554 lines
14 KiB
Markdown
554 lines
14 KiB
Markdown
# Notation
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- `(value)`
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- `(d! dropdown)`
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- `<boolean>`
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- `(m! display matrix picker)`
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# Hub
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- DONE `initialize hub (d! top_side = Axis.Z) (d! front_size = Axis.X)`
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- transpiled: `hub = PrimeHub(top_side, front_side)`
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## Hub - Status Light
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- DONE `set button color to (d! color)`
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- transpiled: `hub.light.on(color)`
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- DONE `turn off button light`
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- transpiled: `hub.light.off()`
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todo: light.blink
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todo: light.animate
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## Hub - Display
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- `set display orientation to (d! side)`
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- transpiled: `hub.display.orientation(side)`
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- DONE `turn display off`
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- transpiled: `hub.display.off()`
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- `set (m! row, col) to (brightness %) brightness`
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- transpiled: `hub.display.pixel(row, col, brightness)`
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- `show (m! picutre) on display`
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- transpiled: `hub.display.icon(picture)`
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todo: display.animate
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- DONE `show (number) on display`
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- transpiled: `hub.display.number(number)`
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- `show (char) on display`
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- transpiled: `hub.display.char(char)`
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- DONE `scroll (text) on display`
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- transpiled: `hub.display.text(text)`
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- `scroll (text) on display, on for (on) off for (off)`
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- transpiled: `hub.display.text(text, on, off)`
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## Hub - Buttons
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!- `(buttons pressed)`
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! - transpiled: `hub.buttons.pressed()`
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- DONE `<is (d! button) button pressed?>`
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- transpiled: `button in hub.buttons.pressed()`
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## Hub - IMU
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- DONE `<imu ready?>`
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- transpiled: `hub.imu.ready()`
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- DONE `<is moving?>`
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- transpiled: `!hub.imu.stationary()`
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- `(side facing up)`
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- transpiled: `hub.imu.up()`
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- DONE `(pitch)`
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- transpiled: `hub.imu.tilt()[0]`
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- DONE `(roll)`
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- transpiled: `hub.imu.roll()[1]`
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- DONE `(acceleration (d! axis))`
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- transpiled: `hub.imu.acceleration(axis)`
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- DONE `(angular velocity (d! axis))`
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- transpiled: `hub.imu.angular_velocity(axis)`
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- DONE `(yaw)`
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- transpiled: `hub.imu.heading()`
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- warning: must be reset if lifted from table
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- reset in prelude?
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- DONE `reset yaw angle`
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- transpiled: `hub.imu.reset_heading(0)`
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- DONE `reset yaw angle to (degrees)`
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- transpiled: `hub.imu.reset_heading(degrees)`
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todo: imu.rotation
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todo: imu.orientation
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- DONE `(angular velocity threshold)`
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- transpiled: `hub.imu.settings()[0]`
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- DONE `(acceleration threshold)`
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- transpiled: `hub.imu.settings()[1]`
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- DONE `set angular velocity threshold to (threshold)`
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- transpiled: `hub.imu.settings(threshold, hub.imu.settings()[1])`
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- DONE `set acceleration threshold to (threshold)`
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- transpiled: `hub.imu.settings(hub.imu.settings()[0], threshold)`
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## Hub - Speaker
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- `(volume)`
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- transpiled: `hub.speaker.volume()`
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- `set speaker volume to (volume)`
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- transpiled: `hub.speaker.volume(volume)`
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- `play tone (frequency) for (ms) ms`
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- transpiled: `hub.speaker.beep(frequency, ms)`
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- `start playing tone (frequency)`
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- transpiled: `hub.speaker.beep(frequency, -1)`
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todo: speaker.play_notes
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## TODO: Hub - Bluetooth
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Not legal for competition, so I skipped it.
