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<h1 class="page-title">Source: devices/colordistancesensor.js</h1>
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<section>
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<article>
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<pre
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class="sunlight-highlight-javascript linenums">"use strict";
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var __importStar = (this && this.__importStar) || function (mod) {
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if (mod && mod.__esModule) return mod;
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var result = {};
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if (mod != null) for (var k in mod) if (Object.hasOwnProperty.call(mod, k)) result[k] = mod[k];
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result["default"] = mod;
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return result;
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};
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Object.defineProperty(exports, "__esModule", { value: true });
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const device_1 = require("./device");
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const Consts = __importStar(require("../consts"));
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/**
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* @class ColorDistanceSensor
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* @extends Device
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*/
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class ColorDistanceSensor extends device_1.Device {
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constructor(hub, portId) {
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super(hub, portId, exports.ModeMap, Consts.DeviceType.COLOR_DISTANCE_SENSOR);
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}
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receive(message) {
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const mode = this._mode;
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switch (mode) {
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case Mode.COLOR:
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if (message[this.isWeDo2SmartHub ? 2 : 4] <= 10) {
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const color = message[this.isWeDo2SmartHub ? 2 : 4];
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/**
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* Emits when a color sensor is activated.
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* @event ColorDistanceSensor#color
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* @type {object}
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* @param {Color} color
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*/
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this.notify("color", { color });
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}
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break;
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case Mode.DISTANCE:
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if (this.isWeDo2SmartHub) {
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break;
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}
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if (message[4] <= 10) {
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const distance = Math.floor(message[4] * 25.4) - 20;
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/**
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* Emits when a distance sensor is activated.
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* @event ColorDistanceSensor#distance
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* @type {object}
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* @param {number} distance Distance, in millimeters.
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*/
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this.notify("distance", { distance });
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}
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break;
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case Mode.COLOR_AND_DISTANCE:
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if (this.isWeDo2SmartHub) {
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break;
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}
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let distance = message[5];
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const partial = message[7];
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if (partial > 0) {
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distance += 1.0 / partial;
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}
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distance = Math.floor(distance * 25.4) - 20;
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/**
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* A combined color and distance event, emits when the sensor is activated.
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* @event ColorDistanceSensor#colorAndDistance
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* @type {object}
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* @param {Color} color
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* @param {number} distance Distance, in millimeters.
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*/
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if (message[4] <= 10) {
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const color = message[4];
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this.notify("colorAndDistance", { color, distance });
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}
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break;
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}
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}
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/**
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* Switches the IR receiver into extended channel mode. After setting this, use channels 5-8 instead of 1-4 for this receiver.
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*
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* NOTE: Calling this with channel 5-8 with switch off extended channel mode for this receiver.
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* @method ColorDistanceSensor#setPFExtendedChannel
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* @param {number} channel Channel number, between 1-8
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* @returns {Promise} Resolved upon successful issuance of the command.
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*/
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setPFExtendedChannel(channel) {
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let address = 0;
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if (channel >= 4) {
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channel -= 4;
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address = 1;
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}
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const message = Buffer.alloc(2);
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// Send "Extended toggle address command"
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message[0] = ((channel - 1) << 4) + (address << 3);
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message[1] = 6 << 4;
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return this.sendPFIRMessage(message);
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}
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/**
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* Set the power of a Power Functions motor via IR
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* @method ColorDistanceSensor#setPFPower
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* @param {number} channel Channel number, between 1-4
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* @param {string} output Outport port, "RED" (A) or "BLUE" (B)
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* @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
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* @returns {Promise} Resolved upon successful issuance of the command.
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*/
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setPFPower(channel, output, power) {
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let address = 0;
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if (channel > 4) {
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channel -= 4;
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address = 1;
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}
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const message = Buffer.alloc(2);
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// Send "Single output mode"
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message[0] = ((channel - 1) << 4) + (address << 3) + (output === "RED" ? 4 : 5);
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message[1] = this._pfPowerToPWM(power) << 4;
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return this.sendPFIRMessage(message);
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}
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/**
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* Start Power Functions motors running via IR
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*
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* 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.
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* @method ColorDistanceSensor#startPFMotors
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* @param {Buffer} channel Channel number, between 1-4
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* @param {Buffer} powerA -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
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* @param {Buffer} powerB -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
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* @returns {Promise} Resolved upon successful issuance of the command.
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*/
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startPFMotors(channel, powerBlue, powerRed) {
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let address = 0;
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if (channel > 4) {
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channel -= 4;
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address = 1;
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}
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const message = Buffer.alloc(2);
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// Send "Combo PWM mode"
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message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerBlue);
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message[1] = this._pfPowerToPWM(powerRed) << 4;
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return this.sendPFIRMessage(message);
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}
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/**
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* Send a raw Power Functions IR command
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* @method ColorDistanceSensor#sendPFIRMessage
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* @param {Buffer} message 2 byte payload making up a Power Functions protocol command. NOTE: Only specify nibbles 1-3, nibble 4 should be zeroed.
