sensorium

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href="VirtualJoystickForBalance.html#speed">speed</a></li><li><a href="VirtualJoystickForBalance.html#turnRange">turnRange</a></li></ul></div></li></ul></div><div class="lnb-api hidden"><h3>Namespaces</h3><ul><li><a href="Sensorium.html">Sensorium</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Sensorium_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Sensorium.html#SUPPORT">SUPPORT</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Sensorium.html#create">create</a></li><li><a href="Sensorium.html#doReceived">doReceived</a></li><li><a href="Sensorium.html#read">read</a></li><li><a href="Sensorium.html#readFirmwareInfo">readFirmwareInfo</a></li><li><a href="Sensorium.html#send">send</a></li><li><a href="Sensorium.html#setSender">setSender</a></li></ul></div></li></ul></div> </nav> <div id="resizer"></div> <div class="main" id="main"> <section> <article> <pre class="prettyprint source linenums"><code>/** * @fileOverview protocol API list */ import { limitValue, float32ToBytes, longToBytes } from "../core/utils"; /** * buf 协议组装器 * @private * @param {Object} obj 对象 * @param {Number} obj.index 由上位机赋值 * @param {Number} obj.mode 查询、执行 * @param {Number} obj.id 指令ID * @param {Arguments} args 其他参数 * @return {Array} 返回数组 */ function bufAssembler(obj, ...args) { const modes = [0x01, 0x02, 0x04]; const bufHead = [0xff, 0x55]; let bufLength = 0; let bufAttr; //todo：完善抛错提示 if (obj.mode == 0x04) { bufAttr = Array.of(obj.index || 0, obj.mode); } else { if (!modes.includes(obj.mode)) { throw new Error(`mode should be one of ${modes}`); } else if (typeof obj.id === 'undefined') { throw new Error(`id should not be empty`); } bufAttr = Array.of(obj.index || 0, obj.mode, obj.id); } bufLength = bufAttr.length + args.length; return bufHead.concat([bufLength], bufAttr, args); } /** * @private */ function protocolAssembler() { /** * Set dc motor speed. * @private * @param {number} port port number, vailable is: 1,2,3,4 * @param {number} speed speed, the range is -255 ~ 255 * @example * ff 55 06 00 02 0a 01 ff 00 */ this.setDcMotor = function(port, speed) { speed = limitValue(speed); return bufAssembler({ mode: 0x02, id: 0x0a }, port, speed & 0xff, (speed >> 8) & 0xff); }; /** * Set encoder motor speed. * @private * @param {number} slot slot number, vailable is: 1,2 * @param {number} speed speed, the range is -255 ~ 255 * @example * ff 55 07 00 02 3d 00 01 64 00 */ this.setEncoderMotorOnBoard = function(slot, speed) { speed = limitValue(speed); let port = 0x00; //板载 return bufAssembler({ mode: 0x02, id: 0x3d }, port, slot, speed & 0xff, (speed >> 8) & 0xff); }; /** * set encoder motor. * @private * @param {Number} index [description] * @param {Number} slot vailable: 1，2 * @param {Number} speed 0 ~ 300, 单位：rpm（每分钟转多少圈） * @param {Float} angle 相对位移, -2147483648 ~ 2147483647 * @example * ff 55 0b 00 02 0c 08 01 96 00 00 00 34 44 */ this.setEncoderMotor = function(slot, speed, angle) { // 编码电机的协议中不使用 port let i2c = 0x08; //I2C地址，目前无意义(软件稳定后可能会重新设计)，用来占位 speed = limitValue(speed, [0, 300]); let byte4Array = float32ToBytes(angle); return bufAssembler({ mode: 0x02, id: 0x0c }, i2c, slot, speed & 0xff, (speed >> 8) & 0xff, ...byte4Array); } /** * Set both left speed and right speed with one command. * @private * @param {number} leftSpeed left speed, the range is -255 ~ 255 * @param {number} rightSpeed right speed, the range is -255 ~ 255 * @example * ff 55 07 00 02 05 64 00 64 00 */ this.setJoystick = function(leftSpeed, rightSpeed) { leftSpeed = limitValue(leftSpeed); rightSpeed = limitValue(rightSpeed); return bufAssembler({ mode: 0x02, id: 0x05 }, leftSpeed & 0xff, (leftSpeed >> 8) & 0xff, rightSpeed & 0xff, (rightSpeed >> 8) & 0xff); }; /** * Set speed for balance mode, the port is on transport, value is 0. * @private * @param {number} turnRange turn extend, -255 ~ 255 * @param {number} speed speed, -255 ~ 255 * @example * ff 55 08 00 02 34 00 64 00 64 00 */ this.setVirtualJoystickForBalance = function(turnRange, speed) { let turnExtent = limitValue(turnRange); let port = 0x00; //板载虚拟摇杆 port = 00 speed = limitValue(speed); return bufAssembler({ mode: 0x02, id: 0x34 }, port, turnExtent & 0xff, (turnExtent >> 8) & 0xff, speed & 0xff, (speed >> 8) & 0xff); }; /** * Set stepper motor speed. * @private * @param {Number} port port number, vailable is: 1,2,3,4 * @param {Number} speed speed, the range is 0 ~ 3000 * @param {Long} distance distance, the range is -2147483648 ~ 2147483647 * @example * ff 55 0a 00 02 28 01 b8 0b e8 03 00 00 */ this.setStepperMotor = function(port, speed, distance) { speed = limitValue(speed, [0, 3000]); var distanceBytes = longToBytes(distance); return bufAssembler({ mode: 0x02, id: 0x28 }, port, speed & 0xff, (speed >> 8) & 0xff, distanceBytes[3], distanceBytes[2], distanceBytes[1], distanceBytes[0]); }; /** * Set RgbFourLed electronic module color. * @private * @param {number} port port number, vailable is: 0(on transport), 6,7,8,9,10 * @param {number} slot slot number, vailable is: 1,2 * @param {number} position led position, 0 signify all leds. * @param {number} r red, the range is 0 ~ 255 * @param {number} g green, the range is 0 ~ 255 * @param {number} b blue, the range is 0 ~ 255 * @example * ff 55 09 00 02 08 06 02 00 ff 00 00 */ this.setLed = function(port, slot, position, r, g, b) { r = limitValue(r, [0, 255]); g = limitValue(g, [0, 255]); b = limitValue(b, [0, 255]); position = limitValue(position, [0]); return bufAssembler({ mode: 0x02, id: 0x08 }, port, slot, position, r, g, b); }; /** * Set Firmware mode. * @private * @param {number} subCmd * @param {number} mode * @example * ff 55 05 00 02 3c 11 00 */ this.setFirmwareMode = function(subCmd, mode) { var sub = subCmd || 0x11; //Auriga是 0x11, megapi是 0x12 return bufAssembler({ mode: 0x02, id: 0x3c }, sub, mode); }; /** * Set Servo speed. * @private * @param {[type]} port port number, vailable is 6,7,8,9,10 * @param {[type]} slot slot number, vailable is 1,2 * @param {[type]} degree servo degree, the range is 0 ~ 180 */ this.setServoMotor = function(port, slot, degree) { degree = limitValue(degree, [0, 180]); return bufAssembler({ mode: 0x02, id: 0x0b }, port, slot, degree); }; /** * Set Seven-segment digital tube number. * @private * @param {number} port port number, vailable is 6,7,8,9,10 * @param {float} number the number to be displayed, -999 ~ 9999 * @exmpa * ff 55 08 00 02 09 06 00 00 c8 42 */ this.setSevenSegment = function(port, number) { number = limitValue(number, [-999, 9999]); var byte4Array = float32ToBytes(number); return bufAssembler({ mode: 0x02, id: 0x09 }, port, ...byte4Array); }; /** * Set led matrix char. * @param {number} port port number, vailable is 6,7,8,9,10 * @param {number} xAxis x position * @param {number} yAxis y position * @param {string} char char, 例如 Hi 转换成ASCII的值 48 69 * @exmaple * ff 55 0a 00 02 29 06 01 00 01 02 48 69 */ /** * Set led matrix emotion. * @param {number} port port number, vailable is 6,7,8,9,10 * @param {number} xAxis x position * @param {number} yAxis y position * @param {Array} emotionData emotion data to be displayed, such as * [00, 00, 40, 48, 44, 42, 02, 02, 02, 02, 42, 44, 48, 40, 00, 00] * @example * ff 55 17 00 02 29 06 02 00 00 00 00 40 48 44 42 02 02 02 02 42 44 48 40 00 00 */ /** * Set led matrix time. * @param {number} port port number, vailable is 6,7,8,9,10 * @param {number} separator time separator, 01 signify `:`, 02 signify ` ` * @param {number} hour hour number, 0 ~ 23 * @param {number} minute minute number, 0 ~ 59 * @example * ff 55 08 00 02 29 06 03 01 0a 14 */ /** * Set led matrix number. * @private * @param {number} port port number, vailable is 6,7,8,9,10 * @param {float} number the number to be displayed * @exmaple ff 55 09 00 02 29 06 04 00 00 00 00 */ this.setLedMatrix = function(...args) { args[2] = args[2] & 0xff; args[3] = args[3] & 0xff; return bufAssembler({ mode: 0x02, id: 0x29 }, ...args); }; /** * Set shutter. * @private * @param {number} port port number, vailable is 6,7,8,9,10 * @param {number} action 0: 按下快门; 1: 松开快门; 2: 聚焦; 3: 停止聚焦 * @exmaple ff 55 05 00 02 14 06 02 */ this.setShutter = function(port, action) { return bufAssembler({ mode: 0x02, id: 0x14 }, port, action); }; /** * reset all sensors and motors on transport. * @private * @exmaple ff 55 02 00 04 */ this.reset = function() { return bufAssembler({ mode: 0x04 }); }; /** * set buzzer only for mcore. * @private * @param {string} hz , "A2" ~ "D8" 对应的 hz * @param {number} beat , 125: eight; 250: quater; 500: half; 1000: one; 2000: double * @example * C2，quater beat: ff 55 08 00 02 22 09 41 00 f4 01 */ this.setBuzzerForMcore = function(hz, beat) { return bufAssembler({ mode: 0x02, id: 0x22 }, (hz & 0xff), (hz >> 8) & 0xff, (beat & 0xff), (beat >> 8) & 0xff); }; /** * set buzzer for mainboard except mcore * @private * @example * 播放引脚为 0x2d，音调为B2，节拍为四分之一：ff 55 08 00 02 22 2d 7b 00 fa 00 */ this.setBuzzer = function(hz, beat) { beat = beat ? beat : 250; return bufAssembler({ mode: 0x02, id: 0x22 }, 0x2d, (hz & 0xff), (hz >> 8) & 0xff, (beat & 0xff), (beat >> 8) & 0xff); }; /** * read verion of transport * @private */ this.readVersion = function() { return bufAssembler({ mode: 0x01, id: 0x00 }); }; /** * mainly used for distance measurement, the measurement range is 0 to 500 cm, * the execution of the command will have more than 100 milliseconds latency. * So the frequency of the host to send this instruction shoulds not be too high. * @private * @param {Number} port vailable: 6，7，8，9，10 * @return {Number} [description] * @example * ff 55 04 00 01 01 03 */ this.readUltrasonic = function(port) { return bufAssembler({ mode: 0x01, id: 0x01 }, port); }; /** * read temperature, Each port can connect two road temperature sensor. * @private * @param {Number} port vailable: 6，7，8，9，10 * @param {Number} slot vailable: slot1(1), slot2(2) * @example * ff 55 05 00 01 02 01 02 */ this.readTemperature = function(port, slot) { return bufAssembler({ mode: 0x01, id: 0x02 }, port, slot); }; /** * The light sensor module or ontransport (lamp) light sensors numerical reading. * @private * @param {Number} port vailable: 6,7,8,9,10, onbord(0c),onbord(0b) * @return {Number} [description] * @example * ff 55 04 00 01 03 07 */ this.readLight = function(port) { return bufAssembler({ mode: 0x01, id: 0x03 }, port); }; /** * read Potentionmeter * @private * @param {Number} port vailable: 6，7，8，9，10 * @return {Number} [description] * @example * ff 55 04 00 01 04 06 */ this.readPotentionmeter = function(port) { return bufAssembler({ mode: 0x01, id: 0x04 }, port); }; /** * read