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- Consolidated BLE enums for brevity

Browse source 
- 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 2019-02-26 14:44:13 -05:00
parent 40c022ca8e
commit 7fc705b741
1 changed files with 85 additions and 70 deletions
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151
src/extensions/scratch3_boost/index.js
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@ -22,16 +22,14 @@ const log = require('../../util/log');
const iconURI = 'data:image/png;base64,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';
/**
* Boost BLE service UUID.
* @type {string}
* Boost BLE UUIDs.
* @enum {string}
*/
const BLEService = '00001623-1212-efde-1623-785feabcd123';
/**
* Boost BLE characteristic UUID.
* @type {string}
*/
const BLECharacteristic = '00001624-1212-efde-1623-785feabcd123';
const BoostBLE = {
service: '00001623-1212-efde-1623-785feabcd123',
characteristic: '00001624-1212-efde-1623-785feabcd123'
}
/**
* A time interval to wait (in milliseconds) while a block that sends a BLE message is running.
@ -51,13 +49,23 @@ const BLESendRateMax = 20;
* @enum {number}
*/
const BoostIO = {
MOTORINT: 0x27,
MOTOREXT: 0x26,
LED: 0x17,
TILT: 0x28,
COLOR: 0x25,
MOTOR_WEDO: 0x01,
MOTOR_SYSTEM: 0x02,
BUTTON: 0x05,
LIGHT: 0x08,
LIGHT1:0x09,
LIGHT2:0x0A,
VOLTAGE: 0x14,
CURRENT: 0x15,
PIEZO: 0x16,
LED: 0x17,
TILT_EXTERNAL: 0x22,
MOTION_SENSOR: 0x23,
COLOR: 0x25,
MOTOREXT: 0x26,
MOTORINT: 0x27,
TILT: 0x28,
};
/**
@ -86,6 +94,11 @@ const BoostPort = {
D: 2
};
/**
* Enum for indexed colors read by the Boost Vision Sensor
* @readonly
* @enum {number}
*/
const BoostColor = {
NONE: 255,
RED: 9,
@ -101,7 +114,6 @@ const BoostColor = {
* @readonly
* @enum {number}
*/
const BoostMessage = {
HUB_PROPERTIES: 0x01,
HUB_ACTIONS: 0x02,
@ -125,7 +137,6 @@ const BoostMessage = {
* @readonly
* @enum {number}
*/
const BoostOutputSubCommand = {
START_POWER_PAIR: 0x02,
SET_ACC_TIME: 0x05,
@ -148,7 +159,6 @@ const BoostOutputSubCommand = {
* @readonly
* @enum {number}
*/
const BoostOutputExecution = {
// Startup information
BUFFER_IF_NECESSARY: 0x00,
@ -156,8 +166,6 @@ const BoostOutputExecution = {
// Completion information
NO_ACTION: 0x00,
COMMAND_FEEDBACK: 0x01,
}
@ -167,7 +175,6 @@ const BoostOutputExecution = {
* @readonly
* @enum {number}
*/
const BoostMotorEndState = {
FLOAT: 0,
HOLD: 126,
@ -175,11 +182,10 @@ const BoostMotorEndState = {
}
/**
* Enum for Boost Motor Acceleration/Deceleration profiles
* Enum for Boost Motor acceleration/deceleration profiles
* @readyonly
* @enum {number}
*/
const BoostMotorProfile = {
DO_NOT_USE: 0x00,
ACCELERATION: 0x01,
@ -192,7 +198,6 @@ const BoostMotorProfile = {
* @readonly
* @enum {number}
*/
const BoostIOEvent = {
ATTACHED: 0x01,
DETACHED: 0x00,
@ -200,7 +205,7 @@ const BoostIOEvent = {
}
/**
* Enum for modes for input sensors on the Boost.
* Enum for selected sensor modes.
* @enum {number}
*/
const BoostMode = {
@ -208,7 +213,6 @@ const BoostMode = {
LED: 1, // Set LED to accept RGB values
COLOR: 0, // Read indexed colors from Vision Sensor
MOTOR_SENSOR: 2, // Set motors to report their position
MOTOR_OUTPUT: 0,
UNKNOWN: 0 // Anything else will use the default mode (mode 0)
};
@ -384,28 +388,28 @@ class BoostMotor {
}
/**
* @return {int} -
* @return {int} - this motor's current position, in the range of [-MIN_INT32,MAX_INT32]
*/
get position () {
return this._position;
}
/**
* @param {int} value -
* @param {int} value - set this motor's current position.
*/
set position (value) {
this._position = value;
}
/**
* @return {int} -
* @return {int} - this motor's current zero position, which the current position is relative to.
*/
get positionZero () {
return this._positionZero;
}
/**
* @param {int} value -
* @param {int} value - set this motor's zero position.
*/
set positionZero (value) {
this._positionZero = value;
@ -450,10 +454,10 @@ class BoostMotor {
BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK,
BoostOutputSubCommand.START_SPEED,
[this._power * this._direction,
this._power * this._direction,
this._power* this._direction,
BoostMotorProfile.DO_NOT_USE]);
this._parent.send(BLECharacteristic, cmd);
this._parent.send(BoostBLE.characteristic, cmd);
this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
this._clearTimeout();
@ -485,19 +489,19 @@ class BoostMotor {
BoostOutputSubCommand.START_SPEED_FOR_DEGREES,
[...numberToInt32Array(degrees),
this._power * this._direction, // power in range 0-100
0xFF, // max speed
BoostMotorEndState.FLOAT,
this._power * this._direction, // max speed
BoostMotorEndState.BRAKE,
BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile
);
this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS;
this._parent.send(BLECharacteristic, cmd);
this._parent.send(BoostBLE.characteristic, cmd);
}
/**
* Start active braking on this motor. After a short time, the motor will turn off.
