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Increased speed of vernie
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This commit is contained in:
Nathan Kellenicki 2019-04-13 11:33:35 -07:00
parent a367cab8c3
commit e75899a5a8
7 changed files with 175 additions and 33 deletions
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4
examples/vernie_remote.js
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@ -31,12 +31,12 @@ poweredUP.on("discover", async (hub) => { // Wait to discover Vernie and Remote
switch (state) {
case PoweredUP.Consts.ButtonState.UP: // If up is pressed, move the track forward
{
vernie.setMotorSpeed(button === "LEFT" ? "A" : "B", 50);
vernie.setMotorSpeed(button === "LEFT" ? "A" : "B", 65);
break;
}
case PoweredUP.Consts.ButtonState.DOWN: // If down is pressed, move the track backwards
{
vernie.setMotorSpeed(button === "LEFT" ? "A" : "B", -50);
vernie.setMotorSpeed(button === "LEFT" ? "A" : "B", -65);
break;
}
case PoweredUP.Consts.ButtonState.RELEASED: // Stop the track when the button is released

64
src/__tests__/boostmovehub.test.ts Normal file
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@ -0,0 +1,64 @@
import * as Consts from "../consts";
import { BoostMoveHub } from "../boostmovehub";
import { TestDevice } from "../testdevice";
const device = new TestDevice()
const hub = new BoostMoveHub(device);
beforeAll((done) => {
device.on("discoverComplete", async () => {
await hub.connect();
device.clearOutbox(Consts.BLECharacteristic.LPF2_ALL);
done();
});
});
afterAll(async (done) => {
await hub.disconnect();
done();
});
test("Set motor speed", async (done) => {
hub.setMotorSpeed("A", 52);
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x37, 0x11, 0x51, 0x00, 0x34]));
done();
});
test("Set motor speed for specific amount of time", async (done) => {
hub.setMotorSpeed("A", 52, 3000);
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x37, 0x11, 0x51, 0x00, 0x34]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x37, 0x11, 0x51, 0x00, 0x00]));
done();
});
test("Brake a motor", async (done) => {
hub.brakeMotor("A");
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x37, 0x11, 0x51, 0x00, 0x7f]));
done();
});
test("Attempt to set two speeds on a port that only accepts one", async (done) => {
expect(() => hub.setMotorSpeed("A", [52, 32])).toThrow("Port A can only accept a single speed");
done();
});
test("Set light brightness", async (done) => {
hub.setLightBrightness("B", 74);
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x38, 0x11, 0x51, 0x00, 0x4a]));
done();
});
test("Set light brightness for specific amount of time", async (done) => {
hub.setLightBrightness("B", 74, 2000);
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x38, 0x11, 0x51, 0x00, 0x4a]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x38, 0x11, 0x51, 0x00, 0x00]));
done();
});

16
src/__tests__/puphub.test.ts
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@ -9,7 +9,7 @@ const hub = new PUPHub(device);
beforeAll((done) => {
device.on("discoverComplete", async () => {
await hub.connect();
device.clearOutbox();
device.clearOutbox(Consts.BLECharacteristic.LPF2_ALL);
done();
});
});
@ -23,22 +23,22 @@ afterAll(async (done) => {
test("Set motor speed", async (done) => {
hub.setMotorSpeed("A", 52);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x34, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x34, 0x00, 0x00]));
done();
});
test("Set motor speed for specific amount of time", async (done) => {
hub.setMotorSpeed("A", 52, 3000);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x34, 0x00, 0x00]));
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x34, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x00, 0x00, 0x00]));
done();
});
test("Brake a motor", async (done) => {
hub.brakeMotor("A");
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x7f, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x00, 0x11, 0x60, 0x00, 0x7f, 0x00, 0x00]));
done();
});
@ -51,14 +51,14 @@ test("Attempt to set two speeds on a port that only accepts one", async (done) =
test("Set light brightness", async (done) => {
hub.setLightBrightness("B", 74);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x01, 0x11, 0x51, 0x00, 0x4a]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x01, 0x11, 0x51, 0x00, 0x4a]));
done();
});
test("Set light brightness for specific amount of time", async (done) => {
hub.setLightBrightness("B", 74, 2000);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x01, 0x11, 0x51, 0x00, 0x4a]));
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x01, 0x11, 0x51, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x01, 0x11, 0x51, 0x00, 0x4a]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x01, 0x11, 0x51, 0x00, 0x00]));
done();
});

