mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-23 14:32:59 -05:00
- Consolidated BLE enums for brevity
- Added IOs from documentation to BoostIO enumotor follows the speed set by Scratch and not the highest possible speed. - Cleaned up line breaks in codebrake rather than float when stopping. - Cleaned up documentationensors - Deleted unused MOTOR_OUTPUT from BoostMode-enumbased on BoostMode-enum - Set default-value for "set motor power to"-block to be all motors after feedback from @ericrosenbaum - Implemented check in getMotorPosition() to see if motor is actually there before reporting position
This commit is contained in:
Kevin Andersen
parent
40c022ca8e
commit
7fc705b741
1 changed files with 85 additions and 70 deletions
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@ -22,16 +22,14 @@ const log = require('../../util/log');
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const iconURI = 'data:image/png;base64,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';
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/**
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* Boost BLE service UUID.
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* @type {string}
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* Boost BLE UUIDs.
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* @enum {string}
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*/
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const BLEService = '00001623-1212-efde-1623-785feabcd123';
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/**
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* Boost BLE characteristic UUID.
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* @type {string}
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*/
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const BLECharacteristic = '00001624-1212-efde-1623-785feabcd123';
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const BoostBLE = {
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service: '00001623-1212-efde-1623-785feabcd123',
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characteristic: '00001624-1212-efde-1623-785feabcd123'
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}
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/**
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* A time interval to wait (in milliseconds) while a block that sends a BLE message is running.
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@ -51,13 +49,23 @@ const BLESendRateMax = 20;
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* @enum {number}
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*/
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const BoostIO = {
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MOTORINT: 0x27,
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MOTOREXT: 0x26,
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LED: 0x17,
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TILT: 0x28,
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COLOR: 0x25,
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MOTOR_WEDO: 0x01,
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MOTOR_SYSTEM: 0x02,
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BUTTON: 0x05,
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LIGHT: 0x08,
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LIGHT1:0x09,
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LIGHT2:0x0A,
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VOLTAGE: 0x14,
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CURRENT: 0x15,
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CURRENT: 0x15,
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PIEZO: 0x16,
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LED: 0x17,
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TILT_EXTERNAL: 0x22,
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MOTION_SENSOR: 0x23,
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COLOR: 0x25,
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MOTOREXT: 0x26,
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MOTORINT: 0x27,
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TILT: 0x28,
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};
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/**
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@ -86,6 +94,11 @@ const BoostPort = {
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D: 2
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};
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/**
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* Enum for indexed colors read by the Boost Vision Sensor
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* @readonly
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* @enum {number}
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*/
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const BoostColor = {
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NONE: 255,
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RED: 9,
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@ -101,7 +114,6 @@ const BoostColor = {
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* @readonly
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* @enum {number}
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*/
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const BoostMessage = {
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HUB_PROPERTIES: 0x01,
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HUB_ACTIONS: 0x02,
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@ -125,7 +137,6 @@ const BoostMessage = {
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* @readonly
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* @enum {number}
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*/
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const BoostOutputSubCommand = {
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START_POWER_PAIR: 0x02,
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SET_ACC_TIME: 0x05,
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@ -148,7 +159,6 @@ const BoostOutputSubCommand = {
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* @readonly
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* @enum {number}
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*/
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const BoostOutputExecution = {
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// Startup information
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BUFFER_IF_NECESSARY: 0x00,
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@ -156,8 +166,6 @@ const BoostOutputExecution = {
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// Completion information
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NO_ACTION: 0x00,
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COMMAND_FEEDBACK: 0x01,
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}
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@ -167,7 +175,6 @@ const BoostOutputExecution = {
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* @readonly
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* @enum {number}
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*/
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const BoostMotorEndState = {
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FLOAT: 0,
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HOLD: 126,
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@ -175,11 +182,10 @@ const BoostMotorEndState = {
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}
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/**
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* Enum for Boost Motor Acceleration/Deceleration profiles
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* Enum for Boost Motor acceleration/deceleration profiles
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* @readyonly
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* @enum {number}
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*/
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const BoostMotorProfile = {
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DO_NOT_USE: 0x00,
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ACCELERATION: 0x01,
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@ -192,7 +198,6 @@ const BoostMotorProfile = {
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* @readonly
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* @enum {number}
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*/
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const BoostIOEvent = {
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ATTACHED: 0x01,
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DETACHED: 0x00,
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@ -200,7 +205,7 @@ const BoostIOEvent = {
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}
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/**
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* Enum for modes for input sensors on the Boost.
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* Enum for selected sensor modes.
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* @enum {number}
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*/
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const BoostMode = {
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@ -208,7 +213,6 @@ const BoostMode = {
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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_SENSOR: 2, // Set motors to report their position
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MOTOR_OUTPUT: 0,
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UNKNOWN: 0 // Anything else will use the default mode (mode 0)
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};
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@ -384,28 +388,28 @@ class BoostMotor {
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}
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/**
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* @return {int} -
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* @return {int} - this motor's current position, in the range of [-MIN_INT32,MAX_INT32]
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*/
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get position () {
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return this._position;
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}
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/**
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* @param {int} value -
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* @param {int} value - set this motor's current position.
