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main.ts
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/**
* use for RGB-LED
*/
enum COLOR {
red,
green,
blue,
white,
black
}
/**
* Pre-Defined LED colours
*/
enum vColors {
//% block=red
Red = 0xff0000,
//% block=orange
Orange = 0xffa500,
//% block=yellow
Yellow = 0xffff00,
//% block=green
Green = 0x00ff00,
//% block=blue
Blue = 0x0000ff,
//% block=indigo
Indigo = 0x4b0082,
//% block=violet
Violet = 0x8a2be2,
//% block=purple
Purple = 0xff00ff,
//% block=white
White = 0xffffff,
//% block=black
Black = 0x000000
}
/**
* use for control motor
*/
enum DIR {
Run_forward = 0,
Run_back = 1,
Turn_Left = 2,
Turn_Right = 3
}
enum LR {
Upper_left = 0,
Lower_left = 1,
Upper_right = 2,
Lower_right = 3,
}
enum MotorState {
stop = 0,
brake = 1
}
enum MD {
Forward = 0,
Back = 1
}
enum LT {
Left,
Right
}
enum LedCount {
Left = 12,
Right = 13
}
enum LedState {
ON = 4095,
OFF = 0
}
enum Servo_num {
D14,
D15
}
//% color="#ff6800" icon="\uf1b9" weight=15
//% groups="['Motor', 'Servo', 'led', 'Neo-pixel', 'Sensor', 'Tone']"
namespace mecanumRobot {
/**
* use for control PCA9685
*/
export enum Servos {
D14 = 14,
D15 = 15
}
const PCA9685_ADDRESS = 0x47; //device address
const MODE1 = 0x00;
let initI2C = false;
let _i2cError = 0;
let SERVOS = 0x06; // first servo address for start byte low
let servoTarget: number[] = [];
let servoActual: number[] = [];
let servoCancel: boolean[] = [];
//const MODE2 = 0x01;
//const SUBADR1 = 0x02;
//const SUBADR2 = 0x03;
//const SUBADR3 = 0x04;
const PRESCALE = 0xFE;
const LED0_ON_L = 0x06;
const LED0_ON_H = 0x07;
const LED0_OFF_L = 0x08;
//const LED0_OFF_H = 0x09;
//const ALL_LED_ON_L = 0xFA;
//const ALL_LED_ON_H = 0xFB;
//const ALL_LED_OFF_L = 0xFC;
//const ALL_LED_OFF_H = 0xFD;
let PCA9685_Initialized = false
// initialise the servo driver and the offset array values
// function initPCA(): void {
// let i2cData = pins.createBuffer(2);
// initI2C = true;
// i2cData[0] = 0; // Mode 1 register
// i2cData[1] = 0x10; // put to sleep
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// i2cData[0] = 0xFE; // Prescale register
// i2cData[1] = 101; // set to 60 Hz
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// i2cData[0] = 0; // Mode 1 register
// i2cData[1] = 0x81; // Wake up
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// // for (let servo = 0; servo < 16; servo++) {
// // i2cData[0] = SERVOS + servo * 4 + 0; // Servo register
// // i2cData[1] = 0x00; // low byte start - always 0
// // _i2cError = pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// // i2cData[0] = SERVOS + servo * 4 + 1; // Servo register
// // i2cData[1] = 0x00; // high byte start - always 0
// // pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// // servoTarget[servo] = 0;
// // servoActual[servo] = 0;
// // servoCancel[servo] = false;
// // }
// //for (let servo = 0; servo < 16; servo++) {
// i2cData[0] = SERVOS + 14 * 4 + 0; // Servo register
// i2cData[1] = 0x00; // low byte start - always 0
// _i2cError = pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// i2cData[0] = SERVOS + 14 * 4 + 1; // Servo register
// i2cData[1] = 0x00; // high byte start - always 0
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// servoTarget[14] = 0;
