Merge pull request #3 from pelikhan/master

Jacdac Extension

jacdac/README.md

@@ -0,0 +1 @@
+# Jacdac blocks for the Kitronik motor driver

jacdac/main.ts

@@ -0,0 +1,59 @@
+//% deprecated
+namespace kitronik_motor_driver { }
+
+namespace modules {
+    /**
+     * Motor 1 client
+     */
+    //% fixedInstance whenUsed block="kitronik motor1"
+    export const kitronikMotor1 = new MotorClient("kitronik motor1?dev=self&srvo=0")
+
+    /**
+     * Motor 2 client
+     */
+    //% fixedInstance whenUsed block="kitronik motor2"
+    export const kitronikMotor2 = new MotorClient("kitronik motor2?dev=self&srvo=1")
+}
+
+namespace servers {
+    class MotorServer extends jacdac.Server {
+        motor: kitronik_motor_driver.Motors
+        speed: number
+        enabled: boolean
+
+        constructor(motor: kitronik_motor_driver.Motors) {
+            super(jacdac.SRV_MOTOR)
+            this.motor = motor
+            this.enabled = false
+
+            kitronik_motor_driver.motorOff(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)
+                kitronik_motor_driver.motorOff(this.motor)
+            else {
+                const direction = this.speed < 0 ? kitronik_motor_driver.MotorDirection.Reverse
+                    : kitronik_motor_driver.MotorDirection.Forward
+                kitronik_motor_driver.motorOn(this.motor, direction, Math.abs(this.speed))
+            }
+        }
+    }
+    function start() {
+        jacdac.productIdentifier = 0x31ee311d
+        jacdac.deviceDescription = "Kitronik Motor Driver"
+        jacdac.startSelfServers(() => [
+            new MotorServer(kitronik_motor_driver.Motors.Motor1),
+            new MotorServer(kitronik_motor_driver.Motors.Motor2)
+        ])
+    }
+    start()
+}

jacdac/pxt.json

@@ -0,0 +1,27 @@
+{
+    "name": "kitronik-motor-driver-jacdac",
+    "version": "0.0.16",
+    "dependencies": {
+        "core": "*",
+        "radio": "*",
+        "microphone": "*",
+        "pxt-kitronik-motor-driver": "github:KitronikLtd/pxt-kitronik-motor-driver",
+        "jacdac": "github:microsoft/pxt-jacdac#v0.10.53",
+        "jacdac-motor": "github:microsoft/pxt-jacdac/motor#v0.10.53"
+    },
+    "files": [
+        "main.ts",
+        "README.md"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "targetVersions": {
+        "target": "4.1.45",
+        "targetId": "microbit"
+    },
+    "supportedTargets": [
+        "microbit"
+    ],
+    "preferredEditor": "tsprj"
+}

jacdac/test.ts

@@ -0,0 +1,14 @@
+let speed = 0
+let dv = 5
+forever(() => {
+    modules.kitronikMotor1.run(speed)
+    modules.kitronikMotor2.run(- speed)
+
+    speed += dv
+    if (speed > 100) {
+        dv = -5
+    } else if (speed < -100) {
+        dv = 5
+    }
+    pause(250)
+})