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Trying some different enum values and reorganizing the enums at top of file.
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Evelyn Eastmond
parent
fe43ecfa73
commit
f45539280a
1 changed files with 42 additions and 42 deletions
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@ -28,6 +28,26 @@ const Ev3PairingPin = '1234';
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*/
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const BTSendRateMax = 40;
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/**
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* Enum for Ev3 byte specs used as parameter encodings to various argument values.
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* Found in the 'EV3 Firmware Developer Kit', section4, page 9, at
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* https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits.
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*
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* The format for these values is:
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* 0xxxxxxx for Short Format
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* 1ttt-bbb for Long Format
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*
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* @readonly
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* @enum {number}
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*/
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const Ev3ParamEncoding = {
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ONE_BYTE: 0x81, // = 0b1000-001 = constant value, 1 byte to follow
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TWO_BYTES: 0x82, // = 0b1000-010 = constant value, 2 bytes to follow
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FOUR_BYTES: 0x83, // = 0b1000-011 = constant value, 4 bytes to follow
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GLOBAL_ONE_BYTE: 0xE1, // = 0b1110-001 = size of global var, 1 byte to follow
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GLOBAL_INDEX_0: 0x20 // = 0b00100000 = global var index "0"
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};
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/**
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* Enum for Ev3 direct command types.
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* Found in the 'EV3 Communication Developer Kit', section 4, page 24, at
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@ -63,26 +83,6 @@ const Ev3Opcode = {
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OPINPUT_READSI: 0x9D
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};
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/**
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* Enum for Ev3 byte values used as arguments to various opcodes.
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* Found in the 'EV3 Firmware Developer Kit', section4, page 9, at
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* https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits.
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*
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* The format for these values is:
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* 0xxxxxxx for Short Format
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* 1ttt-bbb for Long Format
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*
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* @readonly
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* @enum {number}
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*/
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const Ev3ByteValue = {
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ONE_BYTE: 0x81, // = 0b1000-001 = constant value, 1 byte to follow
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TWO_BYTES: 0x82, // = 0b1000-010 = constant value, 2 bytes to follow
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FOUR_BYTES: 0x83, // = 0b1000-011 = constant value, 4 bytes to follow
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GLOBAL_ONE_BYTE: 0xE1, // = 0b1110-001 = size of global var, 1 byte to follow
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GLOBAL_INDEX_0: 0x20 // = 0b00100000 = global var index "0"
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};
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/**
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* Enum for Ev3 values used as arguments to various opcodes.
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* Found in the 'EV3 Firmware Developer Kit', section4, page 10-onwards, at
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@ -90,7 +90,7 @@ const Ev3ByteValue = {
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* @readonly
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* @enum {number}
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*/
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const Ev3Value = {
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const Ev3Args = {
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LAYER: 0x00, // always 0, chained EV3s not supported
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COAST: 0x00,
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BRAKE: 0x01,
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@ -301,7 +301,7 @@ class EV3Motor {
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const port = this._portMask(this._index);
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let n = milliseconds;
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let speed = this._power * this._direction;
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const ramp = Ev3Value.LONG_RAMP;
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const ramp = Ev3Args.LONG_RAMP;
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let byteCommand = [];
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byteCommand[0] = Ev3Opcode.OPOUTPUT_TIME_SPEED;
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@ -327,16 +327,16 @@ class EV3Motor {
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// Generate motor command values
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const runcmd = this._runValues(run);
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byteCommand = byteCommand.concat([
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Ev3Value.LAYER,
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Ev3Args.LAYER,
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port,
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Ev3ByteValue.ONE_BYTE,
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Ev3ParamEncoding.ONE_BYTE,
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dir & 0xff,
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Ev3ByteValue.ONE_BYTE,
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Ev3ParamEncoding.ONE_BYTE,
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rampup
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]).concat(runcmd.concat([
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Ev3ByteValue.ONE_BYTE,
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Ev3ParamEncoding.ONE_BYTE,
