Jacdac Extension

jacdac/.gitignore

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+# MakeCode
+built
+node_modules
+yotta_modules
+yotta_targets
+pxt_modules
+_site
+*.db
+*.tgz
+.header.json
+.simstate.json

jacdac/README.md

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+# Robobit Jacdac Extension

jacdac/main.ts

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+//% deprecated
+namespace robotbit {
+
+}
+
+namespace modules {
+    /**
+     * Motor 1A
+     */
+    //% fixedInstance whenUsed block="robotbit motor 1A"
+    export const robotbitMotor1A = new MotorClient("robotbit motor 1A?dev=self&srvo=0")
+    /**
+     * Motor 1B
+     */
+    //% fixedInstance whenUsed block="robotbit motor 1B"
+    export const robotbitMotor1B = new MotorClient("robotbit motor 1B?dev=self&srvo=1")
+    /**
+     * Motor 2A
+     */
+    //% fixedInstance whenUsed block="robotbit motor 2A"
+    export const robotbitMotor2A = new MotorClient("robotbit motor 2A?dev=self&srvo=2")
+    /**
+     * Motor 2B
+     */
+    //% fixedInstance whenUsed block="robotbit motor 2B"
+    export const robotbitMotor2B = new MotorClient("robotbit motor 2B?dev=self&srvo=3")
+
+    /**
+     * Servo S1
+     */
+    export const robotbitServoS1 = new ServoClient("robotbit servo S1?dev=self&srvo=0&name=S1")
+    /**
+     * Servo S2
+     */
+    export const robotbitServoS2 = new ServoClient("robotbit servo S2?dev=self&srvo=1")
+    /**
+     * Servo S3
+     */
+    export const robotbitServoS3 = new ServoClient("robotbit servo S3?dev=self&srvo=2")
+    /**
+     * Servo S4
+     */
+    export const robotbitServoS4 = new ServoClient("robotbit servo S4?dev=self&srvo=3")
+    /**
+     * Servo S5
+     */
+    export const robotbitServoS5 = new ServoClient("robotbit servo S5?dev=self&srvo=4")
+    /**
+     * Servo S6
+     */
+    export const robotbitServoS6 = new ServoClient("robotbit servo S6?dev=self&srvo=5")
+    /**
+     * Servo S7
+     */
+    export const robotbitServoS7 = new ServoClient("robotbit servo S7?dev=self&srvo=6")
+    /**
+     * Servo S8
+     */
+    export const robotbitServoS8 = new ServoClient("robotbit servo S8?dev=self&srvo=7")
+}
+
+namespace servers {
+    jacdac.productIdentifier = 0x3dffd752
+    class MotorServer extends jacdac.Server {
+        motor: robotbit.Motors
+        speed: number
+        enabled: boolean
+
+        constructor(motor: robotbit.Motors, instanceName: string) {
+            super(jacdac.SRV_MOTOR, { instanceName: instanceName })
+            this.motor = motor
+            this.enabled = false
+
+            robotbit.MotorStop(this.motor)
+        }
+
+        handlePacket(pkt: jacdac.JDPacket) {
+            this.handleRegValue(pkt, jacdac.MotorReg.Reversible, jacdac.MotorRegPack.Reversible, true)
+            this.speed = this.handleRegValue(pkt, jacdac.MotorReg.Speed, jacdac.MotorRegPack.Speed, this.speed)
+            this.enabled = this.handleRegBool(pkt, jacdac.MotorReg.Enabled, this.enabled)
+
+            this.sync()
+        }
+
+        sync() {
+            if (!this.enabled || this.speed == 0)
+                robotbit.MotorStop(this.motor)
+            else {
+                robotbit.MotorRun(this.motor, this.speed * 0xff)
+            }
+        }
+    }
+    class ServoServer extends jacdac.Server {
+        servo: robotbit.Servos
+        angle: number
+        constructor(servo: robotbit.Servos, instanceName: string) {
+            super(jacdac.SRV_SERVO, { instanceName: instanceName })
+            this.servo = servo
+            this.angle = 0
+        }
+        handlePacket(pkt: jacdac.JDPacket) {
+            this.angle = this.handleRegValue(pkt, jacdac.ServoReg.Angle, jacdac.ServoRegPack.Angle, this.angle)
+            this.handleRegValue(pkt, jacdac.ServoReg.ActualAngle, jacdac.ServoRegPack.ActualAngle, this.angle)
+
+            robotbit.Servo(this.servo, this.angle)
+        }
+    }
+    function start() {
+        jacdac.productIdentifier = 0x31ea8476
+        jacdac.deviceDescription = "Kittenbot Robo:bit"
+        jacdac.startSelfServers(() => [
+            // motors
+            new MotorServer(robotbit.Motors.M1A, "M1A"),
+            new MotorServer(robotbit.Motors.M1B, "M1B"),
+            new MotorServer(robotbit.Motors.M2A, "M2A"),
+            new MotorServer(robotbit.Motors.M2B, "M2B"),
+            // servos
+            new ServoServer(robotbit.Servos.S1, "S1"),
+            new ServoServer(robotbit.Servos.S2, "S2"),
+            new ServoServer(robotbit.Servos.S3, "S3"),
+            new ServoServer(robotbit.Servos.S4, "S4"),
+            new ServoServer(robotbit.Servos.S5, "S5"),
+            new ServoServer(robotbit.Servos.S6, "S6"),
+            new ServoServer(robotbit.Servos.S7, "S7"),
+            new ServoServer(robotbit.Servos.S8, "S8"),
+        ])
+    }
+    start()
+}

jacdac/pxt.json

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+{
+    "name": "robotbit-jacdac",
+    "version": "0.3.15",
+    "dependencies": {
+        "core": "*",
+        "radio": "*",
+        "microphone": "*",
+        "pxt-robotbit": "github:KittenBot/pxt-robotbit",
+        "jacdac": "github:microsoft/pxt-jacdac#v0.10.41",
+        "jacdac-motor": "github:microsoft/pxt-jacdac/motor#v0.10.41",
+        "jacdac-servo": "github:microsoft/pxt-jacdac/servo#v0.10.41"
+    },
+    "files": [
+        "main.ts",
+        "README.md"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "targetVersions": {
+        "target": "4.1.45",
+        "targetId": "microbit"
+    },
+    "supportedTargets": [
+        "microbit"
+    ],
+    "preferredEditor": "tsprj"
+}

jacdac/test.ts

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+let speed = 0
+let dv = 5
+forever(() => {
+    led.toggle(0, 0)
+
+    modules.robotbitMotor1A.run(speed)
+    modules.robotbitMotor1B.run(- speed)
+    modules.robotbitMotor2A.run(speed / 2)
+    modules.robotbitMotor2B.run((- speed) / 2)
+
+    modules.robotbitServoS1.setAngle(speed)
+    modules.robotbitServoS2.setAngle(speed)
+    modules.robotbitServoS3.setAngle(speed)
+    modules.robotbitServoS4.setAngle(speed)
+    modules.robotbitServoS5.setAngle(speed)
+    modules.robotbitServoS6.setAngle(speed)
+    modules.robotbitServoS7.setAngle(speed)
+    modules.robotbitServoS8.setAngle(speed)
+
+    speed += dv
+    if (speed > 100) {
+        dv = -5
+    } else if (speed < -100) {
+        dv = 5
+    }
+    pause(250)
+})

jacdac/tsconfig.json

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+{
+    "compilerOptions": {
+        "target": "ES5",
+        "noImplicitAny": true,
+        "outDir": "built",
+        "rootDir": "."
+    },
+    "exclude": ["pxt_modules/**/*test.ts"]
+}