1098 lines
33 KiB
TypeScript
1098 lines
33 KiB
TypeScript
/*
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Copyright (C): 2010-2019, Shenzhen Yahboom Tech
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modified from liusen
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load dependency
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"mbit": "file:../pxt-mbit"
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*/
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//% color="#C814B8" weight=25 icon="\uf1d4"
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namespace mbit_Display {
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export enum enColor {
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//% blockId="OFF" block="off"
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OFF = 0,
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//% blockId="Red" block="red"
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Red,
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//% blockId="Green" block="green"
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Green,
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//% blockId="Blue" block="blue"
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Blue,
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//% blockId="White" block="white"
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White,
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//% blockId="Cyan" block="cyan"
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Cyan,
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//% blockId="Pinkish" block="magenta"
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Pinkish,
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//% blockId="Yellow" block="yellow"
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Yellow,
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}
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export enum enLED1 {
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//% blockId="OFF" block="off"
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OFF = 0,
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//% blockId="ON" block="on"
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ON =1
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}
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//% blockId=mbit_LED1 block="LED1|pin %pin|value %value"
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//% weight=5
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//% blockGap=8
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//% color="#C814B8"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=1
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export function LED1(pin: DigitalPin, value: enLED1): void {
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pins.digitalWritePin(pin, value);
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}
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//% blockId=mbit_LED2 block="LED2|pin %pin|value %value"
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//% weight=4
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//% blockGap=8
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//% color="#C814B8"
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//% value.min=0 value.max=255
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=2
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export function LED2(pin: AnalogPin, value: number): void {
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pins.analogWritePin(pin, value * 1024 / 256);
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}
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//% blockId=mbit_BreathLED block="BreathLED|pin %pin"
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//% weight=3
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//% blockGap=8
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//% color="#C814B8"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=3
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export function BreathLED(pin: AnalogPin): void {
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for (let i: number = 0; i < 1023; i++) {
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pins.analogWritePin(pin, i);
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//basic.pause(1);
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control.waitMicros(1000);
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}
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basic.pause(10);
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for (let i: number = 1023; i > 0; i--) {
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pins.analogWritePin(pin, i);
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//basic.pause(1);
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control.waitMicros(1000);
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}
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}
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//% blockId=mbit_RGB block="RGB|pin1 %pin1|pin2 %pin2|pin3 %pin3|value1 %value1|value2 %value2|value3 %value3"
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//% weight=2
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//% blockGap=8
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//% color="#C814B8"
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//% value1.min=0 value1.max=255 value2.min=0 value2.max=255 value3.min=0 value3.max=255
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
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export function RGB(pin1: AnalogPin, pin2: AnalogPin, pin3: AnalogPin, value1: number, value2: number, value3: number): void {
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pins.analogWritePin(pin1, value1 * 1024 / 256);
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pins.analogWritePin(pin2, value2 * 1024 / 256);
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pins.analogWritePin(pin3, value3 * 1024 / 256);
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}
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//% blockId=mbit_RGB2 block="RGB|pin1 %pin1|pin2 %pin2|pin3 %pin3|value %value"
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//% weight=1
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//% blockGap=8
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//% color="#C814B8"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
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export function RGB2(pin1: DigitalPin, pin2: DigitalPin, pin3: DigitalPin, value: enColor): void {
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switch (value) {