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rampdown,
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Ev3Value.BRAKE
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Ev3Args.BRAKE
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]));
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const cmd = this._parent.generateCommand(
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@ -380,9 +380,9 @@ class EV3Motor {
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Ev3Command.DIRECT_COMMAND_NO_REPLY,
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[
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Ev3Opcode.OPOUTPUT_STOP,
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Ev3Value.LAYER,
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Ev3Args.LAYER,
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this._portMask(this._index), // port output bit field
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Ev3Value.COAST
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Ev3Args.COAST
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]
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);
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@ -398,7 +398,7 @@ class EV3Motor {
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// If run duration is less than max 16-bit integer
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if (run < 0x7fff) {
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return [
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Ev3ByteValue.TWO_BYTES,
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Ev3ParamEncoding.TWO_BYTES,
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run & 0xff,
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(run >> 8) & 0xff
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];
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@ -406,7 +406,7 @@ class EV3Motor {
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// Run forever
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return [
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Ev3ByteValue.FOUR_BYTES,
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Ev3ParamEncoding.FOUR_BYTES,
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run & 0xff,
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(run >> 8) & 0xff,
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(run >> 16) & 0xff,
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@ -550,12 +550,12 @@ class EV3 {
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[
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Ev3Opcode.OPSOUND,
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Ev3Opcode.OPSOUND_CMD_TONE,
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Ev3ByteValue.ONE_BYTE,
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Ev3ParamEncoding.ONE_BYTE,
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2,
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Ev3ByteValue.TWO_BYTES,
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Ev3ParamEncoding.TWO_BYTES,
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freq,
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freq >> 8,
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Ev3ByteValue.TWO_BYTES,
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Ev3ParamEncoding.TWO_BYTES,
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time,
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time >> 8
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]
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@ -735,11 +735,11 @@ class EV3 {
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if (this._pollingCounter % 20 === 0) {
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// GET DEVICE LIST
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cmds[0] = Ev3Opcode.OPINPUT_DEVICE_LIST;
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cmds[1] = Ev3ByteValue.ONE_BYTE;
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cmds[1] = Ev3ParamEncoding.ONE_BYTE;
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cmds[2] = 33; // 0x21 ARRAY // TODO: document
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cmds[3] = 96; // 0x60 CHANGED // TODO: document
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cmds[4] = Ev3ByteValue.GLOBAL_ONE_BYTE;
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cmds[5] = Ev3ByteValue.GLOBAL_INDEX_0;
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cmds[4] = Ev3ParamEncoding.GLOBAL_ONE_BYTE;
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cmds[5] = Ev3ParamEncoding.GLOBAL_INDEX_0;
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// Command and payload lengths
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allocation = 33;
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@ -754,11 +754,11 @@ class EV3 {
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for (let i = 0; i < 4; i++) {
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if (this._sensorPorts[i] !== 'none') {
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cmds[index + 0] = Ev3Opcode.OPINPUT_READSI;
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cmds[index + 1] = Ev3Value.LAYER;
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cmds[index + 1] = Ev3Args.LAYER;
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cmds[index + 2] = i; // PORT
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cmds[index + 3] = Ev3Value.DO_NOT_CHANGE_TYPE;
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cmds[index + 3] = Ev3Args.DO_NOT_CHANGE_TYPE;
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cmds[index + 4] = Ev3Mode[this._sensorPorts[i]];
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cmds[index + 5] = Ev3ByteValue.GLOBAL_ONE_BYTE;
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cmds[index + 5] = Ev3ParamEncoding.GLOBAL_ONE_BYTE;
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cmds[index + 6] = sensorCount * 4; // GLOBAL INDEX
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index += 7;
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}
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@ -768,9 +768,9 @@ class EV3 {
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// GET MOTOR POSITION VALUES, EVEN IF NO MOTOR PRESENT
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for (let i = 0; i < 4; i++) {
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cmds[index + 0] = Ev3Opcode.OPOUTPUT_GET_COUNT;
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cmds[index + 1] = Ev3Value.LAYER;
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cmds[index + 1] = Ev3Args.LAYER;
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cmds[index + 2] = i; // PORT TODO: explain incorrect documentation as 'Output bit field'
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cmds[index + 3] = Ev3ByteValue.GLOBAL_ONE_BYTE;
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cmds[index + 3] = Ev3ParamEncoding.GLOBAL_ONE_BYTE;
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cmds[index + 4] = sensorCount * 4; // GLOBAL INDEX
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index += 5;
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sensorCount++;
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