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Tnks2UTnks2U
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Merge pull request #624 from entrylabs/develop-hw
1.9.40 Version up
2 parents b73a696 + ec3421e commit 1d3a57f

16 files changed

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lines changed

‎app/firmwares/roborobo_robokit_rs.hex

+2,008
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‎app/firmwares/roborobo_roduino.hex

+1,241-1,130
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‎app/modules/coalaboard.js

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/**
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* Author Kevin Ryu
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*/
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function Module() {
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this.initialBuffer = new Array(20);
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this.localBuffer = new Array(20);
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this.remoteBuffer = new Array(17);
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for (let i = 0; i < 20; ++i) {
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this.initialBuffer[i] = 0;
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this.localBuffer[i] = 0;
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}
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for (let i = 0; i < 17; ++i) {
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this.remoteBuffer[i] = 0;
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}
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this.initialBuffer[0] = 0xFF;
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this.initialBuffer[1] = 0xFF;
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this.initialBuffer[18] = 0xFE;
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this.initialBuffer[19] = 0xFE;
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this.localBuffer[0] = 0xFF;
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this.localBuffer[1] = 0xFF;
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this.localBuffer[18] = 0xFE;
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this.localBuffer[19] = 0xFE;
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}
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Module.prototype.SENSOR_MAP = {
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1: 'light',
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2: 'IR',
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3: 'touch',
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4: 'potentiometer',
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5: 'MIC',
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6: 'ultrasonicSensor',
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7: 'temperature',
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10: 'vibrationSensor',
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21: 'UserSensor',
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11: 'UserInput',
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20: 'LED',
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19: 'SERVO',
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18: 'DC',
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};
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Module.prototype.PORT_MAP = {
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'buzzer': 2,
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'5': 4,
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'6': 6,
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'7': 8,
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'8': 10,
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'LEDR': 12,
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'LEDG': 14,
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'LEDB': 16,
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};
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const CoalaBoardType = {
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B16_START_1: 0xFF,
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B16_START_2: 0xFF,
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B16_END_1: 0xFE,
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B16_END_2: 0xFE,
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P_NO: 0x00,
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P_BRI: 0x01,
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P_IRS: 0x02,
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P_BUT: 0x03,
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P_POT: 0x04,
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P_MIC: 0x05,
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P_ULT: 0x06,
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P_TEM: 0x07,
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P_VIB: 0x0A,
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P_USR: 0x0B,
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P_M_SV: 0x13,
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P_M_DC: 0x12,
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P_LED: 0x14,
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RANGE_SNESOR_PORT: ['1', '2', '3', '4'],
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RANGE_MOTOR_PORT: ['A', 'B', 'C', 'D'],
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RANGE_LED_PORT: ['E'],
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DC_MOTOR_ADJUSTMENT: 128,
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SERVO_ADJUSTMENT: 1,
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BUZZER_ADJUSTMENT: 11,
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};
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Module.prototype.init = function(handler, config) {
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};
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Module.prototype.requestInitialData = function() {
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return this.initialBuffer;
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};
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Module.prototype.checkInitialData = function(data, config) {
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if (data && data.length == 17) {
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if (data[0] === 0xFF && data[1] === 0xFF && data[15] === 0xFE && data[16] === 0xFE) {
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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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}
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};
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Module.prototype.handleRemoteData = function(handler) {
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const buffer = this.localBuffer;
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for (const key in this.PORT_MAP) {
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const port = this.PORT_MAP[key];
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const value = handler.read(key);
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if (value === undefined) {
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continue;
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}
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buffer[port] = value >> 8;
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buffer[port + 1] = value & (Math.pow(2, 9) - 1);
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}
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};
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Module.prototype.requestLocalData = function() {
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return this.localBuffer;
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};
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Module.prototype.handleLocalData = function(data) { // data: Native Buffer
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const buffer = this.remoteBuffer;
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if (data && data.length == 17) {
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if (data[0] === 0xFF && data[1] === 0xFF && data[15] === 0xFE && data[16] === 0xFE) {
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for (let i = 0; i < 17; ++i) {
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buffer[i] = data[i];
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}
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}
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}
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};
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Module.prototype.requestRemoteData = function(handler) {
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const buffer = this.remoteBuffer;
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for (let i = 2; i < 17; i += 1) {
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const value = buffer[i] * Math.pow(2, 8) + buffer[i + 1];
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let sensorType = this.SENSOR_MAP[buffer[i]];
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if (i < 10) {
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sensorType = this.SENSOR_MAP[buffer[i] >> 2];
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}
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const sensorValue = value & (Math.pow(2, 10) - 1);
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if (i < 10) {
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if (sensorType) {
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if (sensorType == 'temperature') { // 7: 온도센서
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// [온도센서]
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// 1. 코알라에서 PC로 전달하는 값의 범위 : 0 ~ 160
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// 2. 실제로 엔트리에서 보여줘야 하는 실제 온도 : - 40 ~ 120
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// 3. 정리 : 전달되는 값에서 -40을 하면 됨.
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handler.write(i / 2, { type: sensorType, value: sensorValue - 40 });
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} else {
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handler.write(i / 2, { type: sensorType, value: sensorValue });
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}
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} else {
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handler.write(i / 2, null);
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}
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i += 1;
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} else {
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if (sensorType) {
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handler.write((i - 5), { type: sensorType });
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} else {
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handler.write((i - 5), null);
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}
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}
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}
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// 1: 'light',
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// 2: 'IR',