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*/
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set position (value) {
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this._position = value;
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}
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/**
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* @return {int} -
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* @return {int} - this motor's current zero position, which the current position is relative to.
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*/
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get positionZero () {
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return this._positionZero;
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}
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/**
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* @param {int} value -
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* @param {int} value - set this motor's zero position.
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*/
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set positionZero (value) {
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this._positionZero = value;
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@ -450,10 +454,10 @@ class BoostMotor {
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BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
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BoostOutputSubCommand.START_SPEED,
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[this._power * this._direction,
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this._power * this._direction,
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this._power* this._direction,
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BoostMotorProfile.DO_NOT_USE]);
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this._parent.send(BLECharacteristic, cmd);
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this._parent.send(BoostBLE.characteristic, cmd);
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this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
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this._clearTimeout();
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@ -485,19 +489,19 @@ class BoostMotor {
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BoostOutputSubCommand.START_SPEED_FOR_DEGREES,
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[...numberToInt32Array(degrees),
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this._power * this._direction, // power in range 0-100
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0xFF, // max speed
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BoostMotorEndState.FLOAT,
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this._power * this._direction, // max speed
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BoostMotorEndState.BRAKE,
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BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile
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);
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this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
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this._parent.send(BLECharacteristic, cmd);
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this._parent.send(BoostBLE.characteristic, cmd);
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}
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/**
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* Start active braking on this motor. After a short time, the motor will turn off.
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* // TODO: rename this to coastAfter?
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* // TODO: eliminate this function by changing turnOff() to use BoostMotorEndState.BRAKE?
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*/
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startBraking () {
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if (this._power === 0) return;
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@ -511,7 +515,7 @@ class BoostMotor {
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BoostMotorProfile.DO_NOT_USE]
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);
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this._parent.send(BLECharacteristic, cmd);
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this._parent.send(BoostBLE.characteristic, cmd);
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this._status = BoostOutputCommandFeedback.IDLE;
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this._setNewTimeout(this.turnOff, BoostMotor.BRAKE_TIME_MS);
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@ -533,7 +537,7 @@ class BoostMotor {
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BoostMotorProfile.DO_NOT_USE]
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);
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this._parent.send(BLECharacteristic, cmd, useLimiter);
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this._parent.send(BoostBLE.characteristic, cmd, useLimiter);
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this._status = BoostOutputCommandFeedback.IDLE;
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}
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@ -615,7 +619,6 @@ class Boost {
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this._sensors = {
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tiltX: 0,
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tiltY: 0,
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distance: 0,
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color: 0,
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};
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@ -662,10 +665,11 @@ class Boost {
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/**
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* @return {number} - the latest value received from the distance sensor.
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*/
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*//*
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get distance () {
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return this._sensors.distance;
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}
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*/
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/**
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* @return {number} - the latest color value received from the vision sensor.
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@ -717,7 +721,7 @@ class Boost {
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...rgb]
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);
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return this.send(BLECharacteristic, cmd);
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return this.send(BoostBLE.characteristic, cmd);
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}
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/**
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@ -732,7 +736,7 @@ class Boost {
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false
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);
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return this.send(BLECharacteristic, cmd);
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return this.send(BoostBLE.characteristic, cmd);
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}
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/**
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@ -752,7 +756,7 @@ class Boost {
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}
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this._ble = new BLE(this._runtime, this._extensionId, {
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filters: [{
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services: [BLEService],
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services: [BoostBLE.service],
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manufacturerData: {
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0: {
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dataPrefix: [0x97, 0x03, 0x00, 0x40],
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@ -783,7 +787,6 @@ class Boost {
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this._sensors = {
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tiltX: 0,
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tiltY: 0,
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distance: 0,
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color: 0
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};
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@ -819,7 +822,7 @@ class Boost {
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}
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return this._ble.write(
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BLEService,
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BoostBLE.service,
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uuid,
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Base64Util.uint8ArrayToBase64(message),
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'base64'
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@ -880,8 +883,8 @@ class Boost {
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*/
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_onConnect () {
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this._ble.startNotifications(
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BLEService,
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BLECharacteristic,
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BoostBLE.service,
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BoostBLE.characteristic,
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this._onMessage
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);
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}
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@ -918,7 +921,7 @@ class Boost {
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const event = data[4]
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const typeId = data[5]
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switch (event) {
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switch (event) {
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case BoostIOEvent.ATTACHED:
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this._registerSensorOrMotor(portID, typeId)
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break;
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@ -949,6 +952,7 @@ class Boost {
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if (value > 0x7fffffff) {
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value = value - 0x100000000;
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}*/
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//console.log(data)
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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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@ -971,18 +975,16 @@ class Boost {
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case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS:
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break;
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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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}
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break;
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case BoostMessage.PORT_INPUT_FORMAT:
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case BoostMessage.ERROR:
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//DEBUG
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console.log(buf2hex(data))
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console.log("Error in BLE message: " + buf2hex(data))
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break;
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default:
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//DEBUG
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console.log(buf2hex(data))
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//console.log(buf2hex(data))
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}
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}
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@ -998,45 +1000,48 @@ class Boost {
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// Record which port is connected to what type of device
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this._ports[portID] = type;
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// Record motor port
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if (type === BoostIO.MOTORINT || type === BoostIO.MOTOREXT) {
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this._motors[portID] = new BoostMotor(this, portID);
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}
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// Set input format for tilt or distance sensor
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var typeString = ''
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var m = null
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switch(type) {
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case BoostIO.MOTORINT:
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case BoostIO.MOTOREXT:
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typeString = 'MOTOR_SENSOR'
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m = BoostMode.MOTOR_SENSOR
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break;
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case BoostIO.COLOR:
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typeString = 'COLOR'
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m = BoostMode.COLOR
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break;
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case BoostIO.LED:
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typeString = 'LED'
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m = BoostMode.LED
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this.setLEDMode();
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this.setLED(0x00FF00);
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break;
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case BoostIO.TILT:
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typeString = 'TILT'
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m = BoostMode.TILT
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break;
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default:
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typeString = 'UNKNOWN'
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m = BoostMode.UNKNOWN
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}
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const cmd = this.generateInputCommand(
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portID,
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BoostMode[typeString],
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m,
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1,
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true
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);
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this.send(BLECharacteristic, cmd);
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this.send(BoostBLE.characteristic, cmd);
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}
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/**
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* Clear the sensor or motor present at port 1 or 2.
