mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-24 06:52:40 -05:00
- Removed unused distance-mode from BoostMode-enum
- Added descriptions to BoostMode-enums - Improved motor-position handling - Added helper-functions for converting to/from motor position values - Added default value to BoostMotor._pendingPromiseFunction - Added changeLedColorBy-block - Only motors will now try to resolve motor-promises - Changed motor position wording from 'zero' to 'reset' - Modified tilt-thresholds to improve tilt-handling
This commit is contained in:
Kevin Andersen
parent
e99a217ba5
commit
1d72b3b971
1 changed files with 75 additions and 24 deletions
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@ -158,19 +158,23 @@ const BoostIOEvent = {
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* @enum {number}
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*/
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const BoostMode = {
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TILT: 0, // angle
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DISTANCE: 0, // detect
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LED: 1, // RGB
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COLOR: 0, // Indexed colors
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MOTOR: 2, // Position
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UNKNOWN: 0
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TILT: 0, // angle (pitch/yaw)
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LED: 1, // Set LED to accept RGB values
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COLOR: 0, // Read indexed colors from Vision Sensor
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MOTOR: 2, // Set motors to report their position
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UNKNOWN: 0 // Anything else will use the default mode (mode 0)
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};
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// Debug function
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function buf2hex(buffer) { // buffer is an ArrayBuffer
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return Array.prototype.map.call(new Uint8Array(buffer), x => ('00' + x.toString(16)).slice(-2)).join(' ');
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}
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function number2int32array(number) {
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/**
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* Helper function for converting a number to a Int32Array
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* @param {number} number
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*/
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function numberToInt32Array(number) {
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var buffer = new ArrayBuffer(4)
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var dataview = new DataView(buffer)
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dataview.setInt32(0, number)
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@ -180,6 +184,16 @@ function number2int32array(number) {
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dataview.getInt8(0)];
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}
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/**
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* Helper function for converting a regular array to a Little Endian INT32-value
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* @param {Array} array
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*/
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function int32ArrayToNumber(array) {
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var i = Uint8Array.from(array)
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var d = new DataView(i.buffer);
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return d.getInt32(0,true);
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}
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/**
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* Manage power, direction, position, and timers for one Boost motor.
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*/
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@ -226,7 +240,7 @@ class BoostMotor {
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this._position = 0;
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/**
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* This motor's current relative position
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* This motor's current zero position, which the relative position can be calculated against.
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* @type {number}
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* @private
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*/
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@ -262,12 +276,12 @@ class BoostMotor {
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this._pendingTimeoutDelay = null;
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/**
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* If the motor has been turned on or is actively braking for a specific duration, this is the timeout ID for
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* the end-of-action handler. Cancel this when changing plans.
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* If the motor has been turned on run for a specific duration,
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* this is the function that will be called once Scratch VM gets a notification from the Move Hub.
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* @type {Object}
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* @private
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*/
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this._pendingPromiseFunction = null;
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this._pendingPromiseFunction = true;
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this.startBraking = this.startBraking.bind(this);
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this.turnOff = this.turnOff.bind(this);
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@ -421,7 +435,7 @@ class BoostMotor {
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this._index,
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0x0B,
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null,
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number2int32array(degrees).concat(
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numberToInt32Array(degrees).concat(
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[
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this._power * this._direction, // power in range 0-100
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0xff, // max speed
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@ -554,6 +568,12 @@ class Boost {
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color: 0,
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};
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/*
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** TODO: Clean up
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*/
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this._led = 50
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/**
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* The Bluetooth connection socket for reading/writing peripheral data.