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// 3: 'touch',
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// 4: 'potentiometer',
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// 5: 'MIC',
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// 6: 'ultrasonicSensor',
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// 7: 'temperature',
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// 10: 'vibrationSensor',
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// 21: 'UserSensor',
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// 11: 'UserInput',
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// 20: 'LED',
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// 19: 'SERVO',
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// 18: 'DC'
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const p1 = this._decodeSensorPortNum(buffer[2], buffer[3]); // port 1
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const p2 = this._decodeSensorPortNum(buffer[4], buffer[5]); // port 2, temperature
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const p3 = this._decodeSensorPortNum(buffer[6], buffer[7]); // port 3, light
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const p4 = this._decodeSensorPortNum(buffer[8], buffer[9]); // port 4, touch
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let valueUserInput = ' ';
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let valuePotentiometer = ' ';
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let valueMic = ' ';
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let valueIr = ' ';
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if (p1.sensorType == CoalaBoardType.P_NO) {
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} else if (p1.sensorType == CoalaBoardType.P_IRS) {
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valueIr = p1.sensorValue;
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} else if (p1.sensorType == CoalaBoardType.P_POT) {
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valuePotentiometer = p1.sensorValue;
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} else if (p1.sensorType == CoalaBoardType.P_MIC) {
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valueMic = p1.sensorValue;
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} else if (p1.sensorType == CoalaBoardType.P_ULT) {
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} else if (p1.sensorType == CoalaBoardType.P_VIB) {
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} else if (p1.sensorType == CoalaBoardType.P_USR) {
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valueUserInput = p1.sensorValue;
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} else {
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}
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// UserInput
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// potentiometer
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// MIC
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// IR
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// temperature
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// light
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// touch
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Module.prototype.SENSOR_MAP = {
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1: 'light',
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2: 'IR',
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3: 'touch',
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4: 'potentiometer',
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5: 'MIC',
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6: 'ultrasonicSensor',
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7: 'temperature',
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10: 'vibrationSensor',
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21: 'UserSensor',
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11: 'UserInput',
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20: 'LED',
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19: 'SERVO',
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18: 'DC',
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};
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handler.write(this.SENSOR_MAP[11], { type: this.SENSOR_MAP[11], value: valueUserInput }); // UserInput
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handler.write(this.SENSOR_MAP[4], { type: this.SENSOR_MAP[4], value: valuePotentiometer }); // potentiometer
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handler.write(this.SENSOR_MAP[5], { type: this.SENSOR_MAP[5], value: valueMic }); // MIC
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handler.write(this.SENSOR_MAP[2], { type: this.SENSOR_MAP[2], value: valueIr }); // IR
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handler.write(this.SENSOR_MAP[7], { type: this.SENSOR_MAP[7], value: p2.sensorValue }); // temperature
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handler.write(this.SENSOR_MAP[1], { type: this.SENSOR_MAP[1], value: p3.sensorValue }); // light
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handler.write(this.SENSOR_MAP[3], { type: this.SENSOR_MAP[3], value: p4.sensorValue }); // button(touch)
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// ====================================================================
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};
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Module.prototype.reset = function() {
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const buffer = this.localBuffer;
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for (let i = 2; i < 18; ++i) {
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buffer[i] = 0;
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}
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};
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/**
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*
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* @param number portNum1
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* @param number portNum2
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*/
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Module.prototype._decodeSensorPortNum = function(portNum1, portNum2) {
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const sP1 = portNum1.toString(2).padStart(8, '0');
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const sMsb = sP1.substr(0, 1);
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const sSensorType = sP1.substr(1, 5);
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const sV1 = sP1.substr(6, 2);
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const sV2 = portNum2.toString(2).padStart(8, '0');
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const sSensorVal = sV1 + sV2;
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let iSensorType = parseInt(sSensorType, 2); // 2 => 10
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let iSensorVal = parseInt(sSensorVal, 2); // 2 => 10
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if (iSensorType == CoalaBoardType.P_TEM) {
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// [온도센서]
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// 1. 비트브릭에서 PC로 전달하는 값의 범위 : 0 ~ 160
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// 2. 실제로 스크래치에서 보여줘야 하는 실제 온도 : - 40 ~ 120
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// 3. 정리 : 전달되는 값에서 -40을 하면 됨.
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iSensorVal = iSensorVal - 40;
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} else if (
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(iSensorType == CoalaBoardType.P_BRI) ||
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(iSensorType == CoalaBoardType.P_IRS) ||
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(iSensorType == CoalaBoardType.P_BUT) ||
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(iSensorType == CoalaBoardType.P_POT) ||
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(iSensorType == CoalaBoardType.P_MIC) ||
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(iSensorType == CoalaBoardType.P_ULT) ||
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(iSensorType == CoalaBoardType.P_VIB) ||
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(iSensorType == CoalaBoardType.P_USR)
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) {
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// it's a sensor
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} else {
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// it's not a sensor
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iSensorType = CoalaBoardType.P_NO;
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iSensorVal = 0;
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}
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return { sensorType: iSensorType, sensorValue: iSensorVal };
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};
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module.exports = new Module();

‎app/modules/coalaboard.json

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{
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"id": "030301",
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"name": {
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"en": "coalaboard",
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"ko": "코알라보드"
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},
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"category": "module",
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"platform": ["win32", "darwin"],
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"icon" : "coalaboard.png",
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"module": "coalaboard.js",
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"url": "http://bitbrick.cc/",
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"email": "[email protected]",
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"driver": {
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"win32-ia32": "CP210x_VCP_Windows/CP210xVCPInstaller_x86.exe",
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"win32-x64": "CP210x_VCP_Windows/CP210xVCPInstaller_x64.exe",
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"darwin-x64": "Mac_OSX_VCP_Driver/SiLabsUSBDriverDisk.dmg"
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},
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"reconnect" : false,
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"hardware": {
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"type": "serial",
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"control": "slave",
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"duration": 20,
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"scanType": "data",
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"vendor": "Silicon Lab",
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"baudRate": 38400
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}
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}

‎app/modules/coalaboard.png

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