35
src/__tests__/pupremote.test.ts
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@ -9,7 +9,10 @@ const remote = new PUPRemote(device);
beforeAll((done) => {
device.on("discoverComplete", async () => {
await remote.connect();
device.clearOutbox();
device.postToInbox(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x06, 0x00, 0x01, 0x02, 0x06, 0x00]));
device.postToInbox(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x0f, 0x00, 0x04, 0x00, 0x01, 0x37, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x10]));
device.postToInbox(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x0f, 0x00, 0x04, 0x01, 0x01, 0x37, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x10]));
device.clearOutbox(Consts.BLECharacteristic.LPF2_ALL);
done();
});
});
@ -23,23 +26,41 @@ afterAll(async (done) => {
test("Set LED color via discrete value", async (done) => {
remote.setLEDColor(Consts.Color.BLUE);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x41, 0x34, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x34, 0x11, 0x51, 0x00, 0x03]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x41, 0x34, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x34, 0x11, 0x51, 0x00, 0x03]));
done();
});
test("Turn off LED", async (done) => {
remote.setLEDColor(false);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x41, 0x34, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x34, 0x11, 0x51, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x41, 0x34, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x08, 0x00, 0x81, 0x34, 0x11, 0x51, 0x00, 0x00]));
done();
});
test("Set LED color via RGB values", async (done) => {
remote.setLEDRGB(127, 32, 233);
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x41, 0x34, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox()).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x34, 0x11, 0x51, 0x01, 0x7f, 0x20, 0xe9]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x41, 0x34, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00]));
expect(await device.readFromOutbox(Consts.BLECharacteristic.LPF2_ALL)).toEqual(Buffer.from([0x0a, 0x00, 0x81, 0x34, 0x11, 0x51, 0x01, 0x7f, 0x20, 0xe9]));
done();
});
test("Ensure buttons are correctly attached", async (done) => {
expect(remote.getPortDeviceType("LEFT")).toBe(Consts.DeviceType.POWERED_UP_REMOTE_BUTTON);
expect(remote.getPortDeviceType("RIGHT")).toBe(Consts.DeviceType.POWERED_UP_REMOTE_BUTTON);
done();
});
test("Ensure UP button press events are emitted", async (done) => {
remote.on("button", (button, state) => {
expect(button).toBe("LEFT");
expect(state).toBe(Consts.ButtonState.UP);
remote.removeAllListeners();
done();
});
device.postToInbox(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x05, 0x00, 0x45, 0x00, 0x01]));
});

3
src/lpf2hub.ts
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@ -36,6 +36,9 @@ export class LPF2Hub extends Hub {
if (this.type === Consts.HubType.DUPLO_TRAIN_HUB) {
this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x41, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01]));
}
setTimeout(() => {
this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x01, 0x03, 0x05])); // Request firmware version again
}, 200);
});
}

