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Some small EV3 fixes (#1494)

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* Fixing #1353: Stop button should stop EV3 beep sound.

* Fixing #1358: EV3 and Microbit: shouldn't send requests if not connected?.

* Fixing #1373: EV3 motor does not brake at the end of a motor command.
This commit is contained in:
Evelyn Eastmond 2018-08-20 11:00:48 -04:00 • committed by Eric Rosenbaum
parent 4f18cdd4ee
commit 2121a3be80
1 changed files with 31 additions and 8 deletions
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39
src/extensions/scratch3_ev3/index.js
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@ -122,7 +122,7 @@ class EV3 {
* @private
*/
this._runtime = runtime;
this._runtime.on('PROJECT_STOP_ALL', this._stopAllMotors.bind(this));
this._runtime.on('PROJECT_STOP_ALL', this._stopAll.bind(this));
/**
* State
@ -251,11 +251,11 @@ class EV3 {
cmd[1] = 0; // 0x00
cmd[2] = 0; // 0x00
cmd[3] = 0; // 0x00
cmd[4] = 128; // 0x80
cmd[4] = 128; // 0x80 // Direct command, reply not require
cmd[5] = 0; // 0x00
cmd[6] = 0; // 0x00
cmd[7] = 148; // 0x94 op sound
cmd[8] = 1; // 0x01 tone
cmd[7] = 148; // 0x94 op: sound
cmd[8] = 1; // 0x01 cmd: tone
cmd[9] = 129; // 0x81 volume following in 1 byte
cmd[10] = 2; // volume byte 1
cmd[11] = 130; // 0x82 frequency following in 2 bytes
@ -297,9 +297,6 @@ class EV3 {
encoding: 'base64'
});
// Set motor to busy
// this._motors.busy[port] = 1;
this.coastAfter(port, time);
// Yield for turn time + brake time
@ -355,10 +352,11 @@ class EV3 {
this.motorCoast(port);
this._motors.commandId[port] = null;
}
}, time);
}, time + 1000); // add a 1 second delay so the brake takes effect
}
motorCoast (port) {
if (!this.getPeripheralIsConnected()) return;
const cmd = [];
cmd[0] = 9; // length
@ -467,6 +465,31 @@ class EV3 {
// PRIVATE
// *******
_stopAll () {
this._stopAllMotors();
this._stopSound();
}
_stopSound () {
if (!this.getPeripheralIsConnected()) return;
const cmd = [];
cmd[0] = 7; // Command size, Little Endian. Command size not including these 2 bytes
cmd[1] = 0; // Command size, Little Endian. Command size not including these 2 bytes
cmd[2] = 0; // Message counter, Little Endian. Forth running counter
cmd[3] = 0; // Message counter, Little Endian. Forth running counter
cmd[4] = 128; // 0x80 // Command type. See defines above : Direct command, reply not require
cmd[5] = 0; // Reservation (allocation) of global and local variables
cmd[6] = 0; // Reservation (allocation) of global and local variables
cmd[7] = 148; // 0x94 op: sound
cmd[8] = 0; // 0x00 cmd: break 0x00 (Stop current sound playback)
this._bt.sendMessage({
message: Base64Util.arrayBufferToBase64(cmd),
encoding: 'base64'
});
}
_stopAllMotors () {
for (let i = 0; i < this._motorPorts.length; i++) {
if (this._motorPorts[i] !== 'none') {