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main.ts
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/**
* @file YFE06.ts
* @brief Customize YFROBOT's YFE06 makecode library.
* @n This is a MakeCode graphics programming extension
* for MicroBit motor drive expansion board.
*
* @copyright YFROBOT,2021
* @copyright MIT Lesser General Public License
*
* @author [email]([email protected])
* @date 2021-06-11
*/
// motor pin
let YFE06Motor1D = DigitalPin.P13
let YFE06Motor1A = AnalogPin.P14
let YFE06Motor2D = DigitalPin.P15
let YFE06Motor2A = AnalogPin.P16
//% color="#45b787" weight=10 icon="\uf12e"
namespace YFE06 {
/////////////////////// IR ///////////////////////
let irState: IrState
const MICROBIT_MAKERBIT_IR_NEC = 777
const MICROBIT_MAKERBIT_IR_BUTTON_PRESSED_ID = 789
const MICROBIT_MAKERBIT_IR_BUTTON_RELEASED_ID = 790
const IR_REPEAT = 256
const IR_INCOMPLETE = 257
interface IrState {
protocol: IrProtocol;
command: number;
hasNewCommand: boolean;
bitsReceived: uint8;
commandBits: uint8;
}
export enum IrProtocol {
//% block="Keyestudio"
Keyestudio = 0,
//% block="NEC"
NEC = 1,
}
export enum IrButtonAction {
//% block="pressed"
Pressed = 0,
//% block="released"
Released = 1,
}
export enum IrButton {
// any button
//% block="Any"
Any = -1,
//IR HANDLE
//% block="↑"
UP = 0x11,
//% block="↓"
DOWN = 0x91,
//% block="←"
LEFT = 0x81,
//% block="→"
RIGHT = 0xa1,
//% block="M1"
M1 = 0xe9,
//% block="M2"
M2 = 0x69,
//% block="A"
A = 0x21,
//% block="B"
B = 0x01,
// MINI IR
//% block="A"
Mini_A = 0xa2,
//% block="B"
Mini_B = 0x62,
//% block="C"
Mini_C = 0xe2,
//% block="D"
Mini_D = 0x22,
//% block="︿"
Mini_UP = 0x02,
//% block="E"
Mini_E = 0xc2,
//% block="＜"
Mini_Left = 0xe0,
//% block="۞"
Mini_SET = 0xa8,
//% block="＞"
Mini_Right = 0x90,
//% block="0"
Number_0 = 0x68,
//% block="﹀"
Mini_Down = 0x98,
//% block="F"
Mini_F = 0xb0,
//% block="1"
Number_1 = 0x30,
//% block="2"
Number_2 = 0x18,
//% block="3"
Number_3 = 0x7a,
//% block="4"
Number_4 = 0x10,
//% block="5"
Number_5 = 0x38,
//% block="6"
Number_6 = 0x5a,
//% block="7"
Number_7 = 0x42,
//% block="8"
Number_8 = 0x4a,
//% block="9"
Number_9 = 0x52,
}
/////////////////////// IR ///////////////////////
export enum Motors {
//% blockId="M1Motor" block="M1"
M1 = 0,
//% blockId="M2Motor" block="M2"
M2 = 1,
//% blockId="AllMotors" block="All"
MAll = 2
}
export enum Dir {
//% blockId="CW" block="Forward"
CW = 0x0,
//% blockId="CCW" block="Reverse"
CCW = 0x1
}
export enum PingUnit {
//% block="μs"
MicroSeconds,
//% block="cm"
Centimeters,
//% block="inches"
Inches
}
/////////////////////// DigitalTubes ///////////////////////
let PINDIO = DigitalPin.P1;
let PINCLK = DigitalPin.P2;
let CMD_SYSTEM_CONFIG = 0x48
let DIG1_ADDRESS = 0x68
let DIG2_ADDRESS = 0x6A
let DIG3_ADDRESS = 0x6C
let DIG4_ADDRESS = 0x6E
let DatAddressArray = [DIG1_ADDRESS, DIG2_ADDRESS, DIG3_ADDRESS, DIG4_ADDRESS];
let _SEG = [0x3F, 0x06, 0x5B, 0x4F, 0x66, 0x6D, 0x7D, 0x07, 0x7F, 0x6F, 0x77, 0x7C, 0x39, 0x5E, 0x79, 0x71];
let _intensity = 8
let dbuf = [0, 0, 0, 0]
/////////////////////// DigitalTubes ///////////////////////
function clamp(value: number, min: number, max: number): number {
return Math.max(Math.min(max, value), min);
}
/**
* Set the direction and speed of YFE06 motor.
