Merge pull request #80 from nathankellenicki/feature/power-functions-ir

[feat] Power Functions IR

package.json

@@ -16,21 +16,21 @@
   "author": "Nathan Kellenicki <nathan@kellenicki.com>",
   "license": "MIT",
   "dependencies": {
-    "compare-versions": "^3.5.1",
+    "compare-versions": "^3.6.0",
     "debug": "^4.1.1",
-    "@abandonware/noble": "1.9.2-5"
+    "@abandonware/noble": "1.9.2-8"
   },
   "devDependencies": {
     "@types/debug": "4.1.5",
-    "@types/node": "^13.7.0",
+    "@types/node": "^13.11.0",
     "@types/web-bluetooth": "0.0.5",
     "ink-docstrap": "^1.3.2",
     "jsdoc": "^3.6.3",
     "jsdoc-to-markdown": "^5.0.3",
-    "ts-loader": "^6.2.1",
+    "ts-loader": "^6.2.2",
-    "tslint": "^6.0.0",
+    "tslint": "^6.1.1",
-    "typescript": "^3.7.5",
+    "typescript": "^3.8.3",
-    "webpack": "^4.41.5",
+    "webpack": "^4.42.1",
-    "webpack-cli": "^3.3.10"
+    "webpack-cli": "^3.3.11"
   }
 }

src/devices/colordistancesensor.ts

@@ -79,11 +79,128 @@ export class ColorDistanceSensor extends Device {
         }
     }
 
+
+    /**
+     * Switches the IR receiver into extended channel mode. After setting this, use channels 5-8 instead of 1-4 for this receiver.
+     *
+     * NOTE: Calling this with channel 5-8 with switch off extended channel mode for this receiver.
+     * @method ColorDistanceSensor#setPFExtendedChannel
+     * @param {number} channel Channel number, between 1-8
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setPFExtendedChannel (channel: number) {
+        let address = 0;
+        if (channel >= 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Extended toggle address command"
+        message[0] = ((channel - 1) << 4) + (address << 3);
+        message[1] = 6 << 4;
+        return this.sendPFIRMessage(message);
+    }
+
+
+    /**
+     * Set the power of a Power Functions motor via IR
+     * @method ColorDistanceSensor#setPFPower
+     * @param {number} channel Channel number, between 1-4
+     * @param {string} output Outport port, "RED" (A) or "BLUE" (B)
+     * @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setPFPower (channel: number, output: Output, power: number) {
+        let address = 0;
+        if (channel > 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Single output mode"
+        message[0] = ((channel - 1) << 4) + (address << 3) + (output === "RED" ? 4 : 5);
+        message[1] = this._pfPowerToPWM(power) << 4;
+        return this.sendPFIRMessage(message);
+    }
+
+
+    /**
+     * Start Power Functions motors running via IR
+     *
+     * NOTE: This command is designed for bang-bang style operation. To keep the motors running, the sensor needs to be within range of the IR receiver constantly.
+     * @method ColorDistanceSensor#startPFMotors
+     * @param {Buffer} channel Channel number, between 1-4
+     * @param {Buffer} powerA -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
+     * @param {Buffer} powerB -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public startPFMotors (channel: number, powerBlue: number, powerRed: number) {
+        let address = 0;
+        if (channel > 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Combo PWM mode"
+        message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerBlue);
+        message[1] = this._pfPowerToPWM(powerRed) << 4;
+        return this.sendPFIRMessage(message);
+    }
+
+
+    /**
+     * Send a raw Power Functions IR command
+     * @method ColorDistanceSensor#sendPFIRMessage
+     * @param {Buffer} message 2 byte payload making up a Power Functions protocol command. NOTE: Only specify nibbles 1-3, nibble 4 should be zeroed.
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public sendPFIRMessage (message: Buffer) {
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Power Functions IR is not available on the WeDo 2.0 Smart Hub");
+        } else {
+            const payload = Buffer.alloc(2);
+            payload[0] = (message[0] << 4) + (message[1] >> 4);
+            payload[1] = message[0] >> 4;
+            this.subscribe(Mode.PF_IR);
+            return this.writeDirect(0x07, payload);
+        }
+    }
+
+
+    /**
+     * Set the color of the LED on the sensor via a color value.
+     * @method ColorDistanceSensor#setColor
+     * @param {Color} color
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setColor (color: number | boolean) {
+        return new Promise((resolve, reject) => {
+            if (color === false) {
+                color = 0;
+            }
+            if (this.isWeDo2SmartHub) {
+                throw new Error("Setting LED color is not available on the WeDo 2.0 Smart Hub");
+            } else {
+                this.subscribe(Mode.LED);
+                this.writeDirect(0x05, Buffer.from([color]));
+            }
+            return resolve();
+        });
+    }
+
+
+    private _pfPowerToPWM (power: number) {
+        return power & 15;
+    }
+
+
 }
 
 export enum Mode {
     COLOR = 0x00,
     DISTANCE = 0x01,
+    LED = 0x05,
+    PF_IR = 0x07,
     COLOR_AND_DISTANCE = 0x08
 }
 
@@ -92,3 +209,8 @@ export const ModeMap: {[event: string]: number} = {
     "distance": Mode.DISTANCE,
     "colorAndDistance": Mode.COLOR_AND_DISTANCE
 };
+
+export enum Output {
+    RED = "RED",
+    BLUE = "BLUE"
+}