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* @type {BLE}
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@ -697,7 +717,7 @@ class Boost {
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filters: [{
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services: [BLEService],
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manufacturerData: {
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0x0397: {
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0: {
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dataPrefix: [0x97, 0x03, 0x00, 0x40],
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mask: [0xFF, 0xFF, 0, 0xFF]
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}
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@ -824,7 +844,7 @@ class Boost {
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0x41, // Message Type (Port Input Format Setup (Single)) TODO: Use enum
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portID,
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mode,
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].concat(number2int32array(delta)).concat([
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].concat(numberToInt32Array(delta)).concat([
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enableNotifications
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]);
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@ -904,11 +924,11 @@ class Boost {
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case BoostIO.MOTOREXT:
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case BoostIO.MOTORINT:
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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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/*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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this._motors[portID]._position = value
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}*/
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this._motors[portID]._position = int32ArrayToNumber(data.slice(4,8))
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break;
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case BoostIO.CURRENT:
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case BoostIO.VOLTAGE:
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@ -923,8 +943,10 @@ class Boost {
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switch(feedback) {
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case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE:
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case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: // Resolve even if command didn't complete successfully
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this._motors[portID].pendingPromiseFunction();
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break;
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if(this._motors[portID]) {
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this._motors[portID].pendingPromiseFunction();
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break;
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}
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default:
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console.log(buf2hex(data))
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console.log("Got it but didn't find a motor on: " + portID)
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@ -1207,7 +1229,7 @@ class Scratch3BoostBlocks {
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opcode: 'motorZero',
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text: formatMessage({
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id: 'boost.motorZero',
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default: 'zero motor [MOTOR_ID]',
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default: 'reset motor position [MOTOR_ID]',
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description: 'set a motor\'s position to 0'
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}),
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blockType: BlockType.COMMAND,
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@ -1234,6 +1256,21 @@ class Scratch3BoostBlocks {
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}
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}
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},
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{
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opcode: 'changeLightHueBy',
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text: formatMessage({
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id: 'boost.changeLightHueBy',
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default: 'change light color by [HUE]',
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description: 'change the LED color by a given amount'
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}),
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blockType: BlockType.COMMAND,
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arguments: {
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HUE: {
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type: ArgumentType.NUMBER,
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defaultValue: 5
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}
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}
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},
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/*{
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opcode: 'whenDistance',
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text: formatMessage({
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@ -1777,6 +1814,7 @@ class Scratch3BoostBlocks {
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const rgbDecimal = color.rgbToDecimal(rgbObject);
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this._peripheral._led = inputHue;
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this._peripheral.setLED(rgbDecimal);
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return new Promise(resolve => {
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@ -1786,6 +1824,19 @@ class Scratch3BoostBlocks {
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});
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}
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/**
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* Change the LED's hue by a give number.
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* @param {object} args - the block's arguments.
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* @property {number} HUE - the hue to set, in the range [0,100].
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* @return {Promise} - a Promise that resolves after some delay.
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*/
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changeLightHueBy (args) {
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// TODO: Clean up this block and its opcode
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let n = {};
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n.HUE = Cast.toNumber(args.HUE) + this._peripheral._led;
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this.setLightHue(n);
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}
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/**
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* Compare the distance sensor's value to a reference.
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* @param {object} args - the block's arguments.
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@ -1915,13 +1966,13 @@ class Scratch3BoostBlocks {
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_getTiltAngle (direction) {
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switch (direction) {
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case BoostTiltDirection.UP:
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return this._peripheral.tiltY > 45 ? 256 - this._peripheral.tiltY : -this._peripheral.tiltY;
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return this._peripheral.tiltY > 90 ? 256 - this._peripheral.tiltY : -this._peripheral.tiltY;
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case BoostTiltDirection.DOWN:
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return this._peripheral.tiltY > 45 ? this._peripheral.tiltY - 256 : this._peripheral.tiltY;
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return this._peripheral.tiltY > 90 ? this._peripheral.tiltY - 256 : this._peripheral.tiltY;
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case BoostTiltDirection.LEFT:
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return this._peripheral.tiltX > 45 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX;
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return this._peripheral.tiltX > 90 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX;
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case BoostTiltDirection.RIGHT:
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return this._peripheral.tiltX > 45 ? this._peripheral.tiltX - 256 : this._peripheral.tiltX;
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return this._peripheral.tiltX > 90 ? this._peripheral.tiltX - 256 : this._peripheral.tiltX;
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default:
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log.warn(`Unknown tilt direction in _getTiltAngle: ${direction}`);
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}
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