mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-23 14:32:59 -05:00
Removing canReadSensors and sensorsEnabled, first pass.
This commit is contained in:
Evelyn Eastmond
parent
eb4f6235d9
commit
d84dd72a8c
1 changed files with 138 additions and 143 deletions
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@ -25,6 +25,19 @@ const BLEUUID = {
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responseChar: 'b41e6675-a329-40e0-aa01-44d2f444babe'
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responseChar: 'b41e6675-a329-40e0-aa01-44d2f444babe'
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};
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};
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/**
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* TODO
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*/
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const GDXFOR_SENSOR = {
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FORCE: 1,
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ACCELERATION_X: 2,
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ACCELERATION_Y: 3,
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ACCELERATION_Z: 4,
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SPIN_SPEED_X: 5,
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SPIN_SPEED_Y: 6,
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SPIN_SPEED_Z: 7
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};
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/**
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/**
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* Threshold for pushing and pulling force, for the whenForcePushedOrPulled hat block.
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* Threshold for pushing and pulling force, for the whenForcePushedOrPulled hat block.
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* @type {number}
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* @type {number}
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@ -118,7 +131,6 @@ class GdxFor {
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this.disconnect = this.disconnect.bind(this);
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this.disconnect = this.disconnect.bind(this);
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this._onConnect = this._onConnect.bind(this);
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this._onConnect = this._onConnect.bind(this);
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this._sensorsEnabled = null;
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}
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}
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@ -155,7 +167,6 @@ class GdxFor {
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* Disconnect from the GDX FOR.
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* Disconnect from the GDX FOR.
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*/
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*/
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disconnect () {
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disconnect () {
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this._sensorsEnabled = false;
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if (this._scratchLinkSocket) {
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if (this._scratchLinkSocket) {
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this._scratchLinkSocket.disconnect();
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this._scratchLinkSocket.disconnect();
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}
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}
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@ -195,188 +206,172 @@ class GdxFor {
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sensor.setEnabled(true);
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sensor.setEnabled(true);
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});
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});
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this._device.on('measurements-started', () => {
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this._device.on('measurements-started', () => {
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this._sensorsEnabled = true;
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const enabledSensors = this._device.sensors.filter(s => s.enabled);
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const enabledSensors = this._device.sensors.filter(s => s.enabled);
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enabledSensors.forEach(sensor => {
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enabledSensors.forEach(sensor => {
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sensor.on('value-changed', s => {
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sensor.on('value-changed', s => {
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// log the sensor name, new value, and units.
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let val = s.value; // TODO: rename/replace
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// console.log(`Sensor: ${s.name} value: ${s.value} units: ${s.units}`);
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const framesPerSec = 1000 / this._runtime.currentStepTime;
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console.log(typeof(s.name));
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switch (s.number) {
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console.log(s.name.valueOf());
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case GDXFOR_SENSOR.FORCE:
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if (s.name.valueOf() === 'Force') {
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// Normalize the force, which can be measured between -50 and 50 N,
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this._senors.accelerationX = s.value;
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// to be a value between -100 and 100.
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console.log('HERE ============');
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val = MathUtil.clamp(val * 2, -100, 100);
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this._sensors.force = val;
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break;
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case GDXFOR_SENSOR.ACCELERATION_X:
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this._sensors.accelerationX = s.value;
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break;
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case GDXFOR_SENSOR.ACCELERATION_Y:
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this._sensors.accelerationY = s.value;
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break;
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case GDXFOR_SENSOR.ACCELERATION_Z:
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this._sensors.accelerationZ = s.value;
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break;
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case GDXFOR_SENSOR.GYRO_X:
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val = MathUtil.radToDeg(val);
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val = val / framesPerSec; // convert to from degrees per sec to degrees per frame
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val = val * -1;
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this._sensors.spinSpeedX = val;
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break;
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case GDXFOR_SENSOR.GYRO_Y:
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val = MathUtil.radToDeg(val);
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val = val / framesPerSec; // convert to from degrees per sec to degrees per frame
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val = val * -1;
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this._sensors.spinSpeedY = val;
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break;
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case GDXFOR_SENSOR.GYRO_Z:
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val = MathUtil.radToDeg(val);
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val = val / framesPerSec; // convert to from degrees per sec to degrees per frame
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val = val * -1;
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this._sensors.spinSpeedZ = val;
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break;
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}
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}
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if (s.name === 'Y-axis acceleration') {
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this._senors.accelerationY = s.value;
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}
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if (s.name === 'Z-axis acceleration') {
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this._senors.accelerationZ = s.value;
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}
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// console.log(this._sensors);
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});
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});
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});
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});
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});
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});
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this._device.start(10); // Set the period to 10 milliseconds
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this._device.start(10); // Set the period to 10 milliseconds
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}
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}
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/**
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* Device is connected and measurements enabled
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* @return {boolean} - whether the goforce is connected and measurements started.