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Easy to design though, for late.r
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## Hub - Battery
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- `(battery voltage)`
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- transpiled: `hub.battery.voltage()`
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- `(battery current)`
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- transpiled: `hub.battery.current()`
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- `<charger connected?>`
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- transpiled: `hub.charger.connected()`
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- `(charging current)`
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- transpiled: `hub.charger.current()`
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- `<is charging?>`
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- transpiled: `hub.charger.status() == 1`
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- `<is charging complete?>`
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- transpiled: `hub.charger.status() == 2`
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- `<is charging stopped?>`
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- transpiled: `hub.charger.status() == 3`
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## Hub - Control
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- `set stop button to (button)`
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- transpiled: `hub.system.set_stop_button(button)`
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- `(hub name)`
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- transpiled: `hub.system.name()`
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todo: system.storage
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- DONE `stop and exit program` - program terminator
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- transpiled: prelude code, go back to selection screen
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- DONE `stop and restart program` - program terminator
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- transpiled: prelude code, exit, run again
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- DONE `stop and shutdown system` - program terminator
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- transpiled: `hub.system.shutdown()`
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- `<last shut down normally?>`
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- transpiled: `hub.system.reset_reason() == 0`
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- `<last shut down automatically?>`
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- transpiled: `hub.system.reset_reason() == 1`
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- `<last shut down by crash?>`
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- transpiled: `hub.system.reset_reason() == 2`
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# Motors
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## Motors - DC
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- `turn on dc motor (port) at (power) power`
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- transpiled: `motor.dc(power)`
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- `stop dc motor (port)`
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- transpiled: `motor.stop()`
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- `set max voltage of dc motor (port) to (voltage)`
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- transpiled: `motor.settings(voltage)`
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- `(max voltage of dc motor (port))`
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- transpiled: `motor.settings()[0]`
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- `set positive direction of dc motor (port) to (d! direction)`
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- transpiled: RESET motor variable with the direction
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## Motors
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- `set positive direction of motor (port) to (d! direction)`
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- traspiled: RESET motor variable with the direction
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todo: geartrain
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todo: reset_angle
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- `((port) rotation angle)`
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- transpiled: `motor.angle()`
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- `reset rotation angle of (port)`
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- transpiled: `motor.reset_angle(0)`
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- `reset rotation angle of (port) to (deg)`
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- transpiled: `motor.reset_angle(deg)`
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- `((port) current speed)`
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- transpiled: `motor.speed()`
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- `((port) current load)`
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- transpiled: `motor.load()`
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- `<(port) is stalled?>`
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- transpiled: `motor.stalled()`
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- `(port) stop moving`
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- transpiled: `motor.stop()`
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- `(port) brake`
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- transpiled: `motor.brake()`
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- `(port) stop and hold position`
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- transpiled: `motor.hold()`
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- `(port) start moving at (speed)`
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- transpiled: `motor.run(speed)`
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- `(port) start moving at (power) power`
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- transpiled: `motor.dc(power)`
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- `(port) run for (time) seconds at (speed) speed, then (d! stop action)`
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- transpiled: `motor.run_time(speed, time, stop action, True)`
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- `(port) start running for (time) seconds at (speed) speed, then (d! stop action)`
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- transpiled: `motor.run_time(speed, time, stop action, False)`
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- `(port) run for (deg) degrees at (speed), then (d! stop action)`
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- transpiled: `motor.run_angle(speed, deg, stop action, True)`
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- `(port) start running for (deg) degrees at (speed), then (d! stop action)`
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- transpiled: `motor.run_angle(speed, deg, stop action, False)`
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- `(port) go to relative position (deg) at (speed), then (d! stop action)`
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- transpiled: `motor.run_target(speed, deg, stop action, True)`
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- `(port) start moving to relative position (deg) at (speed), then (d! stop action)`
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- transpiled: `motor.run_target(speed, deg, stop action, False)`
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- `(port) go to relative position (deg) immediately`
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- transpiled: `motor.track_target(deg)`
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- `(port) run at (speed) speed until stalled, then (d! stop action)`
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- transpiled: `motor.run_until_stalled(speed, stop action)`
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- `(port) run at (speed) speed until stalled, then (d! stop action), with maximum power (power)`
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- transpiled: `motor.run_until_stalled(speed, stop action, power)`
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- `<(port) is done moving?>`
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- transpiled: `motor.done()`
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- `((port) max speed)`
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- transpiled: `motor.limits()[0]`
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- `((port) max acceleration)`
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- transpiled: `motor.limits()[1]`
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- `((port) max torque)`
