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Merge pull request #1967 from evhan55/extensions/gdxfor-sensor-array

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GDXFOR sensor array refactor
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Evelyn Eastmond 2019-02-05 11:18:02 -05:00 committed by GitHub
commit 884fd54d2b
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1 changed files with 205 additions and 162 deletions
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367
src/extensions/scratch3_gdx_for/index.js
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@ -25,6 +25,19 @@ const BLEUUID = {
responseChar: 'b41e6675-a329-40e0-aa01-44d2f444babe'
};
/**
* Sensor ID numbers for the GDX-FOR.
*/
const GDXFOR_SENSOR = {
FORCE: 1,
ACCELERATION_X: 2,
ACCELERATION_Y: 3,
ACCELERATION_Z: 4,
SPIN_SPEED_X: 5,
SPIN_SPEED_Y: 6,
SPIN_SPEED_Z: 7
};
/**
* Threshold for pushing and pulling force, for the whenForcePushedOrPulled hat block.
* @type {number}
@ -101,9 +114,23 @@ class GdxFor {
*/
this._extensionId = extensionId;
/**
* The most recently received value for each sensor.
* @type {Object.<string, number>}
* @private
*/
this._sensors = {
force: 0,
accelerationX: 0,
accelerationY: 0,
accelerationZ: 0,
spinSpeedX: 0,
spinSpeedY: 0,
spinSpeedZ: 0
};
this.disconnect = this.disconnect.bind(this);
this._onConnect = this._onConnect.bind(this);
this._sensorsEnabled = null;
}
@ -140,7 +167,15 @@ class GdxFor {
* Disconnect from the GDX FOR.
*/
disconnect () {
this._sensorsEnabled = false;
this._sensors = {
force: 0,
accelerationX: 0,
accelerationY: 0,
accelerationZ: 0,
spinSpeedX: 0,
spinSpeedY: 0,
spinSpeedZ: 0
};
if (this._scratchLinkSocket) {
this._scratchLinkSocket.disconnect();
}
@ -165,184 +200,192 @@ class GdxFor {
_onConnect () {
const adapter = new ScratchLinkDeviceAdapter(this._scratchLinkSocket, BLEUUID);
godirect.createDevice(adapter, {open: true, startMeasurements: false}).then(device => {
// Setup device
this._device = device;
this._device.keepValues = false; // todo: possibly remove after updating Vernier godirect module
this._startMeasurements();
// Enable sensors
this._device.sensors.forEach(sensor => {
sensor.setEnabled(true);
});
// Set sensor value-update behavior
this._device.on('measurements-started', () => {
const enabledSensors = this._device.sensors.filter(s => s.enabled);
enabledSensors.forEach(sensor => {
sensor.on('value-changed', s => {
this._onSensorValueChanged(s);
});
});
});
// Start device
this._device.start(10); // Set the period to 10 milliseconds
});
}
/**
* Enable and begin reading measurements
* Handler for sensor value changes from the goforce device.
* @param {object} sensor - goforce device sensor whose value has changed
* @private
*/
_startMeasurements () {
this._device.sensors.forEach(sensor => {
sensor.setEnabled(true);
});
this._device.on('measurements-started', () => {
this._sensorsEnabled = true;
});
this._device.start(10); // Set the period to 10 milliseconds
}
/**
* Device is connected and measurements enabled
* @return {boolean} - whether the goforce is connected and measurements started.
*/
_canReadSensors () {
return this.isConnected() && this._sensorsEnabled;
}
getForce () {
if (this._canReadSensors()) {
let force = this._device.getSensor(1).value;
_onSensorValueChanged (sensor) {
switch (sensor.number) {
case GDXFOR_SENSOR.FORCE:
// Normalize the force, which can be measured between -50 and 50 N,
// to be a value between -100 and 100.
force = MathUtil.clamp(force * 2, -100, 100);
return force;
this._sensors.force = MathUtil.clamp(sensor.value * 2, -100, 100);
break;
case GDXFOR_SENSOR.ACCELERATION_X:
this._sensors.accelerationX = sensor.value;
break;
case GDXFOR_SENSOR.ACCELERATION_Y:
this._sensors.accelerationY = sensor.value;
break;
case GDXFOR_SENSOR.ACCELERATION_Z:
this._sensors.accelerationZ = sensor.value;
break;
case GDXFOR_SENSOR.SPIN_SPEED_X:
this._sensors.spinSpeedX = this._spinSpeedFromGyro(sensor.value);
break;
case GDXFOR_SENSOR.SPIN_SPEED_Y:
this._sensors.spinSpeedY = this._spinSpeedFromGyro(sensor.value);
break;
case GDXFOR_SENSOR.SPIN_SPEED_Z:
this._sensors.spinSpeedZ = this._spinSpeedFromGyro(sensor.value);
break;
}
return 0;
}
getTiltX () {
if (this._canReadSensors()) {
let x = this.getAccelerationX();
let y = this.getAccelerationY();
let z = this.getAccelerationZ();
let xSign = 1;
let ySign = 1;
let zSign = 1;
if (x < 0.0) {
x *= -1.0; xSign = -1;
}
if (y < 0.0) {
y *= -1.0; ySign = -1;
}
if (z < 0.0) {
z *= -1.0; zSign = -1;
}
// Compute the yz unit vector
const z2 = z * z;
const x2 = x * x;
let value = z2 + x2;
value = Math.sqrt(value);
// For sufficiently small zy vector values we are essentially at 90 degrees.
// The following snaps to 90 and avoids divide-by-zero errors.
