ringbitcar.ts

//% weight=0 color=#0fbc11  icon="\uf207" block="RingbitCar"
namespace RingbitCar {

    export enum TrackingStateType {
        //% block="● ●" enumval=0
        Tracking_State_0,
        //% block="● ◌" enumval=1
        Tracking_State_1,
        //% block="◌ ●" enumval=2
        Tracking_State_2,
        //% block="◌ ◌" enumval=3
        Tracking_State_3
    }
    export enum Distance_Unit {
        //% block="cm" enumval=1
        Distance_Unit_cm,
        //% block="inch" enumval=2
        Distance_Unit_inch
    }
    export enum Direction_turn {
        //% block="right" enumval=0
        right,
        //% block="left" enumval=1
        left
    }
    export enum Direction_run {
        //% block="forward" enumval=0
        forward,
        //% block="backward" enumval=1
        backward
    }

    let pin_left_wheel = AnalogPin.P1
    let pin_right_wheel = AnalogPin.P2

    /**
    * TODO: initialization ring:bit car
    * @param left describe parameter here, eg: AnalogPin.P1
    * @param right describe parameter here, eg: AnalogPin.P2
    */
    //% weight=99
    //% blockId=ringbitcar_init block="set left wheel at pin %left|right wheel at pin %right"
    export function init_wheel(left: AnalogPin, right: AnalogPin): void {
        // Add code here
        pin_left_wheel = left
        pin_right_wheel = right

    }

    /**
    *For reference only
    */
    //% weight=25
    //% blockId=steering angle block="spin %direction %angle degrees "
    export function steering_angle(direction: Direction_turn, angle: number): void {
        let timeWait = (angle * 1000000) / 135;
        if (direction == 1) {
            pins.servoWritePin(pin_left_wheel, 50);
            pins.servoWritePin(pin_right_wheel, 50);
            control.waitMicros(timeWait);
            brake();
        }
        else {
            pins.servoWritePin(pin_left_wheel, 130);
            pins.servoWritePin(pin_right_wheel, 130);
            control.waitMicros(timeWait);
            brake();
        }
    }

    /**
    *For reference only
    */
    //% weight=29
    //% blockId=distance_run block="go %direction to %distance cm"
    export function running_distance(direction: Direction_run, distance: number): void {
        let timeWait = (distance * 1000000) / 100;
        if (direction == 0) {
            forward();
            control.waitMicros(timeWait);
            brake();
        }
        else {
            back();
            control.waitMicros(timeWait);
            brake();
        }
    }
    //% weight=30
    //% blockId=time_run block="go %direction for %time seconds"
    export function running_time(direction: Direction_run, time: number): void {
        if (direction == 0) {
            forward();
            basic.pause(time * 1000)
            brake();
        }
        else {
            back();
            basic.pause(time * 1000)
            brake();
        }
    }

    /**
    * TODO: full speed move forward
    */
    //% weight=9
    //% blockId=ringbitcar_forward block="go straight at full speed"
    export function forward(): void {
        pins.servoSetPulse(pin_left_wheel, 2400)
        pins.servoSetPulse(pin_right_wheel, 600)
    }

    /**
    * TODO: full speed move back
    */
    //% weight=8
    //% blockId=ringbitcar_back block="reverse at full speed"
    export function back(): void {
        pins.servoSetPulse(pin_left_wheel, 600)
        pins.servoSetPulse(pin_right_wheel, 2400)
    }

    /**
    * TODO: full speed turn left
    */
    //% weight=7
    //% blockId=ringbitcar_left block="turn left at full speed"
    export function turnleft(): void {
        pins.servoSetPulse(pin_left_wheel, 600)
        pins.servoSetPulse(pin_right_wheel, 600)

    }

    /**
    * TODO: full speed turn right
    */
    //% weight=6
    //% blockId=ringbitcar_right block="turn right at full speed"
    export function turnright(): void {
        pins.servoSetPulse(pin_left_wheel, 2400)
        pins.servoSetPulse(pin_right_wheel, 2400)