* // TODO: rename this to coastAfter?
* // TODO: eliminate this function by changing turnOff() to use BoostMotorEndState.BRAKE?
*/
startBraking () {
if (this._power === 0) return;
@ -511,7 +515,7 @@ class BoostMotor {
BoostMotorProfile.DO_NOT_USE]
);
this._parent.send(BLECharacteristic, cmd);
this._parent.send(BoostBLE.characteristic, cmd);
this._status = BoostOutputCommandFeedback.IDLE;
this._setNewTimeout(this.turnOff, BoostMotor.BRAKE_TIME_MS);
@ -533,7 +537,7 @@ class BoostMotor {
BoostMotorProfile.DO_NOT_USE]
);
this._parent.send(BLECharacteristic, cmd, useLimiter);
this._parent.send(BoostBLE.characteristic, cmd, useLimiter);
this._status = BoostOutputCommandFeedback.IDLE;
}
@ -615,7 +619,6 @@ class Boost {
this._sensors = {
tiltX: 0,
tiltY: 0,
distance: 0,
color: 0,
};
@ -662,10 +665,11 @@ class Boost {
/**
* @return {number} - the latest value received from the distance sensor.
*/
*//*
get distance () {
return this._sensors.distance;
}
*/
/**
* @return {number} - the latest color value received from the vision sensor.
@ -717,7 +721,7 @@ class Boost {
...rgb]
);
return this.send(BLECharacteristic, cmd);
return this.send(BoostBLE.characteristic, cmd);
}
/**
@ -732,7 +736,7 @@ class Boost {
false
);
return this.send(BLECharacteristic, cmd);
return this.send(BoostBLE.characteristic, cmd);
}
/**
@ -752,7 +756,7 @@ class Boost {
}
this._ble = new BLE(this._runtime, this._extensionId, {
filters: [{
services: [BLEService],
services: [BoostBLE.service],
manufacturerData: {
0: {
dataPrefix: [0x97, 0x03, 0x00, 0x40],
@ -783,7 +787,6 @@ class Boost {
this._sensors = {
tiltX: 0,
tiltY: 0,
distance: 0,
color: 0
};
@ -819,7 +822,7 @@ class Boost {
}
return this._ble.write(
BLEService,
BoostBLE.service,
uuid,
Base64Util.uint8ArrayToBase64(message),
'base64'
@ -880,8 +883,8 @@ class Boost {
*/
_onConnect () {
this._ble.startNotifications(
BLEService,
BLECharacteristic,
BoostBLE.service,
BoostBLE.characteristic,
this._onMessage
);
}
@ -918,7 +921,7 @@ class Boost {
const event = data[4]
const typeId = data[5]
switch (event) {
switch (event) {
case BoostIOEvent.ATTACHED:
this._registerSensorOrMotor(portID, typeId)
break;
@ -949,6 +952,7 @@ class Boost {
if (value > 0x7fffffff) {
value = value - 0x100000000;
}*/
//console.log(data)
this._motors[portID]._position = int32ArrayToNumber(data.slice(4,8))
break;
case BoostIO.CURRENT:
@ -971,18 +975,16 @@ class Boost {
case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS:
break;
default:
console.log(buf2hex(data))
console.log("Got it but didn't find a motor on: " + portID)
}
break;
case BoostMessage.PORT_INPUT_FORMAT:
case BoostMessage.ERROR:
//DEBUG
console.log(buf2hex(data))
console.log("Error in BLE message: " + buf2hex(data))
break;
default:
//DEBUG
console.log(buf2hex(data))
//console.log(buf2hex(data))
}
}
@ -998,45 +1000,48 @@ class Boost {
// Record which port is connected to what type of device
this._ports[portID] = type;
// Record motor port
if (type === BoostIO.MOTORINT || type === BoostIO.MOTOREXT) {
this._motors[portID] = new BoostMotor(this, portID);
}
// Set input format for tilt or distance sensor
var typeString = ''
var m = null
switch(type) {
case BoostIO.MOTORINT:
case BoostIO.MOTOREXT:
typeString = 'MOTOR_SENSOR'
m = BoostMode.MOTOR_SENSOR
break;
case BoostIO.COLOR:
typeString = 'COLOR'
m = BoostMode.COLOR
break;
case BoostIO.LED:
typeString = 'LED'
m = BoostMode.LED
this.setLEDMode();
this.setLED(0x00FF00);
break;
case BoostIO.TILT:
typeString = 'TILT'
m = BoostMode.TILT
break;
default:
typeString = 'UNKNOWN'
m = BoostMode.UNKNOWN
}
const cmd = this.generateInputCommand(
portID,
BoostMode[typeString],
m,
1,
true
);
this.send(BLECharacteristic, cmd);
this.send(BoostBLE.characteristic, cmd);
}
/**
* Clear the sensor or motor present at port 1 or 2.
* 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;
}
/**