build robot

microsoft · Sep 26, 2023 · fadae86 · fadae86
1 parent 63e5185
commit fadae86
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Showing 3 changed files with 29 additions and 8 deletions.
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/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 +19,24 @@ 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,
+
+        Obstacle1 = 0xfffff11,
+        Obstacle2 = 0xfffff12,
+        Obstacle3 = 0xfffff13,
+        Obstacle4 = 0xfffff14,
+        Obstacle5 = 0xfffff15,
     }
 
     export interface RobotMessage {
@@ -50,7 +56,7 @@ 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 +90,7 @@ namespace microcode.robots {
         return <RobotMessage>{
             messageId: messageId,
             cmd: cmd,
-            payload: payload
+            payload: payload,
         }
     }
 
@@ -98,19 +104,27 @@ 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 +133,4 @@ namespace microcode.robots {
 
         return { messageId, cmd, payload }
     }
-}
+}