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* @returns {Promise} Resolved upon successful issuance of the command.
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*/
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sendPFIRMessage(message) {
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if (this.isWeDo2SmartHub) {
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throw new Error("Power Functions IR is not available on the WeDo 2.0 Smart Hub");
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}
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else {
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const payload = Buffer.alloc(2);
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payload[0] = (message[0] << 4) + (message[1] >> 4);
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payload[1] = message[0] >> 4;
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this.subscribe(Mode.PF_IR);
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return this.writeDirect(0x07, payload);
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}
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}
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/**
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* Set the color of the LED on the sensor via a color value.
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* @method ColorDistanceSensor#setColor
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* @param {Color} color
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* @returns {Promise} Resolved upon successful issuance of the command.
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*/
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setColor(color) {
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return new Promise((resolve, reject) => {
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if (color === false) {
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color = 0;
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}
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if (this.isWeDo2SmartHub) {
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throw new Error("Setting LED color is not available on the WeDo 2.0 Smart Hub");
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}
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else {
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this.subscribe(Mode.LED);
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this.writeDirect(0x05, Buffer.from([color]));
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}
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return resolve();
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});
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}
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_pfPowerToPWM(power) {
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return power & 15;
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}
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}
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exports.ColorDistanceSensor = ColorDistanceSensor;
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var Mode;
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(function (Mode) {
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Mode[Mode["COLOR"] = 0] = "COLOR";
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Mode[Mode["DISTANCE"] = 1] = "DISTANCE";
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Mode[Mode["LED"] = 5] = "LED";
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Mode[Mode["PF_IR"] = 7] = "PF_IR";
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Mode[Mode["COLOR_AND_DISTANCE"] = 8] = "COLOR_AND_DISTANCE";
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})(Mode = exports.Mode || (exports.Mode = {}));
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exports.ModeMap = {
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"color": Mode.COLOR,
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"distance": Mode.DISTANCE,
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"colorAndDistance": Mode.COLOR_AND_DISTANCE
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};
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var Output;
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(function (Output) {
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Output["RED"] = "RED";
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Output["BLUE"] = "BLUE";
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})(Output = exports.Output || (exports.Output = {}));
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//# sourceMappingURL=colordistancesensor.js.map</pre>
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</article>
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</section>
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node-poweredup by Nathan Kellenicki licensed under the MIT license.
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Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.6.3</a>
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on Sun May 24th 2020
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<script type="text/javascript" src="scripts/fulltext-search-ui.js"></script>
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<script>
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$( function () {
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$( "[id*='$']" ).each( function () {
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var $this = $( this );
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$this.attr( "id", $this.attr( "id" ).replace( "$", "__" ) );
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} );
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$( ".tutorial-section pre, .readme-section pre, pre.prettyprint.source" ).each( function () {
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var $this = $( this );
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var example = $this.find( "code" );
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exampleText = example.html();
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var lang = /{@lang (.*?)}/.exec( exampleText );
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if ( lang && lang[1] ) {
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exampleText = exampleText.replace( lang[0], "" );
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example.html( exampleText );
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lang = lang[1];
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} else {
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var langClassMatch = example.parent()[0].className.match(/lang\-(\S+)/);
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lang = langClassMatch ? langClassMatch[1] : "javascript";
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}
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if ( lang ) {
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$this
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.addClass( "sunlight-highlight-" + lang )
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|
.addClass( "linenums" )
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|
.html( example.html() );
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}
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|
} );
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|
Sunlight.highlightAll( {
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|
lineNumbers : true,
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|
showMenu : true,
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|
enableDoclinks : true
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|
} );
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|
|
|
$.catchAnchorLinks( {
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|
navbarOffset: 10
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|
} );
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|
$( "#toc" ).toc( {
|
|
anchorName : function ( i, heading, prefix ) {
|
|
return $( heading ).attr( "id" ) || ( prefix + i );
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|
},
|
|
selectors : "#toc-content h1,#toc-content h2,#toc-content h3,#toc-content h4",
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|
showAndHide : false,
|
|
smoothScrolling: true
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|
} );
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|
|
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$( "#main span[id^='toc']" ).addClass( "toc-shim" );
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|
$( '.dropdown-toggle' ).dropdown();
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|
|
|
$( "table" ).each( function () {
|
|
var $this = $( this );
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|
$this.addClass('table');
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|
} );
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} );
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</script>
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|
<!--Navigation and Symbol Display-->
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<!--Google Analytics-->
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<script type="text/javascript">
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$(document).ready(function() {
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|
SearcherDisplay.init();
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|
});
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|
</script>
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</body>
|
|
</html>
|