josystic value * @private * @param {Number} port vailable: 6，7，8，9，10 * @param {Number} axis 1: x-axis; 2: y-axis; * @example * ff 55 05 00 01 05 06 01 */ this.readJoystick = function(port, axis) { return bufAssembler({ mode: 0x01, id: 0x05 }, port, axis); }; /** * read gyro value in different axis. * @private * @param {Number} port vailable: 6，7，8，9，10 * @param {Number} axis vailable: X-axis(01) Y-axis(02) Z-axis(03) * @return {Number} [description] * @example * ff 55 05 00 01 06 00 01 */ this.readGyro = function(port, axis) { return bufAssembler({ mode: 0x01, id: 0x06 }, port, axis); }; /** * read volume testing MIC module parameters * @private * @param {Number} port vailable: 6，7，8，9，10，ontransport(0x0e) * @return {Number} [description] * @example * ff 55 04 00 01 07 06 */ this.readSound = function(port) { return bufAssembler({ mode: 0x01, id: 0x07 }, port); }; /** * read temperature on transport * @private * @example * ff 55 04 00 01 1b 0d */ this.readTemperatureOnBoard = function() { var port = 0x0d; return bufAssembler({ mode: 0x01, id: 0x1b }, port); }; /** * read external or board infrared sensor, and the board one is only for mcore * @private * @param {Number} id sensor device id，such as: 0x0e, 0x0d, 0x10 * @param {Number} port mcore port: 3, 4, auriga port: 6,7,8,9,10 * @return {Number} [description] * @example * ff 55 05 00 01 0e 00 */ this.readInfrared = function(id, port, akey) { if (akey) { return bufAssembler({ mode: 0x01, id: id }, port, akey); } else { return bufAssembler({ mode: 0x01, id: id }, port); } }; /** * read pyroelectric infrared sensor * @private * @param {Number} port vailable: 6,7,8,9,10 * @return {Number} [description] * @example * ff 55 04 00 01 0f 06 */ this.readPirmotion = function(port) { return bufAssembler({ mode: 0x01, id: 0x0f }, port); }; /** * read LineFollower sensor * @private * @param {Number} port vailable: 6，7，8，9，10 * @return {Number} number, * 00 0 01 1 10 2 11 3 when 0 said has a black line * @example * ff 55 04 00 01 11 02 */ this.readLineFollower = function(port) { return bufAssembler({ mode: 0x01, id: 0x11 }, port); }; /** * read limitSwitch * @private * @param {Number} port vailable: 6,7,8,9,10 * @param {Number} slot vailable: SLOT1(01) SLOT2(02) * @return {Number} [description] * @example * ff 55 05 00 01 15 06 02 */ this.readLimitSwitch = function(port, slot) { return bufAssembler({ mode: 0x01, id: 0x15 }, port, slot); }; /** * read compass. * @private * @param {Number} port vailable: 6,7,8,9,10 * @return {Number} [description] * @example * ff 55 04 00 01 1a 06 */ this.readCompass = function(port) { return bufAssembler({ mode: 0x01, id: 0x1a }, port); }; /** * read humiture * @private * @param {Number} port vailable: 6，7，8，9，10 * @param {Number} temperature(01) humidity (00) * @return {Number} [description] * @example * ff 55 05 00 01 17 06 00 */ this.readHumiture = function(port, type) { return bufAssembler({ mode: 0x01, id: 0x17 }, port, type); }; /** * read flame * @private * @param {Number} port vailable: 6,7,8,9,10 * @return {Number} [description] * @example * ff 55 04 00 01 18 03 */ this.readFlame = function(port) { return bufAssembler({ mode: 0x01, id: 0x18 }, port); }; /** * Used to get the harmful gas density * @private * @param {Number} port vailable: 6,7,8,9,10 * @return {Number} [description] * @example * ff 55 04 00 01 19 06 */ this.readGas = function(port) { return bufAssembler({ mode: 0x01, id: 0x19 }, port); }; /** * read touch sensor * @private * @param {Number} port vailable: 6,7,8,9,10 * @ret