* @param index motor m1/m2/all. eg: YFE06.Motors.MAll
* @param direction direction to turn. eg: YFE06.Dir.CW
* @param speed speed of motors (0 to 255). eg: 120
*/
//% weight=90
//% blockId=YFE06_MotorRun block="motor|%index|move|%direction|at speed|%speed"
//% speed.min=0 speed.max=255
//% index.fieldEditor="gridpicker" index.fieldOptions.columns=2
//% direction.fieldEditor="gridpicker" direction.fieldOptions.columns=2
export function motorRun(index: Motors, direction: Dir, speed: number): void {
if (index > 2 || index < 0)
return
let dir_m2 = direction == Dir.CW ? Dir.CCW : Dir.CW;
speed = clamp(speed, 0, 255) * 4.01; // 0~255 > 0~1023
if (index == Motors.M1) {
pins.digitalWritePin(YFE06Motor1D, direction);
pins.analogWritePin(YFE06Motor1A, speed);
} else if (index == Motors.M2) {
pins.digitalWritePin(YFE06Motor2D, dir_m2);
pins.analogWritePin(YFE06Motor2A, speed);
} else if (index == Motors.MAll) {
pins.digitalWritePin(YFE06Motor1D, direction);
pins.analogWritePin(YFE06Motor1A, speed);
pins.digitalWritePin(YFE06Motor2D, dir_m2);
pins.analogWritePin(YFE06Motor2A, speed);
}
}
/**
* Stop the YFE06 motor.
* @param motor motor m1/m2/all. eg: YFE06.Motors.MAll
*/
//% weight=89
//% blockId=YFE06_motorStop block="motor |%motor stop"
//% motor.fieldEditor="gridpicker" motor.fieldOptions.columns=2
export function motorStop(motor: Motors): void {
motorRun(motor, 0, 0);
}
/**
* Checks whether the Collision Switch is currently pressed.
* @param pincs collision Switch pin. eg: DigitalPin.P8
* @returns the Collision Switch Value.
*/
//% weight=60
//% blockId=YFE06_readCollisionSwitch
//% block="Collision Switch at %pincs is pressed"
//% pin.fieldEditor="gridpicker" pin.fieldOptions.columns=4
export function readCollisionSwitch(pincs: DigitalPin): boolean {
let a: number = pins.digitalReadPin(pincs);
if (a == 0) {
return true;
} else return false;
}
/**
* Return the value of the Potentiometer.
* @param pinpt the Potentiometer pin. eg: AnalogPin.P2
* @returns the Potentiometer Value.
*/
//% weight=53
//% blockId=YFE06_readPotentiometer
//% block="value of Potentiometer at %pinpt"
//% piny.fieldEditor="gridpicker" piny.fieldOptions.columns=4
export function readPotentiometer(pinpt: AnalogPin): number {
return pins.analogReadPin(pinpt)
}
/**
* Checks whether the Infrared Sensor detects an obstacle.
* @param pinir Infrared Sensor pin. eg: DigitalPin.P8
* @returns the Infrared Sensor Value.
*/
//% weight=60
//% blockId=YFE06_readInfraredSensor
//% block="Infrared Sensor at %pinir detects an obstacle"
//% pin.fieldEditor="gridpicker" pin.fieldOptions.columns=4
export function readInfraredSensor(pinir: DigitalPin): boolean {
let a: number = pins.digitalReadPin(pinir);
if (a == 0) {
return true;
} else return false;
}
/**
* Send a ping and get the echo time (in microseconds) as a result
* @param trig trigger pin. eg: DigitalPin.P2
* @param echo echo pin. eg: DigitalPin.P8
* @param unit desired conversion unit. eg: PingUnit.Centimeters
* @param maxCmDistance maximum distance in centimeters (default is 450)
*/
//% weight=50
//% blockId=YFE06_sonar_ping block="ping trig |%trig echo |%echo unit |%unit"
//% trig.fieldEditor="gridpicker" trig.fieldOptions.columns=4
//% echo.fieldEditor="gridpicker" echo.fieldOptions.columns=4
//% unit.fieldEditor="gridpicker" unit.fieldOptions.columns=3
//% inlineInputMode=inline
export function ping(trig: DigitalPin, echo: DigitalPin, unit: PingUnit, maxCmDistance = 450): number {
// send pulse
pins.setPull(trig, PinPullMode.PullNone);
pins.digitalWritePin(trig, 0);
control.waitMicros(10);
pins.digitalWritePin(trig, 1);
control.waitMicros(50);
pins.digitalWritePin(trig, 0);
// read pulse
const d = pins.pulseIn(echo, PulseValue.High, maxCmDistance * 58);
switch (unit) {
case PingUnit.Centimeters: return Math.idiv(d, 58);
case PingUnit.Inches: return Math.idiv(d, 148);
default: return d ;
}
}
/////////////////////// DigitalTubes ///////////////////////
// /**
// * Connects to the digital tube module at the specified pin.