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*/
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_canReadSensors () {
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return this.isConnected() && this._sensorsEnabled;
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}
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getForce () {
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getForce () {
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if (this._canReadSensors()) {
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return this._sensors.force;
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let force = this._device.getSensor(1).value;
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// Normalize the force, which can be measured between -50 and 50 N,
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// to be a value between -100 and 100.
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force = MathUtil.clamp(force * 2, -100, 100);
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return force;
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}
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return 0;
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}
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}
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getTiltX () {
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getTiltX () {
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if (this._canReadSensors()) {
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let x = this.getAccelerationX();
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let x = this.getAccelerationX();
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let y = this.getAccelerationY();
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let y = this.getAccelerationY();
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let z = this.getAccelerationZ();
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let z = this.getAccelerationZ();
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let xSign = 1;
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let xSign = 1;
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let ySign = 1;
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let ySign = 1;
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let zSign = 1;
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let zSign = 1;
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if (x < 0.0) {
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if (x < 0.0) {
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x *= -1.0; xSign = -1;
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x *= -1.0; xSign = -1;
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}
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if (y < 0.0) {
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y *= -1.0; ySign = -1;
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}
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if (z < 0.0) {
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z *= -1.0; zSign = -1;
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}
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// Compute the yz unit vector
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const z2 = z * z;
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const x2 = x * x;
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let value = z2 + x2;
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value = Math.sqrt(value);
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// For sufficiently small zy vector values we are essentially at 90 degrees.
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// The following snaps to 90 and avoids divide-by-zero errors.
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// The snap factor was derived through observation -- just enough to
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// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
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if (value < 0.35) {
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value = 90;
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} else {
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// Compute the x-axis angle
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value = y / value;
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value = Math.atan(value);
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value *= 57.2957795; // convert from rad to deg
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}
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// Manage the sign of the result
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let xzSign = xSign;
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if (z > x) xzSign = zSign;
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if (xzSign === -1) value = 180.0 - value;
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value *= ySign;
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// Round the result to the nearest degree
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value += 0.5;
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return value;
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}
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}
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return 0;
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if (y < 0.0) {
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y *= -1.0; ySign = -1;
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}
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if (z < 0.0) {
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z *= -1.0; zSign = -1;
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}
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// Compute the yz unit vector
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const z2 = z * z;
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const x2 = x * x;
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let value = z2 + x2;
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value = Math.sqrt(value);
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// For sufficiently small zy vector values we are essentially at 90 degrees.
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// The following snaps to 90 and avoids divide-by-zero errors.