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case enColor.OFF: {
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pins.digitalWritePin(pin1, 0);
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pins.digitalWritePin(pin2, 0);
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pins.digitalWritePin(pin3, 0);
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break;
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}
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case enColor.Red: {
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pins.digitalWritePin(pin1, 1);
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pins.digitalWritePin(pin2, 0);
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pins.digitalWritePin(pin3, 0);
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break;
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}
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case enColor.Green: {
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pins.digitalWritePin(pin1, 0);
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pins.digitalWritePin(pin2, 1);
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pins.digitalWritePin(pin3, 0);
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break;
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}
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case enColor.Blue: {
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pins.digitalWritePin(pin1, 0);
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pins.digitalWritePin(pin2, 0);
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pins.digitalWritePin(pin3, 1);
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break;
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}
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case enColor.White: {
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pins.digitalWritePin(pin1, 1);
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pins.digitalWritePin(pin2, 1);
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pins.digitalWritePin(pin3, 1);
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break;
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}
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case enColor.Cyan: {
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pins.digitalWritePin(pin1, 0);
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pins.digitalWritePin(pin2, 1);
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pins.digitalWritePin(pin3, 1);
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break;
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}
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case enColor.Pinkish: {
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pins.digitalWritePin(pin1, 1);
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pins.digitalWritePin(pin2, 0);
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pins.digitalWritePin(pin3, 1);
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break;
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}
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case enColor.Yellow: {
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pins.digitalWritePin(pin1, 1);
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pins.digitalWritePin(pin2, 1);
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pins.digitalWritePin(pin3, 0);
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break;
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}
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}
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}
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}
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/*****************************************************************************************************************************************
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* 传感器类 *****************************************************************************************************************************
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****************************************************************************************************************************************/
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//% color="#87CEEB" weight=24 icon="\uf1b6"
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namespace mbit_Sensor {
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export enum enVoice {
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//% blockId="Voice" block="sound"
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Voice = 0,
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//% blockId="NoVoice" block="silence"
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NoVoice = 1
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}
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export enum enIR {
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//% blockId="Get" block="detected"
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Get = 0,
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//% blockId="NoVoice" block="undetected"
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NoGet = 1
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}
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//% blockId=mbit_Voice_Sensor block="Voice_Sensor|pin %pin|value %value"
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//% weight=100
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//% blockGap=10
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//% color="#87CEEB"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
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export function Voice_Sensor(pin: DigitalPin, value: enVoice): boolean {
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pins.setPull(pin, PinPullMode.PullUp);
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if (pins.digitalReadPin(pin) == value) {
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return true;
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}
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else {
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return false;
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}
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}
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function IR_send_38k() {
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for (let i: number = 0; i < 8; i++) {
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pins.digitalWritePin(DigitalPin.P9, 1);
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control.waitMicros(13);
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pins.digitalWritePin(DigitalPin.P9, 0);