// * @param pin_d DIO pin. eg: DigitalPin.P1
// * @param pin_c CLK pin. eg: DigitalPin.P2
// */
// //% subcategory="DigitalTube"
// //% weight=59
// //% blockId="YFE06_4digitaltubes_pins"
// //% block="connect 4 digital tubes at DIO %pin_d and CLK %pin_c"
// //% pin_c.fieldEditor="gridpicker" pin_c.fieldOptions.columns=4 pin_c.fieldOptions.tooltips="false"
// //% pin_d.fieldEditor="gridpicker" pin_d.fieldOptions.columns=4 pin_d.fieldOptions.tooltips="false"
// export function connectPIN(pin_d: DigitalPin, pin_c: DigitalPin): void {
// PINCLK = pin_c;
// PINDIO = pin_d;
// on();
// clear();
// }
// /** FrameStart_1650
// */
// function FrameStart_1650(): void {
// pins.digitalWritePin(PINDIO, 1);
// pins.digitalWritePin(PINCLK, 1);
// pins.digitalWritePin(PINDIO, 0);
// }
// /** FrameEnd_1650
// */
// function FrameEnd_1650(): void {
// pins.digitalWritePin(PINDIO, 0);
// pins.digitalWritePin(PINCLK, 1);
// pins.digitalWritePin(PINDIO, 1);
// }
// /** FrameAck_1650
// */
// function FrameAck_1650(): number {
// if(pins.digitalReadPin(PINDIO) == 0) {
// pins.digitalWritePin(PINCLK , 1);
// pins.digitalWritePin(PINCLK , 0);
// return 0;
// } else {
// return 1;
// }
// }
// /** writeByte
// */
// function writeByte(firstByte: number, secondByte: number): number {
// let tmp=0;
// let i=0;
// let err=0;
// tmp=firstByte;
// FrameStart_1650();
// for(i=0;i<8;i++) {
// if(tmp&0x80) {
// pins.digitalWritePin(PINDIO, 1);
// } else {
// pins.digitalWritePin(PINDIO, 0);
// }
// pins.digitalWritePin(PINCLK , 0);
// pins.digitalWritePin(PINCLK , 1);
// pins.digitalWritePin(PINCLK , 0);
// tmp=tmp<<1;
// }
// if(FrameAck_1650() == 1) {
// err=1;
// }
// tmp=secondByte;
// for(i=0;i<8;i++) {
// if(tmp&0x80) {
// pins.digitalWritePin(PINDIO, 1);
// } else {
// pins.digitalWritePin(PINDIO, 0);
// }
// pins.digitalWritePin(PINCLK , 0);
// pins.digitalWritePin(PINCLK , 1);
// pins.digitalWritePin(PINCLK , 0);
// tmp=tmp<<1;
// }
// if(FrameAck_1650()==1) {
// err=1;
// }
// FrameEnd_1650();
// return err;
// }
// /**
// * send command to display
// * @param c command, eg: 0
// */
// function cmd(c: number) {
// writeByte(CMD_SYSTEM_CONFIG, c);
// }
// /**
// * send data to display
// * @param d data, eg: 0
// * @param bit bit, eg: 0
// */
// function dat(bit: number, d: number) {
// writeByte(DatAddressArray[bit % 4], d);
// }
// /**
// * turn on display
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_ON" block="turn on display"
// //% weight=15 blockGap=8
// export function on() {
// cmd(_intensity * 16 + 1)
// }
// /**
// * turn off display
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_OFF" block="turn off display"
// //% weight=10 blockGap=8
// export function off() {
// _intensity = 0
// cmd(0)
// }
// /**
// * clear display content
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_CLEAR" block="clear display"
// //% weight=5 blockGap=8
// export function clear() {
// dat(0, 0)
// dat(1, 0)
// dat(2, 0)
// dat(3, 0)
// dbuf = [0, 0, 0, 0]
// }
// /**
// * show a digital in given position
// * @param num is number (0-15) will be shown, eg: 1
// * @param bit is position, eg: 0
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_DIGIT" block="show digit %num|at %bit"
// //% weight=40 blockGap=8
// //% num.max=15 num.min=0
// //% bit.max=3 bit.min=0
// export function digit(num: number, bit: number) {
// dbuf[bit % 4] = _SEG[num % 16]
// dat(bit, _SEG[num % 16])
// }
// /**
// * show a number in display
// * @param num is number will be shown, eg: 100
