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This commit is contained in:
Nathan Kunicki 2018-06-21 09:29:16 +01:00
parent 3d9f477c0c
commit feb00741c9
3 changed files with 87 additions and 49 deletions
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33
boosthub.ts
View File

@ -60,6 +60,7 @@ export class BoostHub extends Hub {
* @param {number} color - A number representing one of the LED color consts.
*/
public setLEDColor (color: number | boolean) {
return new Promise((resolve, reject) => {
const characteristic = this._characteristics[Consts.BLECharacteristics.BOOST_ALL];
if (characteristic) {
let data = Buffer.from([0x05, 0x00, 0x01, 0x02, 0x02]);
@ -70,6 +71,8 @@ export class BoostHub extends Hub {
data = Buffer.from([0x08, 0x00, 0x81, 0x32, 0x11, 0x51, 0x00, color]);
characteristic.write(data, false);
}
return resolve();
});
}
@ -92,17 +95,25 @@ export class BoostHub extends Hub {
* @param {number} [time] - How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely.
*/
public setMotorSpeed (port: string, speed: number, time: number) {
return new Promise((resolve, reject) => {
const characteristic = this._characteristics[Consts.BLECharacteristics.BOOST_ALL];
if (characteristic) {
const portObj = this._ports[port];
if (time) {
const data = Buffer.from([0x0c, 0x00, 0x81, this._ports[port].value, 0x11, 0x09, 0x00, 0x00, speed, 0x64, 0x7f, 0x03]);
portObj.busy = true;
const data = Buffer.from([0x0c, 0x00, 0x81, portObj.value, 0x11, 0x09, 0x00, 0x00, speed, 0x64, 0x7f, 0x03]);
data.writeUInt16LE(time > 65535 ? 65535 : time, 6);
characteristic.write(data, false);
portObj.finished = () => {
return resolve();
};
} else {
const data = Buffer.from([0x0a, 0x00, 0x81, this._ports[port].value, 0x11, 0x01, speed, 0x64, 0x7f, 0x03]);
const data = Buffer.from([0x0a, 0x00, 0x81, portObj.value, 0x11, 0x01, speed, 0x64, 0x7f, 0x03]);
characteristic.write(data, false);
return resolve();
}
}
});
}
@ -114,13 +125,20 @@ export class BoostHub extends Hub {
* @param {number} [speed=100] - How fast the motor should be rotated.
*/
public setMotorAngle (port: string, angle: number, speed: number = 100) {
return new Promise((resolve, reject) => {
const characteristic = this._characteristics[Consts.BLECharacteristics.BOOST_ALL];
if (characteristic) {
const data = Buffer.from([0x0e, 0x00, 0x81, this._ports[port].value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x7f, 0x03]);
const portObj = this._ports[port];
portObj.busy = true;
const data = Buffer.from([0x0e, 0x00, 0x81, portObj.value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x7f, 0x03]);
data.writeUInt32LE(angle, 6);
data.writeInt8(speed, 10);
characteristic.write(data, false);
portObj.finished = () => {
return resolve();
};
}
});
}
@ -186,6 +204,7 @@ export class BoostHub extends Hub {
case 0x82:
{
this._parsePortAction(data);
break;
}
}
}
@ -233,7 +252,13 @@ export class BoostHub extends Hub {
return;
}
// NK: Handle callbacks when port finished here.
if (data[4] === 0x0a) {
port.busy = false;
if (port.finished) {
port.finished();
port.finished = null;
}
}
}

4
port.ts
View File

@ -8,12 +8,16 @@ export class Port {
public value: number;
public connected: boolean;
public type: Consts.Devices;
public busy: boolean;
public finished: (() => void) | null;
constructor (id: string, value: number) {
this.id = id;
this.value = value;
this.connected = false;
this.busy = false;
this.finished = null;
this.type = Consts.Devices.UNKNOWN;
}

9
wedo2hub.ts
View File

@ -56,6 +56,7 @@ export class WeDo2Hub extends Hub {
* @param {number} color - A number representing one of the LED color consts.
*/
public setLEDColor (color: number | boolean) {
return new Promise((resolve, reject) => {
const motorCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE];
const portCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE];
if (motorCharacteristic && portCharacteristic) {
@ -66,7 +67,9 @@ export class WeDo2Hub extends Hub {
}
data = Buffer.from([0x06, 0x04, 0x01, color]);
motorCharacteristic.write(data, false);
return resolve();
}
});
}
@ -78,6 +81,7 @@ export class WeDo2Hub extends Hub {
* @param {number} blue
*/
public setLEDRGB (red: number, green: number, blue: number) {
return new Promise((resolve, reject) => {
const motorCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE];
const portCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE];
if (motorCharacteristic && portCharacteristic) {
@ -85,7 +89,9 @@ export class WeDo2Hub extends Hub {
portCharacteristic.write(data1, false);
const data2 = Buffer.from([0x06, 0x04, 0x03, red, green, blue]);
motorCharacteristic.write(data2, false);
return resolve();
}
});
}
@ -96,10 +102,13 @@ export class WeDo2Hub extends Hub {
* @param {number} speed - For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
*/
public setMotorSpeed (port: string, speed: number) {
return new Promise((resolve, reject) => {
const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE];
if (characteristic) {
characteristic.write(Buffer.from([this._ports[port].value, 0x01, 0x02, speed]), false);
return resolve();
}
});
}