQ==",
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"dev": true,
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"requires": {
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"grapheme-breaker": "0.3.2",
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@ -12180,8 +12180,29 @@
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"minilog": "3.1.0",
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"raw-loader": "^0.5.1",
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"scratch-storage": "^1.0.0",
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"scratch-svg-renderer": "0.2.0-prerelease.20181220183040",
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"scratch-svg-renderer": "0.2.0-prerelease.20190109201344",
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"twgl.js": "4.4.0"
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},
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"dependencies": {
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"base64-js": {
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"version": "1.2.1",
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"resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.2.1.tgz",
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"integrity": "sha512-dwVUVIXsBZXwTuwnXI9RK8sBmgq09NDHzyR9SAph9eqk76gKK2JSQmZARC2zRC81JC2QTtxD0ARU5qTS25gIGw==",
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"dev": true
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},
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"scratch-svg-renderer": {
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"version": "0.2.0-prerelease.20190109201344",
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"resolved": "https://registry.npmjs.org/scratch-svg-renderer/-/scratch-svg-renderer-0.2.0-prerelease.20190109201344.tgz",
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"integrity": "sha512-pRMvQrM5UA2wcqleaXVpFx0Pi6Q3GsRA5elJ0tJksdr6k8HYm5D6sW62VtEtMHjnkQDa+EFyqfHq9IEPnzFjeQ==",
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"dev": true,
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"requires": {
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"base64-js": "1.2.1",
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"base64-loader": "1.0.0",
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"minilog": "3.1.0",
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"scratch-render-fonts": "1.0.0-prerelease.20180906193204",
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"transformation-matrix": "1.14.1"
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}
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}
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}
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},
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"scratch-render-fonts": {
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@ -12992,7 +13013,7 @@
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},
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"readable-stream": {
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"version": "2.3.6",
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"resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
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"resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz",
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"integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==",
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"dev": true,
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"requires": {
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@ -337,6 +337,7 @@ class BoostMotor {
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const cmd = this._parent.generateOutputCommand(
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this._index,
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0x51,
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0x00,
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[this._power * this._direction] // power in range 0-100
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);
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@ -368,6 +369,7 @@ class BoostMotor {
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const cmd = this._parent.generateOutputCommand(
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this._index,
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BoostCommand.MOTOR_POWER,
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0x00,
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[127] // 127 = break
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);
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@ -387,6 +389,7 @@ class BoostMotor {
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const cmd = this._parent.generateOutputCommand(
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this._index,
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BoostCommand.MOTOR_POWER,
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0x00,
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[0] // 0 = stop
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);
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@ -451,14 +454,14 @@ class Boost {
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this._extensionId = extensionId;
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/**
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* A list of the ids of the motors or sensors in ports A, B, C or D.
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* A list of the ids of the physical or virtual sensors.
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* @type {string[]}
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* @private
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*/
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this._ports = [];
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/**
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* The motors which this Boost could possibly have.
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* A list of motors registered by the Boost hardware.
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* @type {BoostMotor[]}
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* @private
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*/
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@ -562,7 +565,8 @@ class Boost {
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const cmd = this.generateOutputCommand(
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50,
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0x51,
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[0x51,0x01].concat(rgb)
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BoostMode.LED,
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rgb
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);
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return this.send(BLECharacteristic, cmd);
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@ -592,6 +596,7 @@ class Boost {
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const cmd = this.generateOutputCommand(
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BoostConnectID.LED,
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0x32,
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BoostMode.LED,
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[0, 0, 0]
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);
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@ -694,7 +699,7 @@ class Boost {
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* @param {array} values - the list of values to write to the command.
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* @return {array} - a generated output command.
