cutebot.ts

/**
 * Functions to Cutebot by ELECFREAKS Co.,Ltd.
 */
//% weight=5 color=#0fbc11  icon="\uf207" 
namespace cuteBot {
    const STM8_ADDRESSS = 0x10
    let IR_Val = 0
    let _initEvents = true
    /**
    * Unit of Ultrasound Module
    */
    export enum SonarUnit {
        //% block="cm"
        Centimeters,
        //% block="inches"
        Inches
    }
    /**
    * Select the motor on the left or right
    */
    export enum MotorsList {
        //% blockId="M1" block="M1"
        M1 = 0,
        //% blockId="M2" block="M2"
        M2 = 1
    }
    /**
    * Select the servo on the S1 or S2
    */
    export enum ServoList {
        //% block="S1"
        S1 = 0,
        //% block="S2"
        S2 = 1
    }
    /**
    * Select the RGBLights on the left or right
    */
    export enum RGBLights {
        //% blockId="Right_RGB" block="Right_RGB"
        RGB_L = 1,
        //% blockId="Left_RGB" block="Left_RGB"
        RGB_R = 0,
        //% blockId="ALL" block="ALL"
        ALL = 3
    }
    /**
    * Status List of Tracking Modules
    */
    export enum TrackingState {
        //% block="● ●" enumval=0
        L_R_line,

        //% block="◌ ●" enumval=1
        L_unline_R_line,

        //% block="● ◌" enumval=2
        L_line_R_unline,

        //% block="◌ ◌" enumval=3
        L_R_unline
    }
    export enum Direction {
        //% block="Forward" enumval=0
        forward,
        //% block="Backward" enumval=1
        backward,
        //% block="Left" enumval=2
        left,
        //% block="Right" enumval=3
        right
    }
    /**
    * Line Sensor events    MICROBIT_PIN_EVT_RISE
    */
    export enum MbEvents {
        //% block="Found" 
        FindLine = DAL.MICROBIT_PIN_EVT_FALL,
        //% block="Lost" 
        LoseLine = DAL.MICROBIT_PIN_EVT_RISE
    }
    /**
     * Pins used to generate events
     */
    export enum MbPins {
        //% block="Left" 
        Left = DAL.MICROBIT_ID_IO_P13,
        //% block="Right" 
        Right = DAL.MICROBIT_ID_IO_P14
    }
    /**
     * IR controller button
     */
    export enum IRButtons {
        //% blcok="Menu"
        Menu = 2,
        //% blcok="Up"
        Up = 5,
        //% blcok="Left"
        Left = 8,
        //% blcok="Right"
        Right = 10,
        //% blcok="Down"
        Down = 13,
        //% blcok="OK"
        OK = 9,
        //% blcok="Plus"
        Plus = 4,
        //% blcok="Minus"
        Minus = 12,
        //% blcok="Back"
        Back = 6,
        //% block="0"
        Zero = 14,
        //% block="1"
        One = 16,
        //% block="2"
        Two = 17,
        //% block="3"
        Three = 18,
        //% block="4"
        Four = 20,
        //% block="5"
        Five = 21,
        //% block="6"
        Six = 22,
        //% block="7"
        Seven = 24,
        //% block="8"
        Eight = 25,
        //% block="9"
        Nine = 26
    }
    /**
     * TODO: Set the speed of left and right wheels. 
     * @param lspeed Left wheel speed , eg: 100
     * @param rspeed Right wheel speed, eg: -100
     */
    //% blockId=MotorRun block="Set left wheel speed %lspeed\\% |right wheel speed %rspeed\\%"
    //% lspeed.min=-100 lspeed.max=100
    //% rspeed.min=-100 rspeed.max=100
    //% weight=100
    export function motors(lspeed: number = 50, rspeed: number = 50): void {
        let buf = pins.createBuffer(4);
        if (lspeed > 100) {
            lspeed = 100;
        } else if (lspeed < -100) {
            lspeed = -100;
        }
        if (rspeed > 100) {
            rspeed = 100;
        } else if (rspeed < -100) {
            rspeed = -100;
        }
        if (lspeed > 0) {
            buf[0] = 0x01;    //左右轮 0x01左轮  0x02右轮
            buf[1] = 0x02;		//正反转0x02前进  0x01后退
            buf[2] = lspeed;	//速度
            buf[3] = 0;			//补位
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
        }
        else {
            buf[0] = 0x01;
            buf[1] = 0x01;
            buf[2] = lspeed * -1;
            buf[3] = 0;			//补位
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
        }
        if (rspeed > 0) {
            buf[0] = 0x02;
            buf[1] = 0x02;
            buf[2] = rspeed;
            buf[3] = 0;			//补位
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
        }
        else {
            buf[0] = 0x02;
            buf[1] = 0x01;
            buf[2] = rspeed * -1;
            buf[3] = 0;			//补位
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
        }