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||||
* Clear the sensors or motors present on the ports.
|
||||
* @param {number} portID - the port to clear.
|
||||
* @private
|
||||
*/
|
||||
|
|
@ -1045,8 +1050,8 @@ class Boost {
|
|||
if (type === BoostIO.TILT) {
|
||||
this._sensors.tiltX = this._sensors.tiltY = 0;
|
||||
}
|
||||
if (type === BoostIO.DISTANCE) {
|
||||
this._sensors.distance = 0;
|
||||
if (type === BoostIO.COLOR) {
|
||||
this._sensors.color = 0;
|
||||
}
|
||||
this._ports[portID] = 'none';
|
||||
this._motors[portID] = null;
|
||||
|
|
@ -1219,7 +1224,7 @@ class Scratch3BoostBlocks {
|
|||
MOTOR_ID: {
|
||||
type: ArgumentType.STRING,
|
||||
menu: 'MOTOR_ID',
|
||||
defaultValue: BoostMotorLabel.A
|
||||
defaultValue: BoostMotorLabel.ALL
|
||||
},
|
||||
POWER: {
|
||||
type: ArgumentType.NUMBER,
|
||||
|
|
@ -1355,7 +1360,7 @@ class Scratch3BoostBlocks {
|
|||
description: 'the value returned by the distance sensor'
|
||||
}),
|
||||
blockType: BlockType.REPORTER
|
||||
},
|
||||
},*/
|
||||
{
|
||||
opcode: 'isTilted',
|
||||
text: formatMessage({
|
||||
|
|
@ -1371,7 +1376,7 @@ class Scratch3BoostBlocks {
|
|||
defaultValue: BoostTiltDirection.ANY
|
||||
}
|
||||
}
|
||||
},*/
|
||||
},
|
||||
{
|
||||
opcode: 'getTiltAngle',
|
||||
text: formatMessage({
|
||||
|
|
@ -1918,19 +1923,29 @@ class Scratch3BoostBlocks {
|
|||
* @return {number}
|
||||
*/
|
||||
getMotorPosition (args) {
|
||||
var portID = null
|
||||
switch(args.MOTOR_REPORTER_ID) {
|
||||
|
||||
case BoostMotorLabel.A:
|
||||
return this._peripheral._motors[BoostPort.A].position - this._peripheral._motors[BoostPort.A].positionZero
|
||||
portID = BoostPort.A
|
||||
break;
|
||||
case BoostMotorLabel.B:
|
||||
return this._peripheral._motors[BoostPort.B].position - this._peripheral._motors[BoostPort.B].positionZero
|
||||
portID = BoostPort.B
|
||||
break;
|
||||
case BoostMotorLabel.C:
|
||||
return this._peripheral._motors[BoostPort.C].position - this._peripheral._motors[BoostPort.C].positionZero
|
||||
portID = BoostPort.C
|
||||
break;
|
||||
case BoostMotorLabel.D:
|
||||
return this._peripheral._motors[BoostPort.D].position - this._peripheral._motors[BoostPort.D].positionZero
|
||||
portID = BoostPort.D
|
||||
break;
|
||||
default:
|
||||
log.warn("Asked for a motor position that doesnt exist!")
|
||||
return false;
|
||||
}
|
||||
if(portID && this._peripheral._motors[portID]) {
|
||||
return this._peripheral._motors[portID].position - this._peripheral._motors[portID].positionZero
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -2036,4 +2051,4 @@ class Scratch3BoostBlocks {
|
|||
}
|
||||
}
|
||||
|
||||
module.exports = Scratch3BoostBlocks;
|
||||
module.exports = Scratch3BoostBlocks;
|
||||
Loading…
Reference in a new issue