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*/
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generateOutputCommand (connectID, subCommandID = 0x51, values = null) {
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generateOutputCommand (connectID, subCommandID = 0x51, mode=0x00, values = null) {
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let command = [0x00, BoostCommand.OUTPUT];
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if (values) {
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command = command.concat(
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if(subCommandID) {
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command = command.concat(subCommandID);
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}
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command = command.concat(0x00)
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command = command.concat(mode)
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command = command/*.concat(
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values.length
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)*/.concat(
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command = command.concat(
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values
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);
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}
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@ -774,8 +777,6 @@ class Boost {
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*/
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_onMessage (base64) {
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const data = Base64Util.base64ToUint8Array(base64);
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//console.log(data)
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// log.info(data);
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/**
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* First three bytes are the common header:
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@ -797,9 +798,7 @@ class Boost {
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switch (data[4]) {
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case BoostIOEvent.ATTACHED:
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//case BoostIOEvent.ATTACHED_VIRTUAL:
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//console.log("New sensor or motor registered!")
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this._registerSensorOrMotor(data[3], data[5])
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//console.log(data[3] + "," + data[5])
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break;
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case BoostIOEvent.DETACHED:
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this._clearPort(data[3]);
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@ -811,37 +810,23 @@ class Boost {
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case BoostMessageTypes.PORT_VALUE:
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var type = this._ports[data[3]];
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var valueFormat = data.length
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switch(valueFormat) {
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// TODO: we can't know whether a 2- or 4-byte value is multiple values or a uint16/32-value respectively. We need to utilize the value format information provided in https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#value-format
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case 5:
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var value = data[4];
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break;
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case 6:
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var value = [data[4], data[5]];
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break;
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case 8:
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//console.log(Uint32Array(data.slice(4,8)))
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//console.log(buf2hex(data))
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var dv = new DataView(data.slice(4,8))
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console.log(dv.getInt32);
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//var value = new Uint32Array(data.slice(4,8))[0]
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break;
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default:
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// Do nothing
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}
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// TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling
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switch(type) {
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case BoostDevice.TILT:
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this._sensors.tiltX = value[0]
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this._sensors.tiltY = value[1]
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this._sensors.tiltX = data[4]
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this._sensors.tiltY = data[5]
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break;
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case BoostDevice.COLOR:
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this._sensors.color = value;
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this._sensors.color = data[4];
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break;
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case BoostDevice.MOTOREXT:
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// ToDo: Handle external motor sensor
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break;
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case BoostDevice.MOTORINT:
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//console.log(data[3] + "," + valueFormat + ": " + value)
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// Taken from EV3 extension tacho motor calculation
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let value = data[4] + (data[5] * 256) + (data[6] * 256 * 256) + (data[7] * 256 * 256 * 256);
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if (value > 0x7fffffff) {
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value = value - 0x100000000;
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}
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//console.log(value);
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this._motors[data[3]]._position = value
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break;
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case BoostDevice.CURRENT:
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@ -852,12 +837,12 @@ class Boost {
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console.log("Unknown sensor value! Type: " + type)
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}
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break;
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case BoostMessageTypes.PORT_INPUT_FORMAT:
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case BoostMessageTypes.ERROR:
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console.log("Error in BLE message! Errorneous command: " + data[3])
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console.log(buf2hex(data))
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break;
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default:
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//console.log("No case found for message:")
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//console.log(data)
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console.log(buf2hex(data))
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}
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}
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@ -1660,14 +1645,15 @@ class Scratch3BoostBlocks {
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*/
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getMotorPosition (args) {
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switch(args.MOTOR_ID) {
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// TODO: Handle negative rotation.
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case BoostMotorLabel.A:
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return this._peripheral._motors[BoostPort.A].position
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return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.A].position, 0, 360);
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case BoostMotorLabel.B:
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return this._peripheral._motors[BoostPort.B].position
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return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.B].position, 0, 360);
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case BoostMotorLabel.C:
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return this._peripheral._motors[BoostPort.C].position
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return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.C].position, 0, 360);
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case BoostMotorLabel.D:
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return this._peripheral._motors[BoostPort.D].position
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return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.D].position, 0, 360);
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default:
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log.warn("Asked for a motor position that doesnt exist!")
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return false;
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