    }

    /**
    * TODO: stop
    */
    //% weight=5
    //% blockId=ringbitcar_brake block="brake"
    export function brake(): void {
        //pins.servoSetPulse(pin_left_wheel, 1500)
        //pins.servoSetPulse(pin_right_wheel, 1500)
        pins.digitalWritePin(<number>pin_left_wheel, 0)
        pins.digitalWritePin(<number>pin_right_wheel, 0)

    }

    /**
    * TODO: self setting speed
    * @param m the m from -100 (min) to 100 (max), eg:0
    * @param n the n from -100 (min) to 100 (max), eg:0
    */
    //% weight=4
    //% blockId=ringbitcar_freestyle block="set left wheel speed at %m| right wheel speed at %n"
    //% m.min=-100 m.max=100
    //% n.min=-100 n.max=100
    export function freestyle(m: number, n: number): void {
        if (m > 0) {
            pins.servoSetPulse(pin_left_wheel, 1600 + m * 8)
        } else if (m < 0) {
            pins.servoSetPulse(pin_left_wheel, 1400 + m * 8)
        } else pins.servoSetPulse(pin_left_wheel, 1500)

        if (n > 0) {
            pins.servoSetPulse(pin_right_wheel, 1400 - n * 8)
        } else if (n < 0) {
            pins.servoSetPulse(pin_right_wheel, 1600 - n * 8)
        } else pins.servoSetPulse(pin_right_wheel, 1500)

    }

    /**
    * TODO: line following
    */
    //% weight=10
    //% advanced=true
    //% blockId=ringbitcar_tracking block="tracking state is %state"
    export function tracking(state: TrackingStateType): boolean {
        let sensor_pin = AnalogPin.P0

        if (pin_left_wheel != AnalogPin.P1 && pin_right_wheel != AnalogPin.P1) {
            sensor_pin = AnalogPin.P1
        } else if (pin_left_wheel != AnalogPin.P2 && pin_right_wheel != AnalogPin.P2) {
            sensor_pin = AnalogPin.P2
        }
        let i = pins.analogReadPin(sensor_pin)
        if (i < 150 && state == 0) {
            return true;
        } else if (i >= 150 && i < 235 && state == 1) {
            return true;
        } else if (i >= 235 && i < 310 && state == 2) {
            return true;
        } else if (i >= 310 && i < 600 && state == 3) {
            return true;
        } else return false;

    }

    /**
    * TODO: get ultrasonic distance
    */
    //% weight=9
    //% advanced=true
    //% blockId=ringbitcar_sonarbit block="ultrasonic distance in unit %Distance_Unit"
    export function ringbitcar_sonarbit(distance_unit: Distance_Unit): number {
        let sensor_pin = DigitalPin.P0
        if (pin_left_wheel != AnalogPin.P1 && pin_right_wheel != AnalogPin.P1) {
            sensor_pin = DigitalPin.P1
        } else if (pin_left_wheel != AnalogPin.P2 && pin_right_wheel != AnalogPin.P2) {
            sensor_pin = DigitalPin.P2
        }
        // send pulse
        pins.setPull(sensor_pin, PinPullMode.PullNone);
        pins.digitalWritePin(sensor_pin, 0);
        control.waitMicros(2);
        pins.digitalWritePin(sensor_pin, 1);
        control.waitMicros(10);
        pins.digitalWritePin(sensor_pin, 0);
        // read pulse
        let d = pins.pulseIn(sensor_pin, PulseValue.High, 25000)  // 8 / 340 = 
        let distance = d / 58

        if (distance > 400) {
            distance = 0
        }
        switch (distance_unit) {
            case 0:
                return Math.floor(distance * 10) //mm
                break
            case 1:
                return Math.floor(distance)  //cm
                break
            case 2:
                return Math.floor(distance / 254)   //inch
                break
            default:
                return 0
        }
    }

}