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control.waitMicros(13);
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}
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}
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//% blockId=mbit_IR_Sensor block="IR_Sensor|pin %pin| |%value|obstacle"
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//% weight=100
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//% blockGap=10
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//% color="#87CEEB"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
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export function IR_Sensor(pin: DigitalPin, value: enIR): boolean {
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pins.setPull(pin, PinPullMode.PullUp);
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//IR_send_38k();
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if (pins.digitalReadPin(pin) == value) {
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return true;
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}
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else {
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return false;
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}
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}
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//% blockId=mbit_IR_Send block="IR_Send|pin %pin"
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//% weight=100
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//% blockGap=10
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//% color="#87CEEB"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
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export function IR_Send(pin: DigitalPin): void {
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IR_send_38k();
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}
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//% blockId=mbit_ultrasonic block="Ultrasonic|Trig %Trig|Echo %Echo"
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//% color="#87CEEB"
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//% weight=100
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//% blockGap=10
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
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export function Ultrasonic(Trig: DigitalPin, Echo: DigitalPin): number {
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// send pulse
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pins.setPull(Trig, PinPullMode.PullNone);
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pins.digitalWritePin(Trig, 0);
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control.waitMicros(2);
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pins.digitalWritePin(Trig, 1);
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control.waitMicros(15);
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pins.digitalWritePin(Trig, 0);
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// read pulse
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let d = pins.pulseIn(Echo, PulseValue.High, 23200);
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return d / 58;
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}
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}
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/*****************************************************************************************************************************************
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* Input *****************************************************************************************************************************
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****************************************************************************************************************************************/
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//% color="#808080" weight=23 icon="\uf11c"
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namespace mbit_Input {
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export enum enRocker {
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//% blockId="Nostate" block="No"
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Nostate = 0,
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//% blockId="Up" block="up"
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Up,
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//% blockId="Down" block="down"
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Down,
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//% blockId="Left" block="left"
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Left,
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//% blockId="Right" block="right"
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Right,
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//% blockId="Press" block="press"
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Press
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}
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export enum enTouch {
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//% blockId="NoTouch" block="untouched"
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NoTouch = 0,
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//% blockId="Touch" block="touched"
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Touch = 1
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}
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export enum enButton {
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//% blockId="Press" block="press"
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Press = 0,
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//% blockId="Realse" block="release"
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Realse = 1
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}
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//% blockId=mbit_TouchPad block="TouchPad|pin %pin|value %value"
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//% weight=100
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//% blockGap=10
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//% color="#808080"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=5
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export function TouchPad(pin: DigitalPin, value: enTouch): boolean {
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pins.setPull(pin, PinPullMode.PullUp);
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if (pins.digitalReadPin(pin) == value) {
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return true;
