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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,163 +1 @@ | ||
| namespace microcode.robots { | ||
| const MESSAGE_MAGIC = 0xf498 | ||
|
|
||
| /** | ||
| * List of commands supported by the micro:bit robot program | ||
| */ | ||
| export const enum RobotCommand { | ||
| /** | ||
| * Runs the robot forward and backward. | ||
| * speed: i16 % | ||
| */ | ||
| MotorRun = 0x01, | ||
| /** | ||
| * Turn the robot left and right. Right is positive values. | ||
| * turnRatio: i16 [-200,200] | ||
| * speed: i16 % | ||
| */ | ||
| MotorTurn = 0x02, | ||
|
|
||
| /** | ||
| * Controls the opening angle of the arm | ||
| */ | ||
| MotorArm = 0x03, | ||
|
|
||
| /** | ||
| * Report ultrasonic distance in cm | ||
| * distance: f32 | ||
| */ | ||
| UltrasonicDistance = 0x10, | ||
|
|
||
| /** | ||
| * The line sensor state changed | ||
| * state: RobotLineState | ||
| */ | ||
| LineState = 0x11, | ||
| } | ||
|
|
||
| export interface RobotMessage { | ||
| /** | ||
| * message identifier to drop repeated messages; u8 | ||
| */ | ||
| messageId: number | ||
| /** | ||
| * Robot command | ||
| */ | ||
| cmd: RobotCommand | ||
| /** | ||
| * Command payload | ||
| */ | ||
| payload: Buffer | ||
| } | ||
|
|
||
| /** | ||
| * Encodes the command and payload into a buffer that can be sent via radio | ||
| * | ||
| * 0 magic, u16 | ||
| * 2 message id, u8 | ||
| * 3 cmd, u8 | ||
| * 4 payload, u8[] | ||
| */ | ||
| export function encodeRobotMessage(msg: RobotMessage) { | ||
| const payload = msg.payload | ||
| const messageid = msg.messageId | ||
| const cmd = msg.cmd | ||
|
|
||
| const buf = pins.createBuffer(6 + payload.length) | ||
| buf.setNumber(NumberFormat.UInt16LE, 0, MESSAGE_MAGIC) | ||
| buf.setNumber(NumberFormat.UInt8LE, 2, messageid) | ||
| buf.setNumber(NumberFormat.UInt8LE, 3, cmd) | ||
| buf.write(4, payload) | ||
| return buf | ||
| } | ||
|
|
||
| /** | ||
| * Decodes message buffer | ||
| */ | ||
| export function decodeRobotCommand(msg: Buffer): RobotMessage { | ||
| if (!msg || msg.length < 4) return undefined | ||
|
|
||
| const magic = msg.getNumber(NumberFormat.UInt16LE, 0) | ||
| if (magic !== MESSAGE_MAGIC) return undefined | ||
|
|
||
| const messageId = msg.getNumber(NumberFormat.UInt8LE, 2) | ||
| const cmd = msg.getNumber(NumberFormat.UInt8LE, 3) | ||
| const payload = msg.slice(4) | ||
| return <RobotMessage>{ | ||
| messageId: messageId, | ||
| cmd: cmd, | ||
| payload: payload, | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Decode compact radio message | ||
| */ | ||
| export function decodeRobotCompactCommand(msg: number): RobotMessage { | ||
| const messageId = control.micros() | ||
| let cmd: RobotCommand | ||
| let payload: Buffer | ||
| switch (msg) { | ||
| case RobotCompactCommand.MotorRunForwardFast: | ||
| case RobotCompactCommand.MotorRunForward: | ||
| case RobotCompactCommand.MotorRunBackward: | ||
| case RobotCompactCommand.MotorStop: { | ||
| cmd = RobotCommand.MotorRun | ||
| payload = Buffer.create(3) | ||
| if (msg !== RobotCompactCommand.MotorStop) { | ||
| let speed = 0 | ||
| switch (msg) { | ||
| case RobotCompactCommand.MotorRunForward: speed = 40; break; | ||
| case RobotCompactCommand.MotorRunForwardFast: speed = 100; break; | ||
| case RobotCompactCommand.MotorRunBackward: speed = -100; break; | ||
| } | ||
| payload.setNumber( | ||
| NumberFormat.Int16LE, | ||
| 0, | ||
| speed | ||
| ) | ||
| if(msg !== RobotCompactCommand.MotorRunForwardFast) | ||
| payload[2] = 1 | ||
| } | ||
| break | ||
| } | ||
| case RobotCompactCommand.MotorSpinLeft: | ||
| case RobotCompactCommand.MotorSpinRight: | ||
| case RobotCompactCommand.MotorTurnLeft: | ||
| case RobotCompactCommand.MotorTurnRight: { | ||
| cmd = RobotCommand.MotorTurn | ||
| payload = Buffer.create(4) | ||
| let turnRatio = 0 | ||
| let speed = 100 | ||
| switch (msg) { | ||
| case RobotCompactCommand.MotorTurnLeft: turnRatio = -50; speed = 100; break; | ||
| case RobotCompactCommand.MotorTurnRight: turnRatio = 50; speed = 100; break; | ||
| case RobotCompactCommand.MotorSpinLeft: turnRatio = -200; speed = 80; break; | ||
| case RobotCompactCommand.MotorSpinRight: turnRatio = 200; speed = 80; break; | ||
| } | ||
| payload.setNumber( | ||
| NumberFormat.Int16LE, | ||
| 0, | ||
| turnRatio | ||
| ) | ||
| payload.setNumber( | ||
| NumberFormat.Int16LE, | ||
| 2, | ||
| speed | ||
| ) | ||
| break | ||
| } | ||
| case RobotCompactCommand.MotorArmClose: | ||
| case RobotCompactCommand.MotorArmOpen: { | ||
| cmd = RobotCommand.MotorArm | ||
| payload = Buffer.create(2) | ||
| payload.setNumber(NumberFormat.UInt16LE, 0, msg === RobotCompactCommand.MotorArmClose ? 0 : 100) | ||
| break | ||
| } | ||
| default: | ||
| return undefined | ||
| } | ||
|
|
||
| return { messageId, cmd, payload } | ||
| } | ||
| } | ||
| // obsolete |
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