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_SHOW_NUMBER" block="show number %num"
// //% weight=45 blockGap=8
// export function showNumber(num: number) {
// if (num < 0) {
// dat(0, 0x40) // '-'
// num = -num
// }
// else
// digit(Math.idiv(num, 1000) % 10, 0)
// digit(num % 10, 3)
// digit(Math.idiv(num, 10) % 10, 2)
// digit(Math.idiv(num, 100) % 10, 1)
// }
// /**
// * show a number in hex format
// * @param num is number will be shown, eg: 123
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_SHOW_HEX_NUMBER" block="show hex number %num"
// //% weight=43 blockGap=8
// export function showHex(num: number) {
// if (num < 0) {
// dat(0, 0x40) // '-'
// num = -num
// }
// else
// digit((num >> 12) % 16, 0)
// digit(num % 16, 3)
// digit((num >> 4) % 16, 2)
// digit((num >> 8) % 16, 1)
// }
// /**
// * show Dot Point in given position
// * @param bit is positiion, eg: 0
// * @param show is true/false, eg: true
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_SHOW_DP" block="at %bit|show dot point %show"
// //% weight=38 blockGap=8
// //% bit.max=3 bit.min=0
// export function showDpAt(bit: number, show: boolean) {
// if (show) dat(bit, dbuf[bit % 4] | 0x80)
// else dat(bit, dbuf[bit % 4] & 0x7F)
// }
// /**
// * set display intensity
// * @param dat is intensity of the display, eg: 3
// */
// //% subcategory="DigitalTube"
// //% blockId="YFE06_TM650_INTENSITY" block="set intensity %dat"
// //% weight=35 blockGap=8
// //% dat.max=7 dat.min=0
// export function setIntensity(dat: number) {
// if ((dat < 0) || (dat > 8))
// return;
// if (dat == 0)
// off()
// else {
// _intensity = dat
// cmd((dat << 4) | 0x01)
// }
// }
/////////////////////// DigitalTubes ///////////////////////
/////////////////////// IR ///////////////////////
function pushBit(bit: number): number {
irState.bitsReceived += 1;
if (irState.bitsReceived <= 8) {
// ignore all address bits
if (irState.protocol === IrProtocol.Keyestudio && bit === 1) {
// recover from missing message bits at the beginning
// Keyestudio address is 0 and thus missing bits can be easily detected
// by checking for the first inverse address bit (which is a 1)
irState.bitsReceived = 9;
}
return IR_INCOMPLETE;
}
if (irState.bitsReceived <= 16) {
// ignore all inverse address bits
return IR_INCOMPLETE;
} else if (irState.bitsReceived < 24) {
irState.commandBits = (irState.commandBits << 1) + bit;
return IR_INCOMPLETE;
} else if (irState.bitsReceived === 24) {
irState.commandBits = (irState.commandBits << 1) + bit;
return irState.commandBits & 0xff;
} else {
// ignore all inverse command bits
return IR_INCOMPLETE;
}
}
function detectCommand(markAndSpace: number): number {
if (markAndSpace < 1600) {
// low bit
return pushBit(0);
} else if (markAndSpace < 2700) {
// high bit
return pushBit(1);
}
irState.bitsReceived = 0;
if (markAndSpace < 12500) {
// Repeat detected
return IR_REPEAT;
} else if (markAndSpace < 14500) {
// Start detected
return IR_INCOMPLETE;
} else {
return IR_INCOMPLETE;
}
}
function enableIrMarkSpaceDetection(pin: DigitalPin) {
pins.setPull(pin, PinPullMode.PullNone);
let mark = 0;
let space = 0;
pins.onPulsed(pin, PulseValue.Low, () => {
// HIGH, see https://github.com/microsoft/pxt-microbit/issues/1416
mark = pins.pulseDuration();
});
pins.onPulsed(pin, PulseValue.High, () => {
// LOW
space = pins.pulseDuration();
const command = detectCommand(mark + space);
if (command !== IR_INCOMPLETE) {
control.raiseEvent(MICROBIT_MAKERBIT_IR_NEC, command);
}
});
}
/**
* Connects to the IR receiver module at the specified pin and configures the IR protocol.