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}
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else {
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return false;
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}
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}
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//% blockId=mbit_Rocker block="Rocker|VRX %pin1|VRY %pin2|SW %pin3|value %value"
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//% weight=100
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//% blockGap=10
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//% color="#808080"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=6
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export function Rocker(pin1: AnalogPin, pin2: AnalogPin, pin3: DigitalPin, value: enRocker): boolean {
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pins.setPull(pin3, PinPullMode.PullUp);
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let x = pins.analogReadPin(pin1);
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let y = pins.analogReadPin(pin2);
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let z = pins.digitalReadPin(pin3);
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let now_state = enRocker.Nostate;
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if (x < 100) // 上
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{
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now_state = enRocker.Up;
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}
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else if (x > 700) //
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{
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now_state = enRocker.Down;
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}
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else // 左右
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{
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if (y < 100) //右
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{
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now_state = enRocker.Right;
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}
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else if (y > 700) //左
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{
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now_state = enRocker.Left;
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}
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}
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if (z == 0)
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now_state = enRocker.Press;
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if (now_state == value)
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return true;
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else
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return false;
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}
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//% blockId=mbit_Button block="Button|pin %pin|value %value"
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//% weight=100
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//% blockGap=10
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//% color="#808080"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=5
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export function Button(pin: DigitalPin, value: enButton): boolean {
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pins.setPull(pin, PinPullMode.PullUp);
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if (pins.digitalReadPin(pin) == value) {
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return true;
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}
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else {
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return false;
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}
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}
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}
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/*****************************************************************************************************************************************
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* 音乐类 *****************************************************************************************************************************
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****************************************************************************************************************************************/
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//% color="#D2691E" weight=22 icon="\uf001"
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namespace mbit_Music {
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export enum enBuzzer {
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//% blockId="NoBeep" block="silence"
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NoBeep = 0,
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//% blockId="Beep" block="sound"
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Beep
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}
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//% blockId=mbit_Buzzer block="Buzzer|pin %pin|value %value"
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//% weight=100
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//% blockGap=10
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//% color="#D2691E"
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//% value.min=0 value.max=1
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=8
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export function Buzzer(pin: DigitalPin, value: enBuzzer): void {
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pins.setPull(pin, PinPullMode.PullNone);
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pins.digitalWritePin(pin, value);
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}
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}
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/*****************************************************************************************************************************************
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* 电机类 *****************************************************************************************************************************
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****************************************************************************************************************************************/
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//% color="#0000CD" weight=21 icon="\uf185"