// The snap factor was derived through observation -- just enough to
// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
if (value < 0.35) {
value = 90;
} else {
// Compute the x-axis angle
value = y / value;
value = Math.atan(value);
value *= 57.2957795; // convert from rad to deg
}
// Manage the sign of the result
let xzSign = xSign;
if (z > x) xzSign = zSign;
if (xzSign === -1) value = 180.0 - value;
value *= ySign;
// Round the result to the nearest degree
value += 0.5;
return value;
}
return 0;
}
getTiltY () {
if (this._canReadSensors()) {
let x = this.getAccelerationX();
let y = this.getAccelerationY();
let z = this.getAccelerationZ();
let xSign = 1;
let ySign = 1;
let zSign = 1;
if (x < 0.0) {
x *= -1.0; xSign = -1;
}
if (y < 0.0) {
y *= -1.0; ySign = -1;
}
if (z < 0.0) {
z *= -1.0; zSign = -1;
}
// Compute the yz unit vector
const z2 = z * z;
const y2 = y * y;
let value = z2 + y2;
value = Math.sqrt(value);
// For sufficiently small zy vector values we are essentially at 90 degrees.
// The following snaps to 90 and avoids divide-by-zero errors.
// The snap factor was derived through observation -- just enough to
// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
if (value < 0.35) {
value = 90;
} else {
// Compute the x-axis angle
value = x / value;
value = Math.atan(value);
value *= 57.2957795; // convert from rad to deg
}
// Manage the sign of the result
let yzSign = ySign;
if (z > y) yzSign = zSign;
if (yzSign === -1) value = 180.0 - value;
value *= xSign;
// Round the result to the nearest degree
value += 0.5;
return value;
}
return 0;
}
getAccelerationX () {
return this._getAcceleration(2);
}
getAccelerationY () {
return this._getAcceleration(3);
}
getAccelerationZ () {
return this._getAcceleration(4);
}
_getAcceleration (sensorNum) {
if (!this._canReadSensors()) return 0;
const val = this._device.getSensor(sensorNum).value;
return val;
}
getSpinSpeedX () {
return this._getSpinSpeed(5);
}
getSpinSpeedY () {
return this._getSpinSpeed(6);
}
getSpinSpeedZ () {
return this._getSpinSpeed(7);
}
_getSpinSpeed (sensorNum) {
if (!this._canReadSensors()) return 0;
let val = this._device.getSensor(sensorNum).value;
val = MathUtil.radToDeg(val);
_spinSpeedFromGyro (val) {
const framesPerSec = 1000 / this._runtime.currentStepTime;
val = MathUtil.radToDeg(val);
val = val / framesPerSec; // convert to from degrees per sec to degrees per frame
val = val * -1;
return val;
}
getForce () {
return this._sensors.force;
}
getTiltX () {
let x = this.getAccelerationX();
let y = this.getAccelerationY();
let z = this.getAccelerationZ();
let xSign = 1;
let ySign = 1;
let zSign = 1;
if (x < 0.0) {
x *= -1.0; xSign = -1;
}
if (y < 0.0) {
y *= -1.0; ySign = -1;
}
if (z < 0.0) {
z *= -1.0; zSign = -1;
}
// Compute the yz unit vector
const z2 = z * z;
const x2 = x * x;
let value = z2 + x2;
value = Math.sqrt(value);
// For sufficiently small zy vector values we are essentially at 90 degrees.
// The following snaps to 90 and avoids divide-by-zero errors.
// The snap factor was derived through observation -- just enough to
// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
if (value < 0.35) {
value = 90;
} else {
// Compute the x-axis angle
value = y / value;
value = Math.atan(value);
value *= 57.2957795; // convert from rad to deg
}
// Manage the sign of the result
let xzSign = xSign;
if (z > x) xzSign = zSign;
if (xzSign === -1) value = 180.0 - value;
value *= ySign;
// Round the result to the nearest degree
value += 0.5;
return value;
}
getTiltY () {
let x = this.getAccelerationX();
let y = this.getAccelerationY();
let z = this.getAccelerationZ();
let xSign = 1;
let ySign = 1;
let zSign = 1;
if (x < 0.0) {
x *= -1.0; xSign = -1;
}
if (y < 0.0) {
y *= -1.0; ySign = -1;
}
if (z < 0.0) {
z *= -1.0; zSign = -1;
}
// Compute the yz unit vector
const z2 = z * z;
const y2 = y * y;
let value = z2 + y2;
value = Math.sqrt(value);
// For sufficiently small zy vector values we are essentially at 90 degrees.
// The following snaps to 90 and avoids divide-by-zero errors.
// The snap factor was derived through observation -- just enough to
// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
if (value < 0.35) {
value = 90;
} else {
// Compute the x-axis angle
value = x / value;
value = Math.atan(value);
value *= 57.2957795; // convert from rad to deg
}
// Manage the sign of the result
let yzSign = ySign;
if (z > y) yzSign = zSign;
if (yzSign === -1) value = 180.0 - value;
value *= xSign;
// Round the result to the nearest degree
value += 0.5;
return value;
}
getAccelerationX () {
return this._sensors.accelerationX;
}
getAccelerationY () {
return this._sensors.accelerationY;
}
getAccelerationZ () {
return this._sensors.accelerationZ;
}
getSpinSpeedX () {
return this._sensors.spinSpeedX;
}
getSpinSpeedY () {
return this._sensors.spinSpeedY;
}
getSpinSpeedZ () {
return this._sensors.spinSpeedZ;
}
}
/**