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

README.md

@@ -1,10 +1,6 @@
 ## Microsoft MicroCode [https://aka.ms/microcode](https://aka.ms/microcode)
 
-Microsoft MicroCode is an icon-based programming language and editor for young learners to code with the [BBC micro:bit V2](https://microbit.org). MicroCode runs in the browser or directly on the micro:bit V2 with an [Arcade shield accessory](#arcade-shields-for-microbit-v2).
-
-## Happy/Sad program
-
-Here's the classic micro:bit *Happy-A-button/Sad-B-button* program in MicroCode:
+Microsoft MicroCode is an icon-based programming language and editor for young learners to code with the [BBC micro:bit V2](https://microbit.org). MicroCode allows you to program the micro:bit V2 with only an [Arcade shield accessory](#arcade-shields-for-microbit-v2) - *no other computer is required!* If you prefer the web browser, there's also a MicroCode web app that connects to your micro:bit V2 over WebUSB. Here's the classic micro:bit *Happy-A-button/Sad-B-button* program in MicroCode:
 
 ![MicroCode screenshot](./docs/images/generated/sample_smiley_buttons.png)
 

robot/micromaqueenrobot.ts

@@ -19,9 +19,6 @@ namespace microcode {
                     maqueen.motorRun(maqueen.Motors.All, right < 0 ? maqueen.Dir.CCW : maqueen.Dir.CW, right)
             }
         }
-        motorStop() {
-            maqueen.motorStop(maqueen.Motors.All)
-        }
     }
 
     robot = new MicroMaqqueenRobot()

robot/protocol.ts

@@ -2,9 +2,7 @@ namespace microcode {
     const MESSAGE_MAGIC = 0xf498
 
     export enum RobotCommand {
-        SetRobotDriver = 0x0001,
-        MotorRun = 0x0002,
-        MotorStop = 0x0003,
+        MotorRun = 0x0001,
     }
     export enum RobotDrivers {
         MicroMaqqueen = 0x01

robot/radio.ts

@@ -13,7 +13,7 @@ namespace microcode {
 
     export function setGroup(newGroup: number) {
         if (newGroup < 0)
-            newGroup += MAX_GROUPS 
+            newGroup += MAX_GROUPS
         group = newGroup % MAX_GROUPS
         radio.setGroup(group)
         showRadioStatus()
@@ -40,17 +40,12 @@ namespace microcode {
         const payload = msg.payload
         switch (cmd) {
             case RobotCommand.MotorRun: {
-                const left = payload.getNumber(NumberFormat.Int8LE, 0)
-                const right = payload.getNumber(NumberFormat.Int8LE, 1)
+                const left = Math.clamp(-255, 255, payload.getNumber(NumberFormat.Int16LE, 0))
+                const right = Math.clamp(-255, 255, payload.getNumber(NumberFormat.Int16LE, 2))
                 console.log(`motor run ${left} ${right}`)
                 robot.motorRun(left, right)
                 break
             }
-            case RobotCommand.MotorStop: {
-                console.log(`motor stop`)
-                robot.motorStop()
-                break
-            }
         }
     })
 }

robot/robot.ts

@@ -1,13 +1,10 @@
 namespace microcode {
     export interface Robot {
         /*
-        Set the power on motors
+        Set the power on motors where `left` and `right` are in [-255,255]
+        Set left and right to 0 to stop.
         */
         motorRun(left: number, right: number): void;
-        /**
-         * Stop and brake
-         */
-        motorStop(): void;
     }
 
     export let robot: Robot