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Move Ev3 byte values into their own enum, separate from parameter values.

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This commit is contained in:
Evelyn Eastmond 2019-06-14 11:48:13 -04:00
parent c237f1326d
commit f8d9f687ec
1 changed files with 24 additions and 14 deletions
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38
src/extensions/scratch3_ev3/index.js
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@ -63,18 +63,28 @@ const Ev3Opcode = {
OPINPUT_READSI: 0x9D OPINPUT_READSI: 0x9D
}; };
/**
* Enum for Ev3 byte values used as arguments to various opcodes.
* Found in the 'EV3 Firmware Developer Kit', section4, page 9, at
* https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits.
* @readonly
* @enum {number}
*/
const Ev3ByteValue = {
NUM8: 0x81, // = 0b10000001 = "1 byte to follow"
NUM16: 0x82, // = 0b10000010 = "2 bytes to follow"
NUM32: 0x83 // = 0b10000011 = "4 bytes to follow"
};
/** /**
* Enum for Ev3 values used as arguments to various opcodes. * Enum for Ev3 values used as arguments to various opcodes.
* Found in the 'EV3 Firmware Developer Kit', section4, page 10-onwards, at * Found in the 'EV3 Firmware Developer Kit', section4, page 10-onwards, at
* https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits. * https://education.lego.com/en-us/support/mindstorms-ev3/developer-kits.
* @readonly * @readonly
* @enum {string} * @enum {number}
*/ */
const Ev3Value = { const Ev3Value = {
LAYER: 0x00, // always 0, chained EV3s not supported LAYER: 0x00, // always 0, chained EV3s not supported
NUM8: 0x81, // "1 byte to follow"
NUM16: 0x82, // "2 bytes to follow"
NUM32: 0x83, // "4 bytes to follow"
COAST: 0x00, COAST: 0x00,
BRAKE: 0x01, BRAKE: 0x01,
LONG_RAMP: 50, LONG_RAMP: 50,
@ -312,12 +322,12 @@ class EV3Motor {
byteCommand = byteCommand.concat([ byteCommand = byteCommand.concat([
Ev3Value.LAYER, Ev3Value.LAYER,
port, port,
Ev3Value.NUM8, Ev3ByteValue.NUM8,
dir & 0xff, dir & 0xff,
Ev3Value.NUM8, Ev3ByteValue.NUM8,
rampup rampup
]).concat(runcmd.concat([ ]).concat(runcmd.concat([
Ev3Value.NUM8, Ev3ByteValue.NUM8,
rampdown, rampdown,
Ev3Value.BRAKE Ev3Value.BRAKE
])); ]));
@ -381,7 +391,7 @@ 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 [
Ev3Value.NUM16, Ev3ByteValue.NUM16,
run & 0xff, run & 0xff,
(run >> 8) & 0xff (run >> 8) & 0xff
]; ];
@ -389,7 +399,7 @@ class EV3Motor {
// Run forever // Run forever
return [ return [
Ev3Value.NUM32, Ev3ByteValue.NUM32,
run & 0xff, run & 0xff,
(run >> 8) & 0xff, (run >> 8) & 0xff,
(run >> 16) & 0xff, (run >> 16) & 0xff,
@ -533,12 +543,12 @@ class EV3 {
[ [
Ev3Opcode.OPSOUND, Ev3Opcode.OPSOUND,
Ev3Opcode.OPSOUND_CMD_TONE, Ev3Opcode.OPSOUND_CMD_TONE,
Ev3Value.NUM8, Ev3ByteValue.NUM8,
2, 2,
Ev3Value.NUM16, Ev3ByteValue.NUM16,
freq, freq,
freq >> 8, freq >> 8,
Ev3Value.NUM16, Ev3ByteValue.NUM16,
time, time,
time >> 8 time >> 8
] ]
@ -718,7 +728,7 @@ 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] = Ev3Value.NUM8; // 1 byte to follow cmds[1] = Ev3ByteValue.NUM8; // 1 byte to follow
cmds[2] = 33; // 0x21 ARRAY // TODO: document cmds[2] = 33; // 0x21 ARRAY // TODO: document
cmds[3] = 96; // 0x60 CHANGED // TODO: document cmds[3] = 96; // 0x60 CHANGED // TODO: document
cmds[4] = 225; // 0xE1 size of global var - 1 byte to follow // TODO: document cmds[4] = 225; // 0xE1 size of global var - 1 byte to follow // TODO: document
@ -735,7 +745,7 @@ class EV3 {
// GET SENSOR VALUES FOR CONNECTED SENSORS // GET SENSOR VALUES FOR CONNECTED SENSORS
let index = 0; let index = 0;
for (let i = 0; i < 4; i++) { for (let i = 0; i < 4; i++) {
// Must check that sensor value isn't undefined (which is sometimes returned by EV3) // Must check that sensor val isn't null (which is sometimes returned by EV3)
if (this._sensorPorts[i] && this._sensorPorts[i] !== 'none') { if (this._sensorPorts[i] && this._sensorPorts[i] !== 'none') {
cmds[index + 0] = Ev3Opcode.OPINPUT_READSI; cmds[index + 0] = Ev3Opcode.OPINPUT_READSI;
cmds[index + 1] = Ev3Value.LAYER; cmds[index + 1] = Ev3Value.LAYER;