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namespace mbit_Motor {
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//% blockId=mbit_Fan block="Fan|pin %pin|speed %value"
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//% weight=100
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//% blockGap=10
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//% color="#0000CD"
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//% value.min=0 value.max=1023
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=9
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export function Fan(pin: AnalogPin, value: number): void {
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pins.analogWritePin(pin, value);
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}
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//% blockId=mbit_Servo block="Servo|pin %pin|value %value"
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//% weight=100
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//% blockGap=10
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//% color="#0000CD"
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//% value.min=0 value.max=180
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=9
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export function Servo(pin: AnalogPin, value: number): void {
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pins.servoWritePin(pin, value);
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}
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}
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//% color="#006400" weight=20 icon="\uf1b9"
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namespace mbit_Robot {
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const PCA9685_ADD = 0x41
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const MODE1 = 0x00
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const MODE2 = 0x01
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const SUBADR1 = 0x02
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const SUBADR2 = 0x03
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const SUBADR3 = 0x04
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const LED0_ON_L = 0x06
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const LED0_ON_H = 0x07
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const LED0_OFF_L = 0x08
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const LED0_OFF_H = 0x09
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const ALL_LED_ON_L = 0xFA
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const ALL_LED_ON_H = 0xFB
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const ALL_LED_OFF_L = 0xFC
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const ALL_LED_OFF_H = 0xFD
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const PRESCALE = 0xFE
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let initialized = false
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let yahStrip: neopixel.Strip;
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export enum enColor {
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//% blockId="OFF" block="off"
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OFF = 0,
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//% blockId="Red" block="red"
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Red,
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//% blockId="Green" block="green"
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Green,
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//% blockId="Blue" block="blue"
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Blue,
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//% blockId="White" block="white"
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White,
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//% blockId="Cyan" block="cyan"
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Cyan,
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//% blockId="Pinkish" block="magenta"
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Pinkish,
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//% blockId="Yellow" block="yellow"
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Yellow,
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}
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export enum enMusic {
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dadadum = 0,
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entertainer,
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prelude,
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ode,
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nyan,
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ringtone,
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funk,
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blues,
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birthday,
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wedding,
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funereal,
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punchline,
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baddy,
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chase,
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ba_ding,
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wawawawaa,
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jump_up,
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jump_down,
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power_up,
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power_down
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}
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export enum enPos {
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//% blockId="LeftState" block="left state"
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LeftState = 0,
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//% blockId="RightState" block="right state"
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RightState = 1
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}
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export enum enLineState {
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//% blockId="White" block="white"
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White = 0,
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//% blockId="Black" block="black"
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Black = 1
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}
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export enum enAvoidState {
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//% blockId="OBSTACLE" block="with obstacles"