* @param pin IR receiver pin. eg: DigitalPin.P2
* @param protocol IR protocol. eg: YFE06.IrProtocol.NEC
*/
//% subcategory="IR_Receiver"
//% blockId="YFE06_infrared_connect_receiver"
//% block="connect IR receiver at pin %pin and decode %protocol"
//% pin.fieldEditor="gridpicker"
//% pin.fieldOptions.columns=4
//% pin.fieldOptions.tooltips="false"
//% weight=15
export function connectIrReceiver(pin: DigitalPin, protocol: IrProtocol): void {
if (irState) {
return;
}
irState = {
protocol: protocol,
bitsReceived: 0,
commandBits: 0,
command: IrButton.Any,
hasNewCommand: false,
};
enableIrMarkSpaceDetection(pin);
let activeCommand = IR_INCOMPLETE;
let repeatTimeout = 0;
const REPEAT_TIMEOUT_MS = 120;
control.onEvent(
MICROBIT_MAKERBIT_IR_NEC,
EventBusValue.MICROBIT_EVT_ANY,
() => {
const necValue = control.eventValue();
// Refresh repeat timer
if (necValue <= 255 || necValue === IR_REPEAT) {
repeatTimeout = input.runningTime() + REPEAT_TIMEOUT_MS;
}
// Process a new command
if (necValue <= 255 && necValue !== activeCommand) {
if (activeCommand >= 0) {
control.raiseEvent(
MICROBIT_MAKERBIT_IR_BUTTON_RELEASED_ID,
activeCommand
);
}
irState.hasNewCommand = true;
irState.command = necValue;
activeCommand = necValue;
control.raiseEvent(MICROBIT_MAKERBIT_IR_BUTTON_PRESSED_ID, necValue);
}
}
);
control.inBackground(() => {
while (true) {
if (activeCommand === IR_INCOMPLETE) {
// sleep to save CPU cylces
basic.pause(2 * REPEAT_TIMEOUT_MS);
} else {
const now = input.runningTime();
if (now > repeatTimeout) {
// repeat timed out
control.raiseEvent(
MICROBIT_MAKERBIT_IR_BUTTON_RELEASED_ID,
activeCommand
);
activeCommand = IR_INCOMPLETE;
} else {
basic.pause(REPEAT_TIMEOUT_MS);
}
}
}
});
}
/**
* Do something when a specific button is pressed or released on the remote control.
* @param button the button to be checked
* @param action the trigger action
* @param handler body code to run when event is raised
*/
//% subcategory="IR_Receiver"
//% blockId=YFE06_infrared_on_ir_button
//% block="on IR button | %button | %action"
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.columns=3
//% button.fieldOptions.tooltips="false"
//% weight=13
export function onIrButton(button: IrButton, action: IrButtonAction, handler: () => void) {
control.onEvent(
action === IrButtonAction.Pressed
? MICROBIT_MAKERBIT_IR_BUTTON_PRESSED_ID
: MICROBIT_MAKERBIT_IR_BUTTON_RELEASED_ID,
button === IrButton.Any ? EventBusValue.MICROBIT_EVT_ANY : button,
() => {
irState.command = control.eventValue();
handler();
}
);
}
/**
* Returns the code of the IR button that was pressed last. Returns -1 (IrButton.Any) if no button has been pressed yet.
*/
//% subcategory="IR_Receiver"
//% blockId=YFE06_infrared_ir_button_pressed
//% block="IR button"
//% weight=10
export function irButton(): number {
if (!irState) {
return IrButton.Any;
}
return irState.command;
}
/**
* Returns true if any button was pressed since the last call of this function. False otherwise.
*/
//% subcategory="IR_Receiver"
//% blockId=YFE06_infrared_was_any_button_pressed
//% block="any IR button was pressed"
//% weight=7
export function wasAnyIrButtonPressed(): boolean {
if (!irState) {
return false;
}
if (irState.hasNewCommand) {
irState.hasNewCommand = false;
return true;
} else {
return false;
}
}
/**
* Returns the command code of a specific IR button.
* @param button the button
*/
//% subcategory="IR_Receiver"
//% blockId=YFE06_infrared_button_code
//% button.fieldEditor="gridpicker"
//% button.fieldOptions.columns=3
//% button.fieldOptions.tooltips="false"
//% block="IR button code %button"
//% weight=5
export function irButtonCode(button: IrButton): number {
return button as number;
}
/////////////////////// IR ///////////////////////
}