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// The snap factor was derived through observation -- just enough to
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// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
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if (value < 0.35) {
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value = 90;
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} else {
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// Compute the x-axis angle
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value = y / value;
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value = Math.atan(value);
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value *= 57.2957795; // convert from rad to deg
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}
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// Manage the sign of the result
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let xzSign = xSign;
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if (z > x) xzSign = zSign;
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if (xzSign === -1) value = 180.0 - value;
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value *= ySign;
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// Round the result to the nearest degree
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value += 0.5;
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return value;
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}
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}
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getTiltY () {
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getTiltY () {
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if (this._canReadSensors()) {
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let x = this.getAccelerationX();
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let x = this.getAccelerationX();
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let y = this.getAccelerationY();
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let y = this.getAccelerationY();
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let z = this.getAccelerationZ();
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let z = this.getAccelerationZ();
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let xSign = 1;
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let xSign = 1;
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let ySign = 1;
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let ySign = 1;
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let zSign = 1;
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let zSign = 1;
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if (x < 0.0) {
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if (x < 0.0) {
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x *= -1.0; xSign = -1;
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x *= -1.0; xSign = -1;
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}
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if (y < 0.0) {
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y *= -1.0; ySign = -1;
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}
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if (z < 0.0) {
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z *= -1.0; zSign = -1;
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}
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// Compute the yz unit vector
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const z2 = z * z;
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const y2 = y * y;
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let value = z2 + y2;
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value = Math.sqrt(value);
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// For sufficiently small zy vector values we are essentially at 90 degrees.
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// The following snaps to 90 and avoids divide-by-zero errors.
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// The snap factor was derived through observation -- just enough to
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// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
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if (value < 0.35) {
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value = 90;
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} else {
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// Compute the x-axis angle
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value = x / value;
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value = Math.atan(value);
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value *= 57.2957795; // convert from rad to deg
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}
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// Manage the sign of the result
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let yzSign = ySign;
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if (z > y) yzSign = zSign;
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if (yzSign === -1) value = 180.0 - value;
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value *= xSign;
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// Round the result to the nearest degree
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value += 0.5;
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return value;
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}
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}
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return 0;
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if (y < 0.0) {
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y *= -1.0; ySign = -1;
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}
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if (z < 0.0) {
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z *= -1.0; zSign = -1;
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}
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// Compute the yz unit vector
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const z2 = z * z;
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const y2 = y * y;
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let value = z2 + y2;
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value = Math.sqrt(value);
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// For sufficiently small zy vector values we are essentially at 90 degrees.
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// The following snaps to 90 and avoids divide-by-zero errors.
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// The snap factor was derived through observation -- just enough to
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// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
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if (value < 0.35) {
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value = 90;
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} else {
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// Compute the x-axis angle
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value = x / value;
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value = Math.atan(value);
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value *= 57.2957795; // convert from rad to deg
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}
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// Manage the sign of the result
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let yzSign = ySign;
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if (z > y) yzSign = zSign;
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if (yzSign === -1) value = 180.0 - value;
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value *= xSign;
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// Round the result to the nearest degree
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value += 0.5;
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return value;
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}
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}
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getAccelerationX () {
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getAccelerationX () {
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return this._getAcceleration(2);
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return this._sensors.accelerationX;
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}
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}
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getAccelerationY () {
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getAccelerationY () {
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return this._getAcceleration(3);
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return this._sensors.accelerationY;
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}
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}
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getAccelerationZ () {
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getAccelerationZ () {
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return this._getAcceleration(4);
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return this._sensors.accelerationZ;
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}
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_getAcceleration (sensorNum) {
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if (!this._canReadSensors()) return 0;
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const val = this._device.getSensor(sensorNum).value;
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return val;
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}
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}
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getSpinSpeedX () {
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getSpinSpeedX () {
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return this._getSpinSpeed(5);
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return this._sensors.spinSpeedX;
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}
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}
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getSpinSpeedY () {
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getSpinSpeedY () {
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return this._getSpinSpeed(6);
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return this._sensors.spinSpeedY;
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}
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}
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getSpinSpeedZ () {
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getSpinSpeedZ () {
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return this._getSpinSpeed(7);
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return this._sensors.spinSpeedZ;
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}
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_getSpinSpeed (sensorNum) {
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if (!this._canReadSensors()) return 0;
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let val = this._device.getSensor(sensorNum).value;
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val = MathUtil.radToDeg(val);
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const framesPerSec = 1000 / this._runtime.currentStepTime;
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val = val / framesPerSec; // convert to from degrees per sec to degrees per frame
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val = val * -1;
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return val;
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}
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}
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}
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}
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