// servoActual[14] = 0;
// servoCancel[14] = false;
// i2cData[0] = SERVOS + 15 * 4 + 0; // Servo register
// i2cData[1] = 0x00; // low byte start - always 0
// _i2cError = pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// i2cData[0] = SERVOS + 15 * 4 + 1; // Servo register
// i2cData[1] = 0x00; // high byte start - always 0
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// servoTarget[15] = 0;
// servoActual[15] = 0;
// servoCancel[15] = false;
// //}
// }
function i2cRead(addr: number, reg: number) {
pins.i2cWriteNumber(addr, reg, NumberFormat.UInt8BE);
let val = pins.i2cReadNumber(addr, NumberFormat.UInt8BE);
return val;
}
function i2cWrite(PCA9685_ADDRESS: number, reg: number, value: number) {
let buf = pins.createBuffer(2)
buf[0] = reg
buf[1] = value
pins.i2cWriteBuffer(PCA9685_ADDRESS, buf)
}
function setFreq(freq: number): void {
// Constrain the frequency
let prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
let prescale = prescaleval; //Math.Floor(prescaleval + 0.5);
let oldmode = i2cRead(PCA9685_ADDRESS, MODE1);
let newmode = (oldmode & 0x7F) | 0x10; // sleep
i2cWrite(PCA9685_ADDRESS, MODE1, newmode); // go to sleep
i2cWrite(PCA9685_ADDRESS, PRESCALE, prescale); // set the prescaler
i2cWrite(PCA9685_ADDRESS, MODE1, oldmode);
control.waitMicros(5000);
i2cWrite(PCA9685_ADDRESS, MODE1, oldmode | 0xa1);
}
function setPwm(channel: number, on: number, off: number): void {
let buf = pins.createBuffer(5);
buf[0] = LED0_ON_L + 4 * channel;
buf[1] = on & 0xff;
buf[2] = (on >> 8) & 0xff;
buf[3] = off & 0xff;
buf[4] = (off >> 8) & 0xff;
pins.i2cWriteBuffer(PCA9685_ADDRESS, buf);
}
function init_PCA9685(): void {
i2cWrite(PCA9685_ADDRESS, MODE1, 0x00); //initialize the mode register 1
setFreq(50); //20ms
for (let idx = 0; idx < 14; idx++) {
setPwm(idx, 0, 0);
}
PCA9685_Initialized = true;
}
/**
* set cat state
*/
//% block="car $sta"
//% group="Motor" weight=98
export function state(sta: MotorState) {
//if (!PCA9685_Initialized) {
//init_PCA9685();
//}
if (sta == 0) { //stop
setPwm(0, 0, 4095); //control speed : 0---4095
setPwm(1, 0, 0);
setPwm(2, 0, 0);
setPwm(5, 0, 4095); //control speed : 0---4095
setPwm(4, 0, 0);
setPwm(3, 0, 0);
setPwm(6, 0, 4095); //control speed : 0---4095
setPwm(7, 0, 0);
setPwm(8, 0, 0);
setPwm(11, 0, 4095); //control speed : 0---4095
setPwm(10, 0, 0);
setPwm(9, 0, 0);
}
if (sta == 1) { //brake
setPwm(0, 0, 0); //control speed : 0---4095
//setPwm(1, 0, 4095);
//setPwm(2, 0, 4095);
setPwm(5, 0, 0); //control speed : 0---4095
//setPwm(4, 0, 4095);
//setPwm(3, 0, 4095);
setPwm(6, 0, 0); //control speed : 0---4095
setPwm(11, 0, 0); //control speed : 0---4095
}
}
/**
* set speed of motor
*/
//% block="Motor $M run $D speed: $speed \\%"
//% speed.min=0 speed.max=100
//% group="Motor" weight=97
export function Motor(M: LR, D: MD, speed: number) {
if (!PCA9685_Initialized) {
init_PCA9685();
}
let speed_value = Math.map(speed, 0, 100, 0, 4095);
if (M == 2 && D == 1) {
setPwm(0, 0, speed_value); //control speed : 0---4095
setPwm(1, 0, 0);
setPwm(2, 0, 4095);
}
if (M == 2 && D == 0) {
setPwm(0, 0, speed_value); //control speed : 0---4095
setPwm(1, 0, 4095);
setPwm(2, 0, 0);
}
if (M == 0 && D == 0) {
setPwm(5, 0, speed_value); //control speed : 0---4095
