Added edge.ts, opponent.ts, motor.ts, servo.ts, mode.ts, motorcurrent…

….ts and rgb.ts

battery.ts

@@ -0,0 +1,26 @@
+/*******************************************************************************
+ * Functions for SUMO:BIT battery input
+ *
+ * Company: Cytron Technologies Sdn Bhd
+ * Website: http://www.cytron.io
+ * Email:   [email protected]
+ *******************************************************************************/
+
+namespace sumobit {
+
+    /**
+    * Return the current battery voltage.
+    */
+    //% group="Battery"
+    //% weight=49
+    //% blockGap=8
+    //% blockId=sumobit_read_VIN
+    //% block="battery voltage"
+    export function readBatteryValue(): number {
+        let highByte: number;
+        let lowByte: number;
+        highByte = sumobit.i2cRead(REG_ADD_VIN_HIGH);
+        lowByte = sumobit.i2cRead(REG_ADD_VIN_LOW);
+        return ((highByte << 8) | lowByte) / 100;
+    }
+}

edge.ts

@@ -0,0 +1,106 @@
+/*******************************************************************************
+ * Functions for SUMO:BIT edge sensors
+ *
+ * Company: Cytron Technologies Sdn Bhd
+ * Website: http://www.cytron.io
+ * Email:   [email protected]
+ *******************************************************************************/
+
+// Default pin.
+const EDGE_R_PIN = AnalogPin.P0;
+const EDGE_L_PIN = AnalogPin.P1;
+
+// Event source.
+const EDGE_SENSOR_EVENT_SOURCE = 0x03;
+
+// Edge sensor side
+enum EdgeSide {
+
+    //% block="right"
+    Right = 0,
+    //% block="left"
+    Left = 1,
+
+    //% block="both"
+    Both = 1000
+}
+
+// Comparison type.
+enum EdgeCompareType {
+    //% block=">"
+    MoreThan = 0,
+
+    //% block="<"
+    LessThan = 1
+}
+
+namespace sumobit {
+
+    /**
+      * Return the right edge sensor value (0-1023).
+      */
+    //% group="Edge Sensors"
+    //% weight=79
+    //% blockGap=8
+    //% blockId=sumobit_read_edge_R_value
+    //% block="right edge sensor"
+    export function readEdgeRValue(): number {
+        return pins.analogReadPin(EDGE_R_PIN);
+    }
+
+    /**
+      * Return the left edge sensor value (0-1023).
+      */
+    //% group="Edge Sensors"
+    //% weight=78
+    //% blockGap=8
+    //% blockId=sumobit_read_edge_L_value
+    //% block="left edge sensor"
+    export function readEdgeLValue(): number {
+        return pins.analogReadPin(EDGE_L_PIN);
+    }
+
+
+    /**
+    * Compare the edge sensor(s) value (0-1023) with certain value and return true if condition is meet.
+    * @param EdgeSide Which side of edge sensors are to compare to. eg: 0
+    * @param compareType More than or less than. eg: 0
+    * @param threshold The value to compare with. eg: 512
+    */
+    //% group="Edge Sensors"
+    //% weight=77
+    //% blockGap=40
+    //% blockId=sumobit_compare_edge_value
+    //% block="%side edge sensor %compareType %threshold"
+    //% threshold.min=0 threshold.max=1023
+    export function compareEdge(side: EdgeSide, compareType: EdgeCompareType, threshold: number,): boolean {
+
+        let result = false;
+        let R = readEdgeRValue();
+        let L = readEdgeLValue();
+
+
+        switch (side) {
+            case EdgeSide.Right:
+                if ((R > threshold && EdgeCompareType.MoreThan) || (R < threshold && EdgeCompareType.LessThan)) {
+                    result = true;
+                }
+                break;
+
+            case EdgeSide.Left:
+                if ((L > threshold && EdgeCompareType.MoreThan) || (L < threshold && EdgeCompareType.LessThan)) {
+                    result = true;
+                }
+                break;
+
+            case EdgeSide.Both:
+                if (((R > threshold && L > threshold) && EdgeCompareType.MoreThan) || ((R > threshold && L > threshold) && EdgeCompareType.LessThan)) {
+                    result = true;
+                }
+                break;
+        }
+
+        return result;
+
+    }
+}

