better makecode blocks

microsoft · Oct 14, 2023 · e8f3ecd · e8f3ecd
1 parent df719c0
commit e8f3ecd
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Showing 3 changed files with 40 additions and 15 deletions.
diff --git a/robot/blocks.ts b/robot/blocks.ts
@@ -51,12 +51,34 @@ namespace microcode {
         robot.runDrift = Math.clamp(-25, 25, drift)
     }
 
+    /**
+     * Gets the distance reported by the distance sensor
+     */
+    //% block="robot obstacle distance"
+    //% blockId=microcoderobotobstacledistance
+    //% group="Input"
+    export function obstacleDistance() {
+        checkRobotDriver()
+        return robot.currentUltrasonicDistance
+    }
+
+    /**
+     * Gets the distance reported by the distance sensor
+     */
+    //% block="robot on obstacle changed"
+    //% blockId=microcoderobotobstacledistancechanged
+    //% group="Input"
+    export function onObstacleChanged(handler: () => void) {
+        checkRobotDriver()
+        microcode.robots.onEvent(microcode.robots.RobotCompactCommand.ObstacleState, handler)
+    }
+
     /**
      * Checks the state of lines
      */
     //% block="robot detect lines $state"
     //% blockId=microcoderobotdetectlines
-    //% group="Sensors"
+    //% group="Input"
     export function detectLines(state: RobotLineState): boolean {
         checkRobotDriver()
         return robot.currentLineState === state
@@ -67,10 +89,10 @@ namespace microcode {
      */
     //% block="robot on line $state detected"
     //% blockId=microcoderobotondetectlines
-    //% group="Sensors"
+    //% group="Input"
     export function onLineDetected(state: RobotLineState, handler: () => void) {
         const msg = microcode.robots.RobotCompactCommand.LineState | state
-        microcode.onEvent(msg, handler)
+        microcode.robots.onEvent(msg, handler)
     }
 
     /**

diff --git a/robot/messages.ts b/robot/messages.ts
@@ -1 +1,9 @@
-// obsolete
+namespace microcode.robots {
+    const ROBOT_EVENT_ID = 7325
+    export function raiseEvent(event: robots.RobotCompactCommand) {
+        control.raiseEvent(ROBOT_EVENT_ID, event & 0xffff)
+    }
+    export function onEvent(event: robots.RobotCompactCommand, handler: () => void) {
+        control.onEvent(ROBOT_EVENT_ID, event & 0xffff, handler)
+    }
+}
diff --git a/robot/robotdriver.ts b/robot/robotdriver.ts
@@ -2,6 +2,7 @@
  * Microcode Robot
  */
 //% color="#ff6800" icon="\uf1b9" weight=15
+//% groups=['Move', 'Input', 'Configuration']
 namespace microcode {
     const RUN_STOP_THRESHOLD = 2
     const TARGET_SPEED_THRESHOLD = 4
@@ -12,15 +13,6 @@ namespace microcode {
     const ULTRASONIC_MIN_READING = 1
     const LINE_ASSIST_LOST_THRESHOLD = 72
 
-    const ROBOT_EVENT_ID = 7325
-    function raiseEvent(event: robots.RobotCompactCommand) {
-        microcode.robots.sendCompactCommand(event)
-        control.raiseEvent(ROBOT_EVENT_ID, event)
-    }
-    export function onEvent(event: robots.RobotCompactCommand, handler: () => void) {
-        control.onEvent(ROBOT_EVENT_ID, event, handler)
-    }
-
     /**
      *
      */
@@ -102,6 +94,7 @@ namespace microcode {
         //% block="robot start %this"
         //% blockId=microcoderobotstart
         //% weight=100
+        //% group="Configuration"
         start() {
             if (this.running) return
 
@@ -264,7 +257,8 @@ namespace microcode {
                     this.lastSonarValue = d
                     this.playTone(2400 - d * 400, 200 + d * 25)
                     const msg = microcode.robots.RobotCompactCommand.ObstacleState | d
-                    raiseEvent(msg)
+                    microcode.robots.sendCompactCommand(msg)
+                    microcode.robots.raiseEvent(microcode.robots.RobotCompactCommand.ObstacleState)
                 }
             }
         }
@@ -313,7 +307,8 @@ namespace microcode {
                 this.currentLineState = ls
                 this.currentLineStateCounter = 0
                 const msg = microcode.robots.RobotCompactCommand.LineState | this.currentLineState
-                raiseEvent(msg)
+                microcode.robots.sendCompactCommand(msg)
+                microcode.robots.raiseEvent(msg)
             }
             this.currentLineStateCounter++
             return ls