setPwm(4, 0, 0);
setPwm(3, 0, 4095);
}
if (M == 0 && D == 1) {
setPwm(5, 0, speed_value); //control speed : 0---4095
setPwm(4, 0, 4095);
setPwm(3, 0, 0);
}
if (M == 3 && D == 1) {
setPwm(6, 0, speed_value); //control speed : 0---4095
setPwm(7, 0, 0);
setPwm(8, 0, 4095);
}
if (M == 3 && D == 0) {
setPwm(6, 0, speed_value); //control speed : 0---4095
setPwm(7, 0, 4095);
setPwm(8, 0, 0);
}
if (M == 1 && D == 0) {
setPwm(11, 0, speed_value); //control speed : 0---4095
setPwm(10, 0, 0);
setPwm(9, 0, 4095);
}
if (M == 1 && D == 1) {
setPwm(11, 0, speed_value); //control speed : 0---4095
setPwm(10, 0, 4095);
setPwm(9, 0, 0);
}
}
//% block="set servo to angle %angle"
//% group="Servo" weight=70
//% angle.min=-90 angle.max.max=90
export function setServo(angle: number): void {
pins.servoWritePin(AnalogPin.P14, angle)
}
/**
* Set Servo Position by Angle
* @param servo Servo number (0 to 15)
* @param angle degrees to turn servo (-90 to +90)
*/
// export function setServo(Servo: Servos, angle: number): void {
// setServoRaw(Servo, angle);
// //servoTarget[Servo] = angle;
// }
// function setServoRaw(servo: number, angle: number): void {
// if (initI2C == false) {
// initPCA();
// }
// // two bytes need setting for start and stop positions of the servo
// // servos start at SERVOS (0x06) and are then consecutive blocks of 4 bytes
// // the start position (always 0x00) is set during init for all servos
// let i2cData = pins.createBuffer(2);
// let start = 0;
// angle = Math.max(Math.min(90, angle), -90);
// let stop = 369 + angle * 223 / 90;
// i2cData[0] = SERVOS + servo * 4 + 2; // Servo register
// i2cData[1] = (stop & 0xff); // low byte stop
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// i2cData[0] = SERVOS + servo * 4 + 3; // Servo register
// i2cData[1] = (stop >> 8); // high byte stop
// pins.i2cWriteBuffer(PCA9685_ADDRESS, i2cData, false);
// servoActual[servo] = angle;
// }
/**
* turn off all rgb-led
*/
//% block="$LedC Colorful LED turn $LedS"
//% group="led" weight=76
export function setLed(LedC: LedCount, LedS: LedState) {
if (!PCA9685_Initialized) {
init_PCA9685();
}
setPwm(LedC, 0, LedS);
}
/////////////////////////////////////////////////////
//% block="$LT_val LineTracking"
//% group="Sensor" weight=69
export function LineTracking(LT_val: LT) {
let val = 0;
let lt = LT_val;
switch(lt){
case LT.Left :
val = pins.digitalReadPin(DigitalPin.P1);
break;
case LT.Right :
val = pins.digitalReadPin(DigitalPin.P2);
break;
}
// val = (pins.digitalReadPin(DigitalPin.P14)<<2) +
// (pins.digitalReadPin(DigitalPin.P15)<<1) +
// (pins.digitalReadPin(DigitalPin.P16));
return val;
}
/**
* Ultrasonic sensor
*/
let lastTime = 0;
//% block="Ultrasonic"
//% group="Sensor" weight=68
export function ultra(): number {
//send trig pulse
pins.setPull(DigitalPin.P15, PinPullMode.PullNone);
pins.digitalWritePin(DigitalPin.P15, 0)
control.waitMicros(2);
pins.digitalWritePin(DigitalPin.P15, 1)
control.waitMicros(10);
pins.digitalWritePin(DigitalPin.P15, 0)
// read echo pulse max distance : 6m(35000us)
let t = pins.pulseIn(DigitalPin.P16, PulseValue.High, 35000);
let ret = t;
//Eliminate the occasional bad data
if (ret == 0 && lastTime != 0) {
ret = lastTime;
}
lastTime = t;
return Math.round(ret / 58);
}
}