main.ts

@@ -1,3 +1,110 @@
-basic.forever(function () {
-
-})
+// I2C Adress
+const I2C_ADDRESS = 0x09;
+
+// Register addresses.
+const REG_ADD_REVISION = 0;
+const REG_ADD_SRV1_POS = 1;
+const REG_ADD_SRV1_SPEED = 2;
+const REG_ADD_SRV2_POS = 3;
+const REG_ADD_SRV2_SPEED = 4;
+const REG_SERVO_R1 = 5;
+const REG_SERVO_R2 = 6;
+const REG_SERVO_R3 = 7;
+const REG_SERVO_R4 = 8;
+const REG_ADD_PWM1 = 9;
+const REG_ADD_DIR1 = 10;
+const REG_ADD_ACCEL1 = 11;
+const REG_ADD_PWM2 = 12;
+const REG_ADD_DIR2 = 13;
+const REG_ADD_ACCEL2 = 14;
+const REG_MOTOR_R1 = 15;
+const REG_MOTOR_R2 = 16;
+const REG_MOTOR_R3 = 17;
+const REG_MOTOR_R4 = 18;
+const REG_ADD_R0 = 19;
+const REG_ADD_G0 = 20;
+const REG_ADD_B0 = 21;
+const REG_ADD_R1 = 22;
+const REG_ADD_G1 = 23;
+const REG_ADD_B1 = 24;
+const REG_ADD_AN1_HIGH = 25;
+const REG_ADD_AN1_LOW = 26;
+const REG_ADD_AN2_HIGH = 27;
+const REG_ADD_AN2_LOW = 28;
+const REG_CURRENT_R1 = 29;
+const REG_CURRENT_R2 = 30;
+const REG_ADD_VIN_HIGH = 31;
+const REG_ADD_VIN_LOW = 32;
+const REG_VIN_R1 = 33;
+const REG_VIN_R2 = 34;
+const REG_ADD_DIP = 35;
+const REG_ADD_RESET = 36;
+
+
+
+/**
+* Blocks for SUMO:BIT.
+*/
+
+//% weight=10 color=#ff8000 icon="\uf091" block="SUMO:BIT"
+//% groups=['DC Motors', 'Servos' , 'Mode', 'Motor Current','Opponent Sensors' , 'Edge Sensors', 'RGB LED']
+namespace sumobit {
+
+    // Stop all motor at start 
+    brakeMotor(MotorChannel.MR);
+    brakeMotor(MotorChannel.ML);
+
+    // Disable the servos.
+    disableServo(ServoChannel.S1);
+    disableServo(ServoChannel.S2);
+
+
+    /**
+     * Limit the range of a number.
+     * @param value The number we want to limit.
+     * @param min Minimum value of the number.
+     * @param max Maximum value of the number.
+     */
+    //% blockHidden=true
+    //% blockId=sumobit_limit
+    export function limit(value: number, min: number, max: number): number {
+        if (value < min) {
+            value = min;
+        }
+        else if (value > max) {
+            value = max;
+        }
+        return value;
+    }
+
+
+    /**
+     * I2C read from the register of RP2040.
+     * @param register Register address.
+     */
+    //% blockHidden=true
+    //% blockId=sumobit_i2c_read
+    export function i2cRead(register: number): number {
+        let value = 0;
+        pins.i2cWriteNumber(I2C_ADDRESS, register, NumberFormat.UInt8LE, true);
+        value = pins.i2cReadNumber(I2C_ADDRESS, NumberFormat.UInt8LE);
+        return value;
+    }
+
+
+    /**
+     * I2C write to the register of RP2040.
+     * @param register Register address.
+     * @param data Data to write.
+     */
+    //% blockHidden=true
+    //% blockId=sumobit_i2c_write
+    export function i2cWrite(register: number, data: number): void {
+        let buffer = pins.createBuffer(2);
+        buffer[0] = register;
+        buffer[1] = data;
+        pins.i2cWriteBuffer(I2C_ADDRESS, buffer);
+    }
+
+
+}

mode.ts

@@ -0,0 +1,115 @@
+/*******************************************************************************
+ * Functions for sumo:bit mode.
+ *
+ * Company: Cytron Technologies Sdn Bhd
+ * Website: http://www.cytron.io
+ * Email:   [email protected]
+ *******************************************************************************/
+const MODE_EVENT_SOURCE = 0x01;
+
+namespace sumobit {
+
+    let bgFunctionCreated = false;
+
+    // Event type.
+    let eventType = 0;
+
+    // Array for mode value.
+    let modevalueArray: number[] = [];
+
+    // Array for old compare result.
+    let oldCompareResult: boolean[] = [];
+
+
+    /**
+     * Return the current mode number(0-15).
+     */
+    //% group="Mode"
+    //% weight=69
+    //% blockGap=8
+    //% blockId=sumobit_read_mode_value
+    //% block="mode"
+    export function readModeValue(): number {
+        return sumobit.i2cRead(REG_ADD_DIP);
+    }
+
+    /**
+    * Check the current mode number (0-15) and returns the result if true.
+    * @param modevalue The current DIP position. eg: 7
+    */
+    //% group="Mode"
+    //% weight=68
+    //% blockGap=40
+    //% blockId=sumobit_check_mode_value
+    //% block="mode %modevalue"
+    //% modevalue.min=0 modevalue.max=15
+    export function checkMode(modevalue: number): boolean {
+        let result = false;
+
+        if (readModeValue() === modevalue) {
+            result = true;
+        }
+
+        return result;
+    }
+
+    /**
+    * Check current mode value and do something when true.
+    * @param modevalue The current mode value. eg: 7
+    * @param handler Code to run when the event is raised.
+    */
+    //% group="Mode"
+    //% weight=67
+    //% blockGap=8
+    //% blockId=sumobit_mode_event
+    //% block="on mode value %modevalue"
+    //% modevalue.min=0 modevalue.max=15
+    //% blockHidden=true
+    export function onModeEvent(modevalue: number, handler: Action): void {
+        // Use a new event type everytime a new event is create.
+        eventType++;
+
+        // Add the event info to the arrays.
+        modevalueArray.push(modevalue);
+
+        // Create a placeholder for the old compare result.
+        oldCompareResult.push(false);
+
+        // Register the event.
+        control.onEvent(MODE_EVENT_SOURCE, eventType, handler);
+
+        // Create a function in background if haven't done so.
+        // This function will check for pot value and raise the event if the condition is met.
+        if (bgFunctionCreated == false) {
+            control.inBackground(function () {
+
+                while (true) {
+                    // Loop for all the event created.
+                    for (let i = 0; i < eventType; i++) {
+
+                        // Check if the condition is met.
+                        if (checkMode(modevalueArray[i]) == true) {
+                            // Raise the event if the compare result changed from false to true.
+                            if (oldCompareResult[i] == false) {
+                                control.raiseEvent(MODE_EVENT_SOURCE, i + 1);
+                            }
+
+                            // Save old compare result.
+                            oldCompareResult[i] = true;
+                        }
+                        else {
+                            // Save old compare result.
+                            oldCompareResult[i] = false;
+                        }
+                        basic.pause(20)
+                    }
+                }
+
+            });
+
+            bgFunctionCreated = true;
+        }
+
+    }
+
+}