Merge branch 'main' of https://github.com/microsoft/microcode into ro…

…bot_car
microsoft · Sep 27, 2023 · 7e01ed4 · 7e01ed4
2 parents 2003078 + f0851b6
commit 7e01ed4
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Showing 9 changed files with 120 additions and 57 deletions.
diff --git a/.github/workflows/makecode-release.yml b/.github/workflows/makecode-release.yml
@@ -33,10 +33,15 @@ jobs:
             - name: build hardware N3
               run: |
                   makecode --hw N3
+            - name: build robot
+              run: |
+                  cd robot
+                  makecode
             - name: copy files
               run: |
                   cp ./built/binary.js ./assets/js/binary.js
                   cp ./built/n3/binary.hex ./assets/firmware.hex
+                  cp ./robot/built/binary.hex ./assets/robot.hex
             - name: build localized hex files
               run: |
                   yarn install --frozen-lockfile

diff --git a/.github/workflows/makecode.yml b/.github/workflows/makecode.yml
@@ -35,3 +35,7 @@ jobs:
             - name: build hardware N3
               run: |
                   makecode --hw N3
+            - name: build robot
+              run: |
+                  cd robot
+                  makecode
diff --git a/robot/.prettierrc b/robot/.prettierrc
@@ -0,0 +1 @@
+{"arrowParens":"avoid","semi":false,"tabWidth":4}
diff --git a/robot/cutebot.ts b/robot/cutebot.ts
@@ -4,6 +4,7 @@ namespace microcode {
     //https://github.com/elecfreaks/pxt-cutebot/blob/master/cutebot.ts
     function motors(lspeed: number, rspeed: number): void {
         let buf = pins.createBuffer(4);
+        /*
         if (lspeed > 100) {
             lspeed = 100;
         } else if (lspeed < -100) {
@@ -13,40 +14,37 @@ namespace microcode {
             rspeed = 100;
         } else if (rspeed < -100) {
             rspeed = -100;
-        }
+        }*/
         if (lspeed > 0) {
             buf[0] = 0x01;    //左右轮 0x01左轮  0x02右轮
             buf[1] = 0x02;		//正反转0x02前进  0x01后退
             buf[2] = lspeed;	//速度
             buf[3] = 0;			//补位
-            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
         }
         else {
             buf[0] = 0x01;
             buf[1] = 0x01;
             buf[2] = lspeed * -1;
             buf[3] = 0;			//补位
-            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
         }
+        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
         if (rspeed > 0) {
             buf[0] = 0x02;
             buf[1] = 0x02;
             buf[2] = rspeed;
             buf[3] = 0;			//补位
-            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
         }
         else {
             buf[0] = 0x02;
             buf[1] = 0x01;
             buf[2] = rspeed * -1;
             buf[3] = 0;			//补位
-            pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
         }
-
+        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);  //写入左轮
     }
 
     function singleheadlights(r: number, g: number, b: number): void {
-        let buf = pins.createBuffer(4);
+        const buf = pins.createBuffer(4);
         buf[0] = 0x04;
         buf[1] = r;
         buf[2] = g;

diff --git a/robot/mkc.json b/robot/mkc.json
@@ -0,0 +1,3 @@
+{
+    "targetWebsite": "https://makecode.microbit.org/v6.0.18"
+}
diff --git a/robot/protocol.ts b/robot/protocol.ts
@@ -19,18 +19,25 @@ namespace microcode.robots {
          * Report ultrasonic distance in cm
          *     distance: f32
          */
-        UltrasonicDistance = 0x10
+        UltrasonicDistance = 0x10,
     }
 
