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Update main.ts #5

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39 changes: 21 additions & 18 deletions main.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -378,31 +378,34 @@ namespace startbit {
}

/**
* Set the angle of bus servo 1 to 8, range of -120~120 degree
* Set the angle of bus servo 1 to 12, range of -120~120 degree
*/
//% weight=98 blockId=startbit_setBusServo block="Set bus servo|port %port|index %index|angle(-120~1200) %angle|duration %duration"
//% weight=98 blockId=startbit_setBusServo block="Set bus servo|port %port|index %index|angle(-120~120) %angle|duration %duration"
//% angle.min=-120 angle.max=120
export function startbit_setBusServo(port: startbit_busServoPort, index: number, angle: number, duration: number) {
if (angle > 120 || angle < -120) {
//% index.defl= [1]
export function startbit_setBusServos(port: startbit_busServoPort, index: number[], angle: number[], duration: number) {
for (let i = 0; i < angle.length; i++) {
if (angle[i] > 120 || angle[i] < -120) {
return;
}

angle += 120;

let position = mapRGB(angle, 0, 240, 0, 1000);

let buf = pins.createBuffer(10);
}
angle[i] += 120;
angle[i] = mapRGB(angle[i], 0, 240, 0, 1000);
}

let buf = pins.createBuffer(3*index.length+7);
buf[0] = 0x55;
buf[1] = 0x55;
buf[2] = 0x08;
buf[3] = 0x35;//cmd type DEC 53
buf[4] = 0x01;
buf[2] = (index.length*3 + 5) & 0xff;
buf[3] = 0x35;//cmd type DEC 54
buf[4] = (index.length) & 0xff;
buf[5] = duration & 0xff;
buf[6] = (duration >> 8) & 0xff;
buf[7] = index;
buf[8] = position & 0xff;
buf[9] = (position >> 8) & 0xff;
serial.writeBuffer(buf);
for (let i = 0; i < index.length; i++) {
buf[7 + i*3] = index[i];
buf[8 + i*3] = angle[i] & 0xff;
buf[9 + i*3] = (angle[i] >> 8) & 0xff;
}
serial.writeBuffer(buf);
}

/**
Expand Down