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Testing some new variable names.

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Evelyn Eastmond 2019-06-23 22:20:50 -04:00
parent 471a22dbdc
commit c5a954fb56
1 changed files with 22 additions and 23 deletions
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45
src/extensions/scratch3_ev3/index.js
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@ -29,7 +29,7 @@ const Ev3PairingPin = '1234';
const BTSendRateMax = 40; const BTSendRateMax = 40;
/** /**
* Enum for Ev3 byte specs used as parameter encodings to various argument values. * Enum for Ev3 parameter encodings of various argument and return values.
* Found in the 'EV3 Firmware Developer Kit', section4, page 9, at * Found in the 'EV3 Firmware Developer Kit', section4, page 9, at
* https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits. * https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits.
* *
@ -40,14 +40,13 @@ const BTSendRateMax = 40;
* @readonly * @readonly
* @enum {number} * @enum {number}
*/ */
const Ev3ParamEncoding = { const Ev3Encoding = {
GLOBAL_CONSTANT_INDEX_0: 0x20, // = 0b00100000 = global constant value > index "0" LOCAL_CONSTANT_ONE_BYTE: 0x81, // = 0b1000-001
GLOBAL_CONSTANT_INDEX_1: 0x21, // = 0b00100001 = global constant value > index "1" LOCAL_CONSTANT_TWO_BYTES: 0x82, // = 0b1000-010
GLOBAL_VARIABLE_INDEX_0: 0x60, // = 0b00110000 = global variable value > index "0" LOCAL_CONSTANT_FOUR_BYTES: 0x83, // = 0b1000-011
ONE_BYTE: 0x81, // = 0b1000-001 = constant value > 1 byte to follow GLOBAL_VARIABLE_ONE_BYTE: 0xE1, // = 0b1110-001
TWO_BYTES: 0x82, // = 0b1000-010 = constant value > 2 bytes to follow GLOBAL_CONSTANT_INDEX_0: 0x20, // = 0b00100000
FOUR_BYTES: 0x83, // = 0b1000-011 = constant value > 4 bytes to follow GLOBAL_VARIABLE_INDEX_0: 0x60 // = 0b00110000
GLOBAL_ONE_BYTE: 0xE1 // = 0b1110-001 = size of global var > 1 byte to follow
}; };
/** /**
@ -332,12 +331,12 @@ class EV3Motor {
byteCommand = byteCommand.concat([ byteCommand = byteCommand.concat([
Ev3Args.LAYER, Ev3Args.LAYER,
port, port,
Ev3ParamEncoding.ONE_BYTE, Ev3Encoding.LOCAL_CONSTANT_ONE_BYTE,
dir & 0xff, dir & 0xff,
Ev3ParamEncoding.ONE_BYTE, Ev3Encoding.LOCAL_CONSTANT_ONE_BYTE,
rampup rampup
]).concat(runcmd.concat([ ]).concat(runcmd.concat([
Ev3ParamEncoding.ONE_BYTE, Ev3Encoding.LOCAL_CONSTANT_ONE_BYTE,
rampdown, rampdown,
Ev3Args.BRAKE Ev3Args.BRAKE
])); ]));
@ -401,7 +400,7 @@ class EV3Motor {
// If run duration is less than max 16-bit integer // If run duration is less than max 16-bit integer
if (run < 0x7fff) { if (run < 0x7fff) {
return [ return [
Ev3ParamEncoding.TWO_BYTES, Ev3Encoding.LOCAL_CONSTANT_TWO_BYTES,