     /**
      * Compact commands through radio numbers
      */
     export const enum RobotCompactCommand {
         MotorRunForward = 0xfffff001,
-        MotorTurnBackward = 0xfffff002,
+        MotorRunBackward = 0xfffff002,
         MotorTurnLeft = 0xfffff003,
         MotorTurnRight = 0xfffff004,
         MotorStop = 0xfffff005,
+
+        Obstacle0 = 0xfffff10,
+        Obstacle1 = 0xfffff11,
+        Obstacle2 = 0xfffff12,
+        Obstacle3 = 0xfffff13,
+        Obstacle4 = 0xfffff14,
+        Obstacle5 = 0xfffff15,
     }
 
     export interface RobotMessage {
@@ -50,7 +57,7 @@ namespace microcode.robots {
 
     /**
      * Encodes the command and payload into a buffer that can be sent via radio
-     * 
+     *
      *   0 magic, u16
      *   2 message id, u8
      *   3 cmd, u8
@@ -84,7 +91,7 @@ namespace microcode.robots {
         return <RobotMessage>{
             messageId: messageId,
             cmd: cmd,
-            payload: payload
+            payload: payload,
         }
     }
 
@@ -98,19 +105,27 @@ namespace microcode.robots {
         let payload: Buffer
         switch (msg) {
             case RobotCompactCommand.MotorRunForward:
-            case RobotCompactCommand.MotorTurnBackward:
+            case RobotCompactCommand.MotorRunBackward:
             case RobotCompactCommand.MotorStop: {
                 cmd = RobotCommand.MotorRun
                 payload = Buffer.create(2)
                 if (msg !== RobotCompactCommand.MotorStop)
-                    payload.setNumber(NumberFormat.Int16LE, 0, msg === RobotCompactCommand.MotorRunForward ? 100 : -100)
+                    payload.setNumber(
+                        NumberFormat.Int16LE,
+                        0,
+                        msg === RobotCompactCommand.MotorRunForward ? 100 : -100
+                    )
                 break
             }
             case RobotCompactCommand.MotorTurnLeft:
             case RobotCompactCommand.MotorTurnRight: {
                 cmd = RobotCommand.MotorTurn
                 payload = Buffer.create(2)
-                payload.setNumber(NumberFormat.Int16LE, 0, msg === RobotCompactCommand.MotorTurnRight ? 100 : -100)
+                payload.setNumber(
+                    NumberFormat.Int16LE,
+                    0,
+                    msg === RobotCompactCommand.MotorTurnRight ? 100 : -100
+                )
                 break
             }
             default:
@@ -119,4 +134,4 @@ namespace microcode.robots {
 
         return { messageId, cmd, payload }
     }
-}
+}
diff --git a/robot/pxt.json b/robot/pxt.json
@@ -2,8 +2,7 @@
     "name": "microcode-robot",
     "dependencies": {
         "core": "*",
-        "radio": "*",
-        "WhaleySansFont": "github:makecode-extensions/whaleysansfont#v1.1.0"
+        "radio": "*"
     },
     "files": [
         "README.md",

diff --git a/robot/radio.ts b/robot/radio.ts
@@ -1,6 +1,6 @@
 namespace microcode.robots {
-    const MAX_GROUPS = 21
-    let group = control.deviceSerialNumber() % 9 + 1
+    const MAX_GROUPS = 10
+    let group = (control.deviceSerialNumber() % 9) + 1
     radio.setGroup(group)
 
     export function previousGroup() {
@@ -12,24 +12,28 @@ namespace microcode.robots {
     }
 
     export function setGroup(newGroup: number) {
-        if (newGroup < 0)
-            newGroup += MAX_GROUPS
+        if (newGroup < 0) newGroup += MAX_GROUPS
         group = newGroup % MAX_GROUPS
         radio.setGroup(group)
     }
 
     export function showRadioStatus() {
         led.stopAnimation()
-        if (group < 10)
-            basic.showNumber(group, 10)
-        else
-            whaleysans.showNumber(group)
+        basic.showNumber(group, 10)
     }
 
     let nextMessageId = 0
     export function sendCommand(cmd: RobotCommand, payload: Buffer) {
         nextMessageId = (nextMessageId + 1) % 0xff
-        const buf = encodeRobotMessage({ messageId: nextMessageId, cmd, payload })
+        const buf = encodeRobotMessage({
+            messageId: nextMessageId,
+            cmd,
+            payload,
+        })
         radio.sendBuffer(buf)
     }
-}
+
+    export function sendCompactCommand(cmd: RobotCompactCommand) {
+        radio.sendNumber(cmd)
+    }
+}
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		{"arrowParens":"avoid","semi":false,"tabWidth":4}