flip rotation

microsoft · Sep 28, 2023 · d8acc0d · d8acc0d
1 parent 400b36f
commit d8acc0d
Show file tree

Hide file tree

Showing 2 changed files with 56 additions and 53 deletions.
diff --git a/robot/cutebot.ts b/robot/cutebot.ts
@@ -3,7 +3,7 @@ namespace microcode {
 
     //https://github.com/elecfreaks/pxt-cutebot/blob/master/cutebot.ts
     function motors(lspeed: number, rspeed: number): void {
-        let buf = pins.createBuffer(4);
+        let buf = pins.createBuffer(4)
         /*
         if (lspeed > 100) {
             lspeed = 100;
@@ -16,66 +16,68 @@ namespace microcode {
             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
+            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
+        } else {
+            buf[0] = 0x01
+            buf[1] = 0x01
+            buf[2] = lspeed * -1
+            buf[3] = 0 //补位
         }
-        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
-        }
-        else {
-            buf[0] = 0x02;
-            buf[1] = 0x01;
-            buf[2] = rspeed * -1;
-            buf[3] = 0;			//补位
+            buf[0] = 0x02
+            buf[1] = 0x02
+            buf[2] = rspeed
+            buf[3] = 0 //补位
+        } 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 {
-        const buf = pins.createBuffer(4);
-        buf[0] = 0x04;
-        buf[1] = r;
-        buf[2] = g;
-        buf[3] = b;
-        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
-        buf[0] = 0x08;
-        pins.i2cWriteBuffer(STM8_ADDRESSS, buf);
+        const buf = pins.createBuffer(4)
+        buf[0] = 0x04
+        buf[1] = r
+        buf[2] = g
+        buf[3] = b
+        pins.i2cWriteBuffer(STM8_ADDRESSS, buf)
+        buf[0] = 0x08
+        pins.i2cWriteBuffer(STM8_ADDRESSS, buf)
     }
 
     function ultrasonic(): number {
         // send pulse
-        pins.digitalWritePin(DigitalPin.P8, 0);
-        control.waitMicros(2);
-        pins.digitalWritePin(DigitalPin.P8, 1);
-        control.waitMicros(10);
-        pins.digitalWritePin(DigitalPin.P8, 0);
+        pins.digitalWritePin(DigitalPin.P8, 0)
+        control.waitMicros(2)
+        pins.digitalWritePin(DigitalPin.P8, 1)
+        control.waitMicros(10)
+        pins.digitalWritePin(DigitalPin.P8, 0)
         // read pulse
         const maxCmDistance = 100
-        const d = pins.pulseIn(DigitalPin.P12, PulseValue.High, maxCmDistance * 50);
-        return Math.floor(d * 34 / 2 / 1000);
+        const d = pins.pulseIn(
+            DigitalPin.P12,
+            PulseValue.High,
+            maxCmDistance * 50
+        )
+        return Math.floor((d * 34) / 2 / 1000)
     }
 
     class ElecfreaksCutebotRobot extends robots.Robot {
         constructor() {
             super()
-            this.musicVolume = 168;
-            this.maxRunSpeed = 50;
-            this.maxTurnSpeed = 40;
-            this.maxLineTrackingSpeed = 20;
+            this.musicVolume = 168
+            this.maxRunSpeed = 50
+            this.maxTurnSpeed = 40
+            this.maxLineTrackingSpeed = 20
 
-            pins.setPull(DigitalPin.P8, PinPullMode.PullNone);
+            pins.setPull(DigitalPin.P8, PinPullMode.PullNone)
             pins.setPull(DigitalPin.P13, PinPullMode.PullNone)
             pins.setPull(DigitalPin.P14, PinPullMode.PullNone)
         }
@@ -85,10 +87,8 @@ namespace microcode {
         }
 
         motorTurn(speed: number) {
-            if (speed > 0)
-                motors(0, speed)
-            else
-                motors(-speed, 0)
+            if (speed > 0) motors(speed, 0)
+            else motors(0, -speed)
         }
 
         headlightsSetColor(red: number, green: number, blue: number) {
@@ -100,8 +100,8 @@ namespace microcode {
         }
 
         lineState(): RobotLineState {
-            const left = pins.digitalReadPin(DigitalPin.P13) ? 0 : 1;
-            const right = pins.digitalReadPin(DigitalPin.P14) ? 0:1;
+            const left = pins.digitalReadPin(DigitalPin.P13) ? 0 : 1
+            const right = pins.digitalReadPin(DigitalPin.P14) ? 0 : 1
 
             return (left << 0) | (right << 1)
         }
@@ -111,5 +111,7 @@ namespace microcode {
      * Cute:bot from Elecfreaks
      */
     //% fixedInstance whenUsed block="elecfreaks cutebot"
-    export const elecfreaksCuteBot = new RobotDriver(new ElecfreaksCutebotRobot())
-}
+    export const elecfreaksCuteBot = new RobotDriver(
+        new ElecfreaksCutebotRobot()
+    )
+}
diff --git a/robot/robotdriver.ts b/robot/robotdriver.ts
@@ -93,7 +93,6 @@ namespace microcode {
             })
         }
 
-        private lastLines: RobotLineState = RobotLineState.None
         private updateSpeed() {
             // transition from one mode to the other, robot should stop
             if (this.currentSpeedMode !== this.targetSpeedMode) {
@@ -126,7 +125,6 @@ namespace microcode {
                         else if (lines === RobotLineState.Right)
                             d -= speed * 0.8
                     }
-                    this.lastLines = lines
                 }
                 const left = speed - d
                 const right = speed + d
@@ -291,6 +289,9 @@ namespace microcode {
             this.lastReceivedMessageId = messageId
             const cmd = msg.cmd
             const payload = msg.payload
+
+            console.log({ cmd, payload: payload.toHex() })
+
             switch (cmd) {
                 case robots.RobotCommand.MotorRun: {
                     const speed = Math.clamp(