run & 0xff, run & 0xff,
(run >> 8) & 0xff (run >> 8) & 0xff
]; ];
@ -409,7 +408,7 @@ class EV3Motor {
// Run forever // Run forever
return [ return [
Ev3ParamEncoding.FOUR_BYTES, Ev3Encoding.LOCAL_CONSTANT_FOUR_BYTES,
run & 0xff, run & 0xff,
(run >> 8) & 0xff, (run >> 8) & 0xff,
(run >> 16) & 0xff, (run >> 16) & 0xff,
@ -553,12 +552,12 @@ class EV3 {
[ [
Ev3Opcode.OPSOUND, Ev3Opcode.OPSOUND,
Ev3Opcode.OPSOUND_CMD_TONE, Ev3Opcode.OPSOUND_CMD_TONE,
Ev3ParamEncoding.ONE_BYTE, Ev3Encoding.LOCAL_CONSTANT_ONE_BYTE,
2, 2,
Ev3ParamEncoding.TWO_BYTES, Ev3Encoding.LOCAL_CONSTANT_TWO_BYTES,
freq, freq,
freq >> 8, freq >> 8,
Ev3ParamEncoding.TWO_BYTES, Ev3Encoding.LOCAL_CONSTANT_TWO_BYTES,
time, time,
time >> 8 time >> 8
] ]
@ -738,11 +737,11 @@ class EV3 {
if (this._pollingCounter % 20 === 0) { if (this._pollingCounter % 20 === 0) {
// GET DEVICE LIST // GET DEVICE LIST
cmds[0] = Ev3Opcode.OPINPUT_DEVICE_LIST; cmds[0] = Ev3Opcode.OPINPUT_DEVICE_LIST;
cmds[1] = Ev3ParamEncoding.ONE_BYTE; cmds[1] = Ev3Encoding.LOCAL_CONSTANT_ONE_BYTE;
cmds[2] = Ev3Args.MAX_DEVICES; cmds[2] = Ev3Args.MAX_DEVICES;
cmds[3] = Ev3ParamEncoding.GLOBAL_VARIABLE_INDEX_0; cmds[3] = Ev3Encoding.GLOBAL_VARIABLE_INDEX_0;
cmds[4] = Ev3ParamEncoding.GLOBAL_ONE_BYTE; cmds[4] = Ev3Encoding.GLOBAL_VARIABLE_ONE_BYTE;
cmds[5] = Ev3ParamEncoding.GLOBAL_CONSTANT_INDEX_0; cmds[5] = Ev3Encoding.GLOBAL_CONSTANT_INDEX_0;
// Command and payload lengths // Command and payload lengths
allocation = 33; allocation = 33;
@ -758,7 +757,7 @@ class EV3 {
cmds[index + 2] = i; // PORT cmds[index + 2] = i; // PORT
cmds[index + 3] = Ev3Args.DO_NOT_CHANGE_TYPE; cmds[index + 3] = Ev3Args.DO_NOT_CHANGE_TYPE;
cmds[index + 4] = Ev3Mode[this._sensorPorts[i]]; cmds[index + 4] = Ev3Mode[this._sensorPorts[i]];
cmds[index + 5] = Ev3ParamEncoding.GLOBAL_ONE_BYTE; cmds[index + 5] = Ev3Encoding.GLOBAL_VARIABLE_ONE_BYTE;
cmds[index + 6] = sensorCount * 4; // GLOBAL INDEX cmds[index + 6] = sensorCount * 4; // GLOBAL INDEX
index += 7; index += 7;
} }
@ -770,7 +769,7 @@ class EV3 {
cmds[index + 0] = Ev3Opcode.OPOUTPUT_GET_COUNT; cmds[index + 0] = Ev3Opcode.OPOUTPUT_GET_COUNT;
cmds[index + 1] = Ev3Args.LAYER; cmds[index + 1] = Ev3Args.LAYER;
cmds[index + 2] = i; // PORT (incorrectly specified as 'Output bit field' in LEGO docs) cmds[index + 2] = i; // PORT (incorrectly specified as 'Output bit field' in LEGO docs)
cmds[index + 3] = Ev3ParamEncoding.GLOBAL_ONE_BYTE; cmds[index + 3] = Ev3Encoding.GLOBAL_VARIABLE_ONE_BYTE;
cmds[index + 4] = sensorCount * 4; // GLOBAL INDEX cmds[index + 4] = sensorCount * 4; // GLOBAL INDEX
index += 5; index += 5;
sensorCount++; sensorCount++;