    }
    /**
    * TODO: Full speed operation lasts for 10 seconds,speed is 100.
    * @param dir Driving direction, eg: Direction.forward
    * @param speed Running speed, eg: 50
    * @param time Travel time, eg: 5
    */
    //% blockId=cutebot_move_time block="Go %dir at speed%speed\\% for %time seconds"
    //% weight=95
    export function moveTime(dir: Direction, speed: number, time: number): void {
        if (dir == 0) {
            motors(speed, speed);
            basic.pause(time * 1000)
            motors(0, 0)
        }
        if (dir == 1) {
            motors(-speed, -speed);
            basic.pause(time * 1000)
            motors(0, 0)
        }
        if (dir == 2) {
            motors(-speed, speed);
            basic.pause(time * 1000)
            motors(0, 0)
        }
        if (dir == 3) {
            motors(speed, -speed);
            basic.pause(time * 1000)
            motors(0, 0)
        }
    }
    /**
    * TODO: full speed move forward,speed is 100.
    */
    //% blockId=cutebot_forward block="Go straight at full speed"
    //% weight=90
    export function forward(): void {
        // Add code here
        let buf = pins.createBuffer(4);
        buf[0] = 0x01;
        buf[1] = 0x02;
        buf[2] = 80;
        buf[3] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        buf[0] = 0x02;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
    }


    /**
    * TODO: full speed move back,speed is -100.
    */
    //% blockId=cutebot_back block="Reverse at full speed"
    //% weight=85
    export function backforward(): void {
        // Add code here
        let buf = pins.createBuffer(4);
        buf[0] = 0x01;
        buf[1] = 0x01;
        buf[2] = 80;
        buf[3] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        buf[0] = 0x02;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);

    }
    /**
    * TODO: full speed turnleft.
    */
    //% blockId=cutebot_left block="Turn left at full speed"
    //% weight=80
    export function turnleft(): void {
        // Add code here
        let buf = pins.createBuffer(4);
        buf[0] = 0x02;
        buf[1] = 0x02;
        buf[2] = 80;
        buf[3] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        buf[0] = 0x01;
        buf[2] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
    }
    /**
    * TODO: full speed turnright.
    */
    //% blockId=cutebot_right block="Turn right at full speed"
    //% weight=75
    export function turnright(): void {
        // Add code here
        let buf = pins.createBuffer(4);
        buf[0] = 0x01;
        buf[1] = 0x02;
        buf[2] = 80;
        buf[3] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        buf[0] = 0x02;
        buf[2] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
    }
    /**
    * TODO: stopcar
    */
    //% blockId=cutebot_stopcar block="Stop car immediatly"
    //% weight=70
    export function stopcar(): void {
        motors(0, 0)
    }
    /**
    * TODO: Set LED headlights.
    */
    //% block="Set LED headlights %light color $color"
    //% color.shadow="colorNumberPicker"
    //% weight=65
    export function colorLight(light: RGBLights, color: number) {
        let r: number, g: number, b: number = 0
        r = color >> 16
        g = (color >> 8) & 0xFF
        b = color & 0xFF
        singleheadlights(light, r, g, b)
    }
    /**
    * TODO: Select a headlights and set the RGB color.
    * @param R R color value of RGB color, eg: 0
    * @param G G color value of RGB color, eg: 128
    * @param B B color value of RGB color, eg: 255
    */
    //% inlineInputMode=inline
    //% blockId=RGB block="Set LED headlights %light color R:%r G:%g B:%b"
    //% r.min=0 r.max=255
    //% g.min=0 g.max=255
    //% b.min=0 b.max=255
    //% weight=60
    export function singleheadlights(light: RGBLights, r: number, g: number, b: number): void {
        let buf = pins.createBuffer(4);
        if (light == 3) {
            buf[0] = 0x04;
            buf[1] = r;
            buf[2] = g;
            buf[3] = b;
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
            buf[0] = 0x08;
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        }
        else {
            if (light == 0) {
                buf[0] = 0x04;
            }
            if (light == 1) {
                buf[0] = 0x08;
            }
            buf[1] = r;
            buf[2] = g;
            buf[3] = b;
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        }

    }
    /**
    * Close all headlights.
    */
    //% inlineInputMode=inline
    //% block="Turn off all LED headlights"
    //% weight=55
    export function closeheadlights(): void {
        let buf = pins.createBuffer(4);
        buf[0] = 0x04;
        buf[1] = 0;
        buf[2] = 0;
        buf[3] = 0;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        buf[0] = 0x08;
        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
    }