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OBSTACLE = 0,
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//% blockId="NOOBSTACLE" block="without obstacles"
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NOOBSTACLE = 1
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}
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export enum enServo {
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S1 = 1,
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S2,
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S3
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}
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export enum CarState {
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//% blockId="Car_Run" block="forward"
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Car_Run = 1,
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//% blockId="Car_Back" block="back"
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Car_Back = 2,
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//% blockId="Car_Left" block="turn left"
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Car_Left = 3,
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//% blockId="Car_Right" block="turn right"
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Car_Right = 4,
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//% blockId="Car_Stop" block="stop"
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Car_Stop = 5,
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//% blockId="Car_SpinLeft" block="rotate left"
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Car_SpinLeft = 6,
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//% blockId="Car_SpinRight" block="rotate right"
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Car_SpinRight = 7
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}
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function i2cwrite(addr: number, reg: number, value: number) {
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let buf = pins.createBuffer(2)
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buf[0] = reg
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buf[1] = value
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pins.i2cWriteBuffer(addr, buf)
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}
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|
|
function i2ccmd(addr: number, value: number) {
|
|
let buf = pins.createBuffer(1)
|
|
buf[0] = value
|
|
pins.i2cWriteBuffer(addr, buf)
|
|
}
|
|
|
|
function i2cread(addr: number, reg: number) {
|
|
pins.i2cWriteNumber(addr, reg, NumberFormat.UInt8BE);
|
|
let val = pins.i2cReadNumber(addr, NumberFormat.UInt8BE);
|
|
return val;
|
|
}
|
|
|
|
function initPCA9685(): void {
|
|
i2cwrite(PCA9685_ADD, MODE1, 0x00)
|
|
setFreq(50);
|
|
initialized = true
|
|
}
|
|
|
|
function setFreq(freq: number): void {
|
|
// Constrain the frequency
|
|
let prescaleval = 25000000;
|
|
prescaleval /= 4096;
|
|
prescaleval /= freq;
|
|
prescaleval -= 1;
|
|
let prescale = prescaleval; //Math.Floor(prescaleval + 0.5);
|
|
let oldmode = i2cread(PCA9685_ADD, MODE1);
|
|
let newmode = (oldmode & 0x7F) | 0x10; // sleep
|
|
i2cwrite(PCA9685_ADD, MODE1, newmode); // go to sleep
|
|
i2cwrite(PCA9685_ADD, PRESCALE, prescale); // set the prescaler
|
|
i2cwrite(PCA9685_ADD, MODE1, oldmode);
|
|
control.waitMicros(5000);
|
|
i2cwrite(PCA9685_ADD, MODE1, oldmode | 0xa1);
|
|
}
|
|
|
|
function setPwm(channel: number, on: number, off: number): void {
|
|
if (channel < 0 || channel > 15)
|
|
return;
|
|
if (!initialized) {
|
|
initPCA9685();
|
|
}
|
|
let buf = pins.createBuffer(5);
|
|
buf[0] = LED0_ON_L + 4 * channel;
|
|
buf[1] = on & 0xff;
|
|
buf[2] = (on >> 8) & 0xff;
|
|
buf[3] = off & 0xff;
|
|
buf[4] = (off >> 8) & 0xff;
|
|
pins.i2cWriteBuffer(PCA9685_ADD, buf);
|
|
}
|
|
|
|
|
|
function Car_run(speed1: number, speed2: number) {
|
|
|
|
speed1 = speed1 * 16; // map 350 to 4096
|
|
speed2 = speed2 * 16;
|
|
if (speed1 >= 4096) {
|
|
speed1 = 4095
|
|
}
|
|
if (speed1 <= 350) {
|
|
speed1 = 350
|
|
}
|
|
if (speed2 >= 4096) {
|
|
speed2 = 4095
|
|
}
|
|
if (speed2 <= 350) {
|
|
speed2 = 350
|
|
}
|
|
|
|
setPwm(12, 0, speed1);
|
|
setPwm(13, 0, 0);
|
|
|
|
setPwm(15, 0, speed2);
|
|
setPwm(14, 0, 0);
|
|
//pins.digitalWritePin(DigitalPin.P16, 1);
|
|
// pins.analogWritePin(AnalogPin.P1, 1023-speed); //速度控制
|
|
|
|
// pins.analogWritePin(AnalogPin.P0, speed);//速度控制
|
|
// pins.digitalWritePin(DigitalPin.P8, 0);
|
|
}
|
|
|
|
function Car_back(speed1: number, speed2: number) {
|
|
|
|
speed1 = speed1 * 16; // map 350 to 4096
|
|
speed2 = speed2 * 16;
|
|
if (speed1 >= 4096) {
|
|
speed1 = 4095
|
|
}
|
|
if (speed1 <= 350) {
|
|
speed1 = 350
|
|
}
|
|
if (speed2 >= 4096) {
|
|
speed2 = 4095
|
|
}
|
|
if (speed2 <= 350) {
|
|
speed2 = 350
|
|
}
|
|
|
|
setPwm(12, 0, 0);
|
|
setPwm(13, 0, speed1);
|
|
|
|
setPwm(15, 0, 0);
|
|
setPwm(14, 0, speed2);
|
|
|
|
//pins.digitalWritePin(DigitalPin.P16, 0);
|
|
//pins.analogWritePin(AnalogPin.P1, speed); //速度控制
|
|
|
|
//pins.analogWritePin(AnalogPin.P0, 1023 - speed);//速度控制
|
|
//pins.digitalWritePin(DigitalPin.P8, 1);
|
|
}
|
|
|
|
function Car_left(speed1: number, speed2: number) {
|
|
|
|
speed1 = speed1 * 16; // map 350 to 4096
|
|
speed2 = speed2 * 16;
|
|
if (speed1 >= 4096) {
|
|
speed1 = 4095
|
|
}
|
|
if (speed1 <= 350) {
|
|
speed1 = 350
|
|
}
|
|
if (speed2 >= 4096) {
|
|
speed2 = 4095
|
|
}
|
|
if (speed2 <= 350) {
|
|
speed2 = 350
|
|
}
|
|
|
|
setPwm(12, 0, speed1);
|
|
setPwm(13, 0, 0);
|
|
|
|
setPwm(15, 0, speed2);
|
|
setPwm(14, 0, 0);
|
|
|
|
//pins.analogWritePin(AnalogPin.P0, speed);
|
|
//pins.digitalWritePin(DigitalPin.P8, 0);
|
|
|
|
//pins.digitalWritePin(DigitalPin.P16, 0);
|
|
//pins.digitalWritePin(DigitalPin.P1, 0);
|
|
}
|
|
|
|
function Car_right(speed1: number, speed2: number) {
|
|
|
|
speed1 = speed1 * 16; // map 350 to 4096
|
|
speed2 = speed2 * 16;
|
|
if (speed1 >= 4096) {
|
|
speed1 = 4095
|
|
}
|
|
if (speed1 <= 350) {
|
|
speed1 = 350
|
|
}
|
|
if (speed2 >= 4096) {
|
|
speed2 = 4095
|
|
}
|
|
if (speed2 <= 350) {
|
|
speed2 = 350
|
|
}
|
|
|
|
setPwm(12, 0, speed1);
|
|
setPwm(13, 0, 0);
|
|
|
|
setPwm(15, 0, speed2);
|
|
setPwm(14, 0, 0);
|
|
//pins.digitalWritePin(DigitalPin.P0, 0);
|
|
//pins.digitalWritePin(DigitalPin.P8, 0);
|
|
|
|
//pins.digitalWritePin(DigitalPin.P16, 1);
|
|
// pins.analogWritePin(AnalogPin.P1, 1023 - speed);
|
|
}
|
|
|
|
function Car_stop() {
|
|
|
|
setPwm(12, 0, 0);
|
|
setPwm(13, 0, 0);
|
|
|
|
setPwm(15, 0, 0);
|
|
setPwm(14, 0, 0);
|
|
//pins.digitalWritePin(DigitalPin.P0, 0);
|
|
//pins.digitalWritePin(DigitalPin.P8, 0);
|
|
//pins.digitalWritePin(DigitalPin.P16, 0);
|
|