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- transpiled: `motor.limits()[2]`
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- `set (port) max speed to (speed)`
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- transpiled: `motor.limits(speed, motor.limits()[1], motor.limits()[2])`
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- `set (port) max acceleration to (accel)`
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- transpiled: `motor.limits(motor.limits()[0], accel, motor.limits()[2])`
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- `set (port) max torque to (torq)`
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- transpiled: `motor.limits(motor.limits()[0], motor.limits()[1], torq)`
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TODO: pid
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TODO: tolerances
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TODO: stall tolerances
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TODO: scale
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TODO: state
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TODO: settings
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# Tilt Sensor
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- `((port) pitch)`
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- transpiled: `sensor.tilt()[0]`
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- `((port) roll)`
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- transpiled: `sensor.tilt()[1]`
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# Infrared Sensor
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- `((port) infrared distance)`
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- transpiled: `sensor.distance()`
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- `((port) infrared reflection)`
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- transpiled: `sensor.reflection()`
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- `((port) object count)`
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- transpiled: `sensor.count()`
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# Color and Distance Sensor
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- `<(port) color is (d! color)?>`
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- transpiled: `sensor.color() == color`
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- `((port) reflection)`
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- transpiled: `sensor.reflection()`
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- `((port) intensity)`
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- transpiled: `sensor.ambient()`
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- `((port) infrared distance)`
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- transpiled: `sensor.distance()`
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TODO: detectable_colors
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- `set (port) light to (d! color RGB)`
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- transpiled: `sensor.light.on(color)`
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- `turn off (port) light`
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- transpiled: `sensor.light.off()`
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# TODO - Power Functions Infrared Controls
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# Color Sensor
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- `<(port) color is (d! color)?>`
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- transpiled: `sensor.color() == color`
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- `((port) reflection)`
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- transpiled: `sensor.reflection()`
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- `((port) intensity)`
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- transpiled: `sensor.ambient()`
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- `((port) hue)`
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- transpiled: `sensor.hsv().h`
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- `((port) saturation)`
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- transpiled: `sensor.hsv().s`
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- `((port) brightness)`
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- transpiled: `sensor.hsv().v`
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TODO: detectable_colors
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- `turn on (port) light at (power) brightness`
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- transpiled: `sensor.lights.on(power)`
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- `turn off (port) light`
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- transpiled: `sensor.lights.off()`
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# Ultrasonic Sensor
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- `((port) distance)`
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- transpiled: `sensor.distance()`
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- `<(port) other ultrasonic sensors nearby?>`
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- transpiled: `sensor.presence()`
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- `turn on (port) light at (power) brightness`
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- transpiled: `sensor.lights.on(power)`
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- `turn off (port) light`
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- transpiled: `sensor.lights.off()`
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# Force Sensor
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- `((port) force)`
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- transpiled: `sensor.force()`
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- `((port) distance travelled)`
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- transpiled: `sensor.distance()`
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- `<(port) pressed?>`
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- transpiled: `sensor.pressed()`
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- `<(port) touched?>`
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- transpiled: `sensor.touched()`
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# TODO - Color Light Matrix
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# Light
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- `turn on (port) at (power) brightness`
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- transpiled: `sensor.on(power)`
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- `turn off (port)`
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- trnaspiled: `sensor.off()`
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# TODO - Remote Control
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# Constants
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## Constants - Axis
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- `(x axis)`
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- transpiled: `Axis.X`
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- `(y axis)`
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- transpiled: `Axis.Y`
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- `(z axis)`
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- transpiled: `Axis.Z`
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## Constants - Button
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- `(left button)`
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- transpiled: `Button.LEFT`
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- `(center button)`
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- transpiled: `Button.CENTER`
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- `(right button)`
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- transpiled: `Button.RIGHT`
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- `(bluetooth button)`
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- transpiled: `Button.BLUETOOTH`
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## Constants - Stop Behavior
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- `coast`
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- transpiled: `Stop.COAST`
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- `preplanned coast`
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- transpiled: `Stop.COAST_SMART`
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- `brake`
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- transpiled: `Stop.BRAKE`
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- `hold position`
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- transpiled: `Stop.HOLD`
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- `do not stop`
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- transpiled: `Stop.NONE`
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# Tools
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- `wait (ms) ms`