    /**
    * Judging the Current Status of Tracking Module. 
    * @param state Four states of tracking module, eg: TrackingState.L_R_line
    */
    //% blockId=ringbitcar_tracking block="Tracking state is %state"
    //% weight=50
    export function tracking(state: TrackingState): boolean {
        pins.setPull(DigitalPin.P13, PinPullMode.PullNone)
        pins.setPull(DigitalPin.P14, PinPullMode.PullNone)
        let left_tracking = pins.digitalReadPin(DigitalPin.P13);
        let right_tracking = pins.digitalReadPin(DigitalPin.P14);
        if (left_tracking == 0 && right_tracking == 0 && state == 0) {
            return true;
        }
        else if (left_tracking == 1 && right_tracking == 0 && state == 1) {
            return true;
        }
        else if (left_tracking == 0 && right_tracking == 1 && state == 2) {
            return true;
        }
        else if (left_tracking == 1 && right_tracking == 1 && state == 3) {
            return true;
        }
        else {
            return false;
        }
    }
    /**
    * TODO: track one side
    * @param side Line sensor edge , eg: MbPins.Left
    * @param state Line sensor status, eg: MbEvents.FindLine
    */
    //% block="%side line sensor %state"
    //% state.fieldEditor="gridpicker" state.fieldOptions.columns=2
    //% side.fieldEditor="gridpicker" side.fieldOptions.columns=2
    //% weight=45
    export function trackSide(side: MbPins, state: MbEvents): boolean {
        pins.setPull(DigitalPin.P13, PinPullMode.PullNone)
        pins.setPull(DigitalPin.P14, PinPullMode.PullNone)
        let left_tracking = pins.digitalReadPin(DigitalPin.P13);
        let right_tracking = pins.digitalReadPin(DigitalPin.P14);
        if (side == 113 && state == 2 && left_tracking == 1) {
            return true;
        }
        else if (side == 113 && state == 3 && left_tracking == 0) {
            return true;
        }
        else if (side == 114 && state == 2 && right_tracking == 1) {
            return true;
        }
        else if (side == 114 && state == 3 && right_tracking == 0) {
            return true;
        }
        else {
            return false;
        }
    }
    /**
    * TODO: Runs when line sensor finds or loses.
    */
    //% block="On %sensor| line %event"
    //% sensor.fieldEditor="gridpicker" sensor.fieldOptions.columns=2
    //% event.fieldEditor="gridpicker" event.fieldOptions.columns=2
    //% weight=40
    export function trackEvent(sensor: MbPins, event: MbEvents, handler: Action) {
        initEvents();
        control.onEvent(<number>sensor, <number>event, handler);
    }
    /**
    * Cars can extend the ultrasonic function to prevent collisions and other functions.. 
    * @param Sonarunit two states of ultrasonic module, eg: Centimeters
    */
    //% blockId=ultrasonic block="HC-SR04 Sonar unit %unit"
    //% weight=35
    export function ultrasonic(unit: SonarUnit, maxCmDistance = 500): number {
        // send pulse
        pins.setPull(DigitalPin.P8, PinPullMode.PullNone);
        pins.digitalWritePin(DigitalPin.P8, 0);
        control.waitMicros(2);
        pins.digitalWritePin(DigitalPin.P8, 1);
        control.waitMicros(10);
        pins.digitalWritePin(DigitalPin.P8, 0);
        // read pulse
        const d = pins.pulseIn(DigitalPin.P12, PulseValue.High, maxCmDistance * 50);
        switch (unit) {
            case SonarUnit.Centimeters:
                return Math.floor(d * 34 / 2 / 1000);
            case SonarUnit.Inches:
                return Math.floor(d * 34 / 2 / 1000 * 0.3937);
            default:
                return d;
        }
    }
    /**
     * TODO: Set the angle of servo. 
     * @param Servo ServoList , eg: cuteBot.ServoList.S1
     * @param angle angle of servo, eg: 90
     */
    //% blockId=cutebot_servo block="Set servo %servo angle to %angle °"
    //% angle.shadow="protractorPicker"
    //% weight=30
    export function setServo(Servo: ServoList, angle: number = 180): void {
        let buf = pins.createBuffer(4);
        if (Servo == ServoList.S1) {
            buf[0] = 0x05;
            buf[1] = angle;
            buf[2] = 0;
            buf[3] = 0;			//补位
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        }
        else {
            buf[0] = 0x06;
            buf[1] = angle;
            buf[2] = 0;
            buf[3] = 0;			//补位
            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
        }

    }
    //% shim=IRV2::irCode
    function irCode(): number {
        return 0;
    }
    //% weight=25
    //% block="On IR receiving"
    export function IR_callback(handler: () => void) {
        pins.setPull(DigitalPin.P16, PinPullMode.PullUp)
        control.onEvent(98, 3500, handler)
        control.inBackground(() => {
            while (true) {
                IR_Val = irCode()
                if (IR_Val != 0xff00) {
                    control.raiseEvent(98, 3500, EventCreationMode.CreateAndFire)
                }
                basic.pause(20)
            }
        })
    }
    /**
     * TODO: Get IR value
     */
    //% block="IR Button %Button is pressed"
    //% weight=15
    export function IR_Button(Button: IRButtons): boolean {
        return (IR_Val & 0x00ff) == Button
    }
    function initEvents(): void {
        if (_initEvents) {
            pins.setEvents(DigitalPin.P13, PinEventType.Edge);
            pins.setEvents(DigitalPin.P14, PinEventType.Edge);
            _initEvents = false;
        }
    }

}