Control+ (Technic Medium Hub) sensors

src/consts.ts

@@ -74,9 +74,9 @@ export enum DeviceType {
     CONTROL_PLUS_GEST = 54,
     PUP_REMOTE_BUTTON = 55,
     RSSI = 56,
-    CONTROL_PLUS_ACCELEROMETER = 57,
+    TECHNIC_MEDIUM_HUB_ACCELEROMETER = 57,
-    CONTROL_PLUS_GYRO = 58,
+    TECHNIC_MEDIUM_HUB_GYRO_SENSOR = 58,
-    CONTROL_PLUS_TILT = 59,
+    TECHNIC_MEDIUM_HUB_TILT_SENSOR = 59,
     TEMPERATURE = 60,
 }
 

src/devices/movehubtiltsensor.ts

@@ -21,9 +21,9 @@ export class MoveHubTiltSensor extends Device {
                  * @param {number} x
                  * @param {number} y
                  */
-                const tiltX = -(message.readInt8(4));
+                const tiltX = message.readInt8(4);
                 const tiltY = message.readInt8(5);
-                this.emit("tilt", tiltX, tiltY);
+                this.emit("tilt", -tiltX, tiltY);
                 break;
         }
     }

src/devices/technicmediumhubaccelerometersensor.ts

@@ -0,0 +1,46 @@
+import { Device } from "./device";
+
+import { IDeviceInterface } from "../interfaces";
+
+import * as Consts from "../consts";
+
+export class TechnicMediumHubAccelerometerSensor extends Device {
+
+    constructor (hub: IDeviceInterface, portId: number) {
+        super(hub, portId, TechnicMediumHubAccelerometerSensor.ModeMap, Consts.DeviceType.TECHNIC_MEDIUM_HUB_ACCELEROMETER);
+    }
+
+    public receive (message: Buffer) {
+        const mode = this._mode;
+
+        switch (mode) {
+            case TechnicMediumHubAccelerometerSensor.Mode.ACCEL:
+            /**
+             * Emits when accelerometer detects movement. Measured in mG.
+             * @event LPF2Hub#accel
+             * @param {string} port
+             * @param {number} x
+             * @param {number} y
+             * @param {number} z
+             */
+            const accelX = Math.round(message.readInt16LE(4) / 4.096);
+            const accelY = Math.round(message.readInt16LE(6) / 4.096);
+            const accelZ = Math.round(message.readInt16LE(8) / 4.096);
+            this.emit("accel", accelX, accelY, accelZ);
+            break;
+        }
+    }
+
+}
+
+export namespace TechnicMediumHubAccelerometerSensor {
+
+    export enum Mode {
+        ACCEL = 0x00
+    }
+
+    export const ModeMap: {[event: string]: number} = {
+        "accel": TechnicMediumHubAccelerometerSensor.Mode.ACCEL
+    }
+    
+}

src/devices/technicmediumhubgyrosensor.ts

@@ -0,0 +1,45 @@
+import { Device } from "./device";
+
+import { IDeviceInterface } from "../interfaces";
+
+import * as Consts from "../consts";
+
+export class TechnicMediumHubGyroSensor extends Device {
+
+    constructor (hub: IDeviceInterface, portId: number) {
+        super(hub, portId, TechnicMediumHubGyroSensor.ModeMap, Consts.DeviceType.TECHNIC_MEDIUM_HUB_GYRO_SENSOR);
+    }
+
+    public receive (message: Buffer) {
+        const mode = this._mode;
+
+        switch (mode) {
+            case TechnicMediumHubGyroSensor.Mode.GYRO:
+                /**
+                 * Emits when gyroscope detects movement. Measured in DPS - degrees per second.
+                 * @event TechnicMediumHubGyroSensor#gyro
+                 * @param {number} x
+                 * @param {number} y
+                 * @param {number} z
+                 */
+                const gyroX = Math.round(message.readInt16LE(4) * 7 / 400);
+                const gyroY = Math.round(message.readInt16LE(6) * 7 / 400);
+                const gyroZ = Math.round(message.readInt16LE(8) * 7 / 400);
+                this.emit("gyro", gyroX, gyroY, -gyroZ);
+                break;
+        }
+    }
+
+}
+
+export namespace TechnicMediumHubGyroSensor {
+
+    export enum Mode {
+        GYRO = 0x00
+    }
+
+    export const ModeMap: {[event: string]: number} = {
+        "gyro": TechnicMediumHubGyroSensor.Mode.GYRO
+    }
+    
+}

src/devices/technicmediumhubtiltsensor.ts

@@ -0,0 +1,45 @@
+import { Device } from "./device";
+
+import { IDeviceInterface } from "../interfaces";
+
+import * as Consts from "../consts";
+
+export class TechnicMediumHubTiltSensor extends Device {
+
+    constructor (hub: IDeviceInterface, portId: number) {
+        super(hub, portId, TechnicMediumHubTiltSensor.ModeMap, Consts.DeviceType.TECHNIC_MEDIUM_HUB_TILT_SENSOR);
+    }
+
+    public receive (message: Buffer) {
+        const mode = this._mode;
+
+        switch (mode) {
+            case TechnicMediumHubTiltSensor.Mode.TILT:
+                /**
+                 * Emits when a tilt sensor is activated.
+                 * @event TechnicMediumHubTiltSensor#tilt
+                 * @param {number} x
+                 * @param {number} y
+                 * @param {number} z
+                 */
+                const tiltZ = message.readInt16LE(4);
+                const tiltY = message.readInt16LE(6);
+                const tiltX = message.readInt16LE(8);
+                this.emit("tilt", tiltX, tiltY, -tiltZ);
+                break;
+        }
+    }
+
+}
+
+export namespace TechnicMediumHubTiltSensor {
+
+    export enum Mode {
+        TILT = 0x00
+    }
+
+    export const ModeMap: {[event: string]: number} = {
+        "tilt": TechnicMediumHubTiltSensor.Mode.TILT
+    }
+    
+}