//pins.digitalWritePin(DigitalPin.P1, 0);
|
|
}
|
|
|
|
function Car_spinleft(speed1: number, speed2: number) {
|
|
|
|
speed1 = speed1 * 16; // map 350 to 4096
|
|
speed2 = speed2 * 16;
|
|
if (speed1 >= 4096) {
|
|
speed1 = 4095
|
|
}
|
|
if (speed1 <= 350) {
|
|
speed1 = 350
|
|
}
|
|
if (speed2 >= 4096) {
|
|
speed2 = 4095
|
|
}
|
|
if (speed2 <= 350) {
|
|
speed2 = 350
|
|
}
|
|
|
|
setPwm(12, 0, 0);
|
|
setPwm(13, 0, speed1);
|
|
|
|
setPwm(15, 0, speed2);
|
|
setPwm(14, 0, 0);
|
|
|
|
//pins.analogWritePin(AnalogPin.P0, speed);
|
|
//pins.digitalWritePin(DigitalPin.P8, 0);
|
|
|
|
//pins.digitalWritePin(DigitalPin.P16, 0);
|
|
//pins.analogWritePin(AnalogPin.P1, speed);
|
|
}
|
|
|
|
function Car_spinright(speed1: number, speed2: number) {
|
|
|
|
speed1 = speed1 * 16; // map 350 to 4096
|
|
speed2 = speed2 * 16;
|
|
if (speed1 >= 4096) {
|
|
speed1 = 4095
|
|
}
|
|
if (speed1 <= 350) {
|
|
speed1 = 350
|
|
}
|
|
if (speed2 >= 4096) {
|
|
speed2 = 4095
|
|
}
|
|
if (speed2 <= 350) {
|
|
speed2 = 350
|
|
}
|
|
|
|
setPwm(12, 0, speed1);
|
|
setPwm(13, 0, 0);
|
|
|
|
setPwm(15, 0, 0);
|
|
setPwm(14, 0, speed2);
|
|
//pins.analogWritePin(AnalogPin.P0, 1023-speed);
|
|
//pins.digitalWritePin(DigitalPin.P8, 1);
|
|
|
|
//pins.digitalWritePin(DigitalPin.P16, 1);
|
|
//pins.analogWritePin(AnalogPin.P1, 1023-speed);
|
|
|
|
}
|
|
|
|
/**
|
|
* *****************************************************************
|
|
* @param index
|
|
*/
|
|
//% blockId=mbit_RGB_Car_Big2 block="RGB_Car_Big2|value %value"
|
|
//% weight=101
|
|
//% blockGap=10
|
|
//% color="#C814B8"
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
|
|
export function RGB_Car_Big2(value: enColor): void {
|
|
|
|
switch (value) {
|
|
case enColor.OFF: {
|
|
setPwm(0, 0, 0);
|
|
setPwm(1, 0, 0);
|
|
setPwm(2, 0, 0);
|
|
break;
|
|
}
|
|
case enColor.Red: {
|
|
setPwm(0, 0, 4095);
|
|
setPwm(1, 0, 0);
|
|
setPwm(2, 0, 0);
|
|
break;
|
|
}
|
|
case enColor.Green: {
|
|
setPwm(0, 0, 0);
|
|
setPwm(1, 0, 4095);
|
|
setPwm(2, 0, 0);
|
|
break;
|
|
}
|
|
case enColor.Blue: {
|
|
setPwm(0, 0, 0);
|
|
setPwm(1, 0, 0);
|
|
setPwm(2, 0, 4095);
|
|
break;
|
|
}
|
|
case enColor.White: {
|
|
setPwm(0, 0, 4095);
|
|
setPwm(1, 0, 4095);
|
|
setPwm(2, 0, 4095);
|
|
break;
|
|
}
|
|
case enColor.Cyan: {
|
|
setPwm(0, 0, 0);
|
|
setPwm(1, 0, 4095);
|
|
setPwm(2, 0, 4095);
|
|
break;
|
|
}
|
|
case enColor.Pinkish: {
|
|
setPwm(0, 0, 4095);
|
|
setPwm(1, 0, 0);
|
|
setPwm(2, 0, 4095);
|
|
break;
|
|
}
|
|
case enColor.Yellow: {
|
|
setPwm(0, 0, 4095);
|
|
setPwm(1, 0, 4095);
|
|
setPwm(2, 0, 0);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
//% blockId=mbit_RGB_Car_Big block="RGB_Car_Big|value1 %value1|value2 %value2|value3 %value3"
|
|
//% weight=100
|
|
//% blockGap=10
|
|
//% color="#C814B8"
|
|
//% value1.min=0 value1.max=255 value2.min=0 value2.max=255 value3.min=0 value3.max=255
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
|
|
export function RGB_Car_Big(value1: number, value2: number, value3: number): void {
|
|
|
|
let R = value1 * 16;
|
|
let G = value2 * 16;
|
|
let B = value3 * 16;
|
|
|
|
if (R > 4096)
|
|
R = 4095;
|
|
if (G > 4096)
|
|
G = 4095;
|
|
if (B > 4096)
|
|
B = 4095;
|
|
|
|
setPwm(0, 0, R);
|
|
setPwm(1, 0, G);
|
|
setPwm(2, 0, B);
|
|
|
|
}
|
|
|
|
//% blockId=mbit_RGB_Car_Program block="RGB_Car_Program"
|
|
//% weight=99
|
|
//% blockGap=10
|
|
//% color="#C814B8"
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
|
|
export function RGB_Car_Program(): neopixel.Strip {
|
|
|
|
if (!yahStrip) {
|
|
yahStrip = neopixel.create(DigitalPin.P16, 3, NeoPixelMode.RGB);
|
|
}
|
|
return yahStrip;
|
|
}
|
|
|
|
|
|
//% blockId=mbit_ultrasonic_car block="ultrasonic return distance(cm)"
|
|
//% color="#006400"
|
|
//% weight=98
|
|
//% blockGap=10
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
|
|
export function Ultrasonic_Car(): number {
|
|
|
|
// send pulse
|
|
pins.setPull(DigitalPin.P14, PinPullMode.PullNone);
|
|
pins.digitalWritePin(DigitalPin.P14, 0);
|
|
control.waitMicros(2);
|
|
pins.digitalWritePin(DigitalPin.P14, 1);
|
|
control.waitMicros(15);
|
|
pins.digitalWritePin(DigitalPin.P14, 0);
|
|
|
|
// read pulse
|
|
let d = pins.pulseIn(DigitalPin.P15, PulseValue.High, 43200);
|
|
return d / 58;
|
|
}
|
|
|
|
//% blockId=mbit_Music_Car block="Music_Car|%index"
|
|
//% weight=97
|
|
//% blockGap=10
|
|
//% color="#006400"
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
|
|
export function Music_Car(index: enMusic): void {
|
|
switch (index) {
|
|
case enMusic.dadadum: music.beginMelody(music.builtInMelody(Melodies.Dadadadum), MelodyOptions.Once); break;
|
|
case enMusic.birthday: music.beginMelody(music.builtInMelody(Melodies.Birthday), MelodyOptions.Once); break;
|
|
case enMusic.entertainer: music.beginMelody(music.builtInMelody(Melodies.Entertainer), MelodyOptions.Once); break;
|
|
case enMusic.prelude: music.beginMelody(music.builtInMelody(Melodies.Prelude), MelodyOptions.Once); break;
|
|
case enMusic.ode: music.beginMelody(music.builtInMelody(Melodies.Ode), MelodyOptions.Once); break;
|
|
case enMusic.nyan: music.beginMelody(music.builtInMelody(Melodies.Nyan), MelodyOptions.Once); break;
|
|
case enMusic.ringtone: music.beginMelody(music.builtInMelody(Melodies.Ringtone), MelodyOptions.Once); break;
|
|
case enMusic.funk: music.beginMelody(music.builtInMelody(Melodies.Funk), MelodyOptions.Once); break;
|
|
case enMusic.blues: music.beginMelody(music.builtInMelody(Melodies.Blues), MelodyOptions.Once); break;
|
|
case enMusic.wedding: music.beginMelody(music.builtInMelody(Melodies.Wedding), MelodyOptions.Once); break;
|
|
case enMusic.funereal: music.beginMelody(music.builtInMelody(Melodies.Funeral), MelodyOptions.Once); break;
|
|
case enMusic.punchline: music.beginMelody(music.builtInMelody(Melodies.Punchline), MelodyOptions.Once); break;
|
|
case enMusic.baddy: music.beginMelody(music.builtInMelody(Melodies.Baddy), MelodyOptions.Once); break;
|
|
case enMusic.chase: music.beginMelody(music.builtInMelody(Melodies.Chase), MelodyOptions.Once); break;
|
|
case enMusic.ba_ding: music.beginMelody(music.builtInMelody(Melodies.BaDing), MelodyOptions.Once); break;
|
|
case enMusic.wawawawaa: music.beginMelody(music.builtInMelody(Melodies.Wawawawaa), MelodyOptions.Once); break;
|
|
case enMusic.jump_up: music.beginMelody(music.builtInMelody(Melodies.JumpUp), MelodyOptions.Once); break;
|
|
case enMusic.jump_down: music.beginMelody(music.builtInMelody(Melodies.JumpDown), MelodyOptions.Once); break;
|
|
case enMusic.power_up: music.beginMelody(music.builtInMelody(Melodies.PowerUp), MelodyOptions.Once); break;
|
|
case enMusic.power_down: music.beginMelody(music.builtInMelody(Melodies.PowerDown), MelodyOptions.Once); break;
|
|
}
|
|
}
|
|