35
src/puphub.ts
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@ -98,7 +98,7 @@ export class PUPHub extends LPF2Hub {
data = Buffer.from([0x81, portObj.value, 0x11, 0x02, this._mapSpeed(speed instanceof Array ? speed[0] : speed), this._mapSpeed(speed instanceof Array ? speed[1] : speed)]);
} else {
// @ts-ignore: The type of speed is properly checked at the start
data = Buffer.from([0x81, portObj.value, 0x11, 0x60, 0x00, this._mapSpeed(speed), 0x00, 0x00]);
data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
}
this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
const timeout = global.setTimeout(() => {
@ -118,7 +118,7 @@ export class PUPHub extends LPF2Hub {
data = Buffer.from([0x81, portObj.value, 0x11, 0x02, this._mapSpeed(speed instanceof Array ? speed[0] : speed), this._mapSpeed(speed instanceof Array ? speed[1] : speed)]);
} else {
// @ts-ignore: The type of speed is properly checked at the start
data = Buffer.from([0x81, portObj.value, 0x11, 0x60, 0x00, this._mapSpeed(speed), 0x00, 0x00]);
data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
}
this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
return resolve();
@ -149,6 +149,37 @@ export class PUPHub extends LPF2Hub {
}
public setMotorAngle (port: string, angle: number, speed: number | [number, number] = 100) {
const portObj = this._portLookup(port);
if (!(portObj.type === Consts.DeviceType.BOOST_TACHO_MOTOR || portObj.type === Consts.DeviceType.BOOST_MOVE_HUB_MOTOR)) {
throw new Error("Angle rotation is only available when using a Boost Tacho Motor or Boost Move Hub Motor");
}
if (portObj.id !== "AB" && speed instanceof Array) {
throw new Error(`Port ${portObj.id} can only accept a single speed`);
}
portObj.cancelEventTimer();
return new Promise((resolve, reject) => {
portObj.busy = true;
let data = null;
if (portObj.id === "AB") {
data = Buffer.from([0x81, portObj.value, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed instanceof Array ? speed[0] : speed), this._mapSpeed(speed instanceof Array ? speed[1] : speed), 0x64, 0x7f, 0x03]);
} else {
// @ts-ignore: The type of speed is properly checked at the start
data = Buffer.from([0x81, portObj.value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
}
data.writeUInt32LE(angle, 4);
this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
portObj.finished = () => {
return resolve();
};
});
}
/**
* Fully (hard) stop the motor on a given port.
* @method PUPHub#brakeMotor

51
src/testdevice.ts
View File

@ -14,8 +14,11 @@ export class TestDevice extends EventEmitter implements IBLEDevice {
private _queue: Promise<any> = Promise.resolve();
private _mailbox: Buffer[] = [];
private _outbox: Buffer[] = [];
private _outboxCallback: (() => void) | null = null;
private _outbox: {[uuid: string]: Buffer[]} = {};
private _outboxCallback: {[uuid: string]: () => void} = {};
private _inbox: {[uuid: string]: Buffer[]} = {};
private _inboxCallback: {[uuid: string]: (data: Buffer) => void} = {};
private _connected: boolean = false;
private _connecting: boolean = false;
@ -74,6 +77,14 @@ export class TestDevice extends EventEmitter implements IBLEDevice {
public subscribeToCharacteristic (uuid: string, callback: (data: Buffer) => void) {
this._inbox[uuid] = this._inbox[uuid] || [];
if (this._inbox[uuid].length >= 1) {
// @ts-ignore
callback(this._inbox[uuid].shift());
}
this._inboxCallback[uuid] = (data) => {
callback(data);
};
return;
}
@ -89,10 +100,11 @@ export class TestDevice extends EventEmitter implements IBLEDevice {
public writeToCharacteristic (uuid: string, data: Buffer, callback?: () => void) {
this._outbox.push(data);
if (this._outboxCallback) {
this._outboxCallback();
this._outboxCallback = null;
this._outbox[uuid] = this._outbox[uuid] || [];
this._outbox[uuid].push(data);
if (this._outboxCallback[uuid]) {
this._outboxCallback[uuid]();
delete this._outboxCallback[uuid];
}
if (callback) {
callback();
@ -100,22 +112,33 @@ export class TestDevice extends EventEmitter implements IBLEDevice {
}
public readFromOutbox () {
public readFromOutbox (uuid: string) {
return new Promise((resolve, reject) => {
if (this._outbox.length >= 1) {
return resolve(this._outbox.shift());
this._outbox[uuid] = this._outbox[uuid] || [];
if (this._outbox[uuid].length >= 1) {
return resolve(this._outbox[uuid].shift());
} else {
this._outboxCallback = () => {
return resolve(this._outbox.shift());
this._outboxCallback[uuid] = () => {
return resolve(this._outbox[uuid].shift());
};
}
});
}
public clearOutbox () {
this._outbox = [];
this._outboxCallback = null;
public postToInbox (uuid: string, data: Buffer) {
if (this._inboxCallback[uuid]) {
this._inboxCallback[uuid](data);
} else {
this._inbox[uuid] = this._inbox[uuid] || [];
this._inbox[uuid].push(data);
}
}
public clearOutbox (uuid: string) {
this._outbox[uuid] = [];
delete this._outboxCallback[uuid];
}