src/hubs/hub.ts

@@ -14,6 +14,9 @@ import { MoveHubTiltSensor } from "../devices/movehubtiltsensor";
 import { PUPRemoteButton } from "../devices/pupremotebutton";
 import { SimpleMediumLinearMotor } from "../devices/simplemediumlinearmotor";
 import { TechnicLargeLinearMotor } from "../devices/techniclargelinearmotor";
+import { TechnicMediumHubAccelerometerSensor } from "../devices/technicmediumhubaccelerometersensor";
+import { TechnicMediumHubGyroSensor } from "../devices/technicmediumhubgyrosensor";
+import { TechnicMediumHubTiltSensor } from "../devices/technicmediumhubtiltsensor";
 import { TechnicXLargeLinearMotor } from "../devices/technicxlargelinearmotor";
 import { TiltSensor } from "../devices/tiltsensor";
 import { TrainMotor } from "../devices/trainmotor";
@@ -322,6 +325,15 @@ export class Hub extends EventEmitter {
             case Consts.DeviceType.MOVE_HUB_TILT_SENSOR:
                 device = new MoveHubTiltSensor(this, portId);
                 break;
+            case Consts.DeviceType.TECHNIC_MEDIUM_HUB_TILT_SENSOR:
+                device = new TechnicMediumHubTiltSensor(this, portId);
+                break;
+            case Consts.DeviceType.TECHNIC_MEDIUM_HUB_GYRO_SENSOR:
+                device = new TechnicMediumHubGyroSensor(this, portId);
+                break;
+            case Consts.DeviceType.TECHNIC_MEDIUM_HUB_ACCELEROMETER:
+                device = new TechnicMediumHubAccelerometerSensor(this, portId);
+                break;
             case Consts.DeviceType.MEDIUM_LINEAR_MOTOR:
                 device = new MediumLinearMotor(this, portId);
                 break;

src/index-browser.ts

@@ -22,6 +22,9 @@ import { MoveHubTiltSensor } from "./devices/movehubtiltsensor";
 import { PUPRemoteButton } from "./devices/pupremotebutton";
 import { SimpleMediumLinearMotor } from "./devices/simplemediumlinearmotor";
 import { TechnicLargeLinearMotor } from "./devices/techniclargelinearmotor";
+import { TechnicMediumHubAccelerometerSensor } from "./devices/technicmediumhubaccelerometersensor";
+import { TechnicMediumHubGyroSensor } from "./devices/technicmediumhubgyrosensor";
+import { TechnicMediumHubTiltSensor } from "./devices/technicmediumhubtiltsensor";
 import { TechnicXLargeLinearMotor } from "./devices/technicxlargelinearmotor";
 import { TiltSensor } from "./devices/tiltsensor";
 import { TrainMotor } from "./devices/trainmotor";
@@ -50,6 +53,9 @@ window.PoweredUP = {
     MoveHubTiltSensor,
     PUPRemoteButton,
     SimpleMediumLinearMotor,
+    TechnicMediumHubAccelerometerSensor,
+    TechnicMediumHubGyroSensor,
+    TechnicMediumHubTiltSensor,
     TechnicLargeLinearMotor,
     TechnicXLargeLinearMotor,
     TiltSensor,

src/index-node.ts

@@ -22,6 +22,9 @@ import { MoveHubTiltSensor } from "./devices/movehubtiltsensor";
 import { PUPRemoteButton } from "./devices/pupremotebutton";
 import { SimpleMediumLinearMotor } from "./devices/simplemediumlinearmotor";
 import { TechnicLargeLinearMotor } from "./devices/techniclargelinearmotor";
+import { TechnicMediumHubAccelerometerSensor } from "./devices/technicmediumhubaccelerometersensor";
+import { TechnicMediumHubGyroSensor } from "./devices/technicmediumhubgyrosensor";
+import { TechnicMediumHubTiltSensor } from "./devices/technicmediumhubtiltsensor";
 import { TechnicXLargeLinearMotor } from "./devices/technicxlargelinearmotor";
 import { TiltSensor } from "./devices/tiltsensor";
 import { TrainMotor } from "./devices/trainmotor";
@@ -50,6 +53,9 @@ export {
     MoveHubTiltSensor,
     PUPRemoteButton,
     SimpleMediumLinearMotor,
+    TechnicMediumHubAccelerometerSensor,
+    TechnicMediumHubGyroSensor,
+    TechnicMediumHubTiltSensor,
     TechnicLargeLinearMotor,
     TechnicXLargeLinearMotor,
     TiltSensor,