//% blockId=mbit_Servo_Car block="Servo_Car|num %num|value %value"
|
|
//% weight=96
|
|
//% blockGap=10
|
|
//% color="#006400"
|
|
//% num.min=1 num.max=3 value.min=0 value.max=180
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=9
|
|
export function Servo_Car(num: enServo, value: number): void {
|
|
|
|
// 50hz: 20,000 us
|
|
let us = (value * 1800 / 180 + 600); // 0.6 ~ 2.4
|
|
let pwm = us * 4096 / 20000;
|
|
setPwm(num + 2, 0, pwm);
|
|
|
|
}
|
|
|
|
//% blockId=mbit_Avoid_Sensor block="Avoid_Sensor|value %value"
|
|
//% weight=95
|
|
//% blockGap=10
|
|
//% color="#006400"
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=12
|
|
export function Avoid_Sensor(value: enAvoidState): boolean {
|
|
|
|
let temp: boolean = false;
|
|
pins.digitalWritePin(DigitalPin.P9, 0);
|
|
switch (value) {
|
|
case enAvoidState.OBSTACLE: {
|
|
if (pins.analogReadPin(AnalogPin.P3) < 800) {
|
|
|
|
temp = true;
|
|
setPwm(8, 0, 0);
|
|
}
|
|
else {
|
|
temp = false;
|
|
setPwm(8, 0, 4095);
|
|
}
|
|
break;
|
|
}
|
|
|
|
case enAvoidState.NOOBSTACLE: {
|
|
if (pins.analogReadPin(AnalogPin.P3) > 800) {
|
|
|
|
temp = true;
|
|
setPwm(8, 0, 4095);
|
|
}
|
|
else {
|
|
temp = false;
|
|
setPwm(8, 0, 0);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
pins.digitalWritePin(DigitalPin.P9, 1);
|
|
return temp;
|
|
|
|
}
|
|
//% blockId=mbit_Line_Sensor block="Line_Sensor|direct %direct|value %value"
|
|
//% weight=94
|
|
//% blockGap=10
|
|
//% color="#006400"
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=12
|
|
export function Line_Sensor(direct: enPos, value: enLineState): boolean {
|
|
|
|
let temp: boolean = false;
|
|
|
|
switch (direct) {
|
|
case enPos.LeftState: {
|
|
if (pins.analogReadPin(AnalogPin.P2) < 500) {
|
|
if (value == enLineState.White) {
|
|
temp = true;
|
|
}
|
|
setPwm(7, 0, 4095);
|
|
}
|
|
else {
|
|
if (value == enLineState.Black) {
|
|
temp = true;
|
|
}
|
|
setPwm(7, 0, 0);
|
|
}
|
|
break;
|
|
}
|
|
|
|
case enPos.RightState: {
|
|
if (pins.analogReadPin(AnalogPin.P1) < 500) {
|
|
if (value == enLineState.White) {
|
|
temp = true;
|
|
}
|
|
setPwm(6, 0, 4095);
|
|
}
|
|
else {
|
|
if (value == enLineState.Black) {
|
|
temp = true;
|
|
}
|
|
setPwm(6, 0, 0);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
return temp;
|
|
|
|
}
|
|
//% blockId=mbit_CarCtrl block="CarCtrl|%index"
|
|
//% weight=93
|
|
//% blockGap=10
|
|
//% color="#006400"
|
|
//% name.fieldEditor="gridpicker" name.fieldOptions.columns=10
|
|
export function CarCtrl(index: CarState): void {
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switch (index) {
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case CarState.Car_Run: Car_run(255, 255); break;
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case CarState.Car_Back: Car_back(255, 255); break;
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case CarState.Car_Left: Car_left(255, 255); break;
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case CarState.Car_Right: Car_right(255, 255); break;
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case CarState.Car_Stop: Car_stop(); break;
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case CarState.Car_SpinLeft: Car_spinleft(255, 255); break;
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case CarState.Car_SpinRight: Car_spinright(255, 255); break;
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}
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}
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//% blockId=mbit_CarCtrlSpeed block="CarCtrlSpeed|%index|speed %speed"
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//% weight=92
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//% blockGap=10
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//% speed.min=0 speed.max=255
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//% color="#006400"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=10
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export function CarCtrlSpeed(index: CarState, speed: number): void {
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switch (index) {
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case CarState.Car_Run: Car_run(speed, speed); break;
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case CarState.Car_Back: Car_back(speed, speed); break;
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case CarState.Car_Left: Car_left(speed, speed); break;
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case CarState.Car_Right: Car_right(speed, speed); break;
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case CarState.Car_Stop: Car_stop(); break;
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case CarState.Car_SpinLeft: Car_spinleft(speed, speed); break;
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case CarState.Car_SpinRight: Car_spinright(speed, speed); break;
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}
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}
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//% blockId=mbit_CarCtrlSpeed2 block="CarCtrlSpeed2|%index|speed1 %speed1|speed2 %speed2"
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//% weight=91
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//% blockGap=10
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//% speed1.min=0 speed1.max=255 speed2.min=0 speed2.max=255
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//% color="#006400"
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//% name.fieldEditor="gridpicker" name.fieldOptions.columns=10
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export function CarCtrlSpeed2(index: CarState, speed1: number, speed2: number): void {
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switch (index) {
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case CarState.Car_Run: Car_run(speed1, speed2); break;
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case CarState.Car_Back: Car_back(speed1, speed2); break;
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case CarState.Car_Left: Car_left(speed1, speed2); break;
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case CarState.Car_Right: Car_right(speed1, speed2); break;
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case CarState.Car_Stop: Car_stop(); break;
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case CarState.Car_SpinLeft: Car_spinleft(speed1, speed2); break;
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case CarState.Car_SpinRight: Car_spinright(speed1, speed2); break;
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}
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}
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}
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