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- transpiled: `tools.wait(ms)`
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## TODO - Tools - Stopwatch
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# Movement (Robotics)
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- `set movement motors to (left port) and (right port)`
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- transpiled: `left_motor = left port; right_motor = right port; drive = DriveBase(left_motor, right_motor, wd, track)`
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- `set wheel diameter to (mm) mm`
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- transpiled: `wd = mm; drive = DriveBase(left_motor, right_motor, wd, track)`
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- `set track width to (mm) mm`
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- transpiled: `track = mm; drive = DriveBase(left_motor, right_motor, wd, track)`
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- `move (mm) mm, then (d! stop)`
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- transpiled: `drive.straight(mm, stop, True)`
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- `start moving (mm) mm, then (d! stop)`
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- transpiled: `drive.straight(mm, stop, False)`
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- `turn in place (deg) degrees, then (d! stop)`
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- transpiled: `drive.turn(deg, stop, True)`
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- `start turning in place (deg) degrees, then (d! stop)`
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- transpiled: `drive.turn(deg, stop, False)`
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- `turn (deg) degrees across a (rad) mm arc, then (d! stop)`
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- transpiled: `drive.curve(rad, deg, stop, True)`
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- `start turning (deg) degrees across a (rad) mm arc, then (d! stop)`
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- transpiled: `drive.curve(rad, deg, stop, False)`
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- `(movement speed)`
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- transpiled: `drive.settings()[0]`
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- `(movement acceleration)`
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- transpiled: `drive.settings()[1]`
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- `(turn speed)`
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- transpiled: `drive.settings()[2]`
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- `(turn acceleration)`
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- transpiled: `drive.settings()[3]`
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- `set movement speed to (speed)`
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- transpiled: `drive.settings(speed, drive.settings()[1], drive.settings()[2], drive.settings()[3])`
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- `set movement acceleration to (speed)`
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- transpiled: `drive.settings(drive.settings()[0], speed, drive.settings()[2], drive.settings()[3])`
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- `set turn speed to (speed)`
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- transpiled: `drive.settings(drive.settings()[0], drive.settings()[1], speed, drive.settings()[3])`
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- `set turn acceleration to (speed)`
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- transpiled: `drive.settings(drive.settings()[0], drive.settings()[1], drive.settings()[2], speed)`
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- `<is done moving?>`
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- transpiled: `drive.done()`
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- `start moving at (spd) speed`
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- transpiled: `drive.drive(spd, 0)`
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- `start moving at (spd) speed with turn rate (tr)`
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- transpiled: `drive.drive(spd, tr)`
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- `stop moving`
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- transpiled: `drive.stop()`
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- `(relative distance)`
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- transpiled: `drive.distance()`
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- `(relative angle)`
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- transpiled: `drive.angle()`
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- `(current drive speed)`
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- transpiled: `drive.state()[1]`
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- `(current turn rate)`
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- transpiled: `drive.state()[3]`
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- `reset angle and distance`
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- transpiled: `drive.reset()`
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- `<is stalled?>`
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- transpiled: `drive.stalled()`
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- `use gyroscope for movement`
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- transpiled: `drive = GyroDriveBase(left_motor, right_motor, wd, track)`
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- `use math for movement`
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- transpiled: `drive = DriveBase(left_motor, right_motor, wd, track)`
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# Random
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- `(random number from (a) to (b))`
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- transpiled: `urandom.randint(a, b)`
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- `(random decimal from 0 to 1)`
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- transpiled: `urandom.random()`
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# Control
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- `repeat (n)`
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- transpiled: `for i in range(n):`
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- `forever`
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- transpiled: `while True:`
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- `if <cond> then`
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- transpiled: `if cond:`
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- `if <cond> then else`
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- transpiled: `if cond: else:`
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- `wait until <cond>`
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- transpiled: `while !<cond>: pass`
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- `repeat until <cond>`
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- transpiled: `while !cond:`
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- `stop`
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- transpiled: `raise SystemExit("Exited by program")`
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# Operators
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- `((a) + (b))`
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- transpiled: `a + b`
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- `((a) - (b))`
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- transpiled: `a - b`
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- `((a) * (b))`
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- transpiled: `a * b`
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- `((a) / (b))`
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- transpiled: `a / b`
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|
- `<(a) > (b)>`
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|
- transpiled: `a > b`
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- `<(a) < (b)>`
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- transpiled: `a < b`
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|
- `<(a) = (b)>`
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|
- transpiled: `a == b`
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|
- `<<a> and <b>>`
|
|
- transpiled: `a and b`
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|
- `<<a> or <b>>`
|
|
- transpiled: `a or b`
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|
- `<not <a>>`
|
|
- transpiled: `not a`
|
|
- `(join (a) (b))`
|
|
- transpiled: `a + b`
|
|
- `(letter (n) of (a))`
|
|
- transpiled: `a[n]`
|
|
- `(length of (a))`
|
|
- transpiled: `len(a)`
|
|
- `<(a) contains (b)?>`
|
|
- transpiled: `a in b`
|
|
- `((a) mod (b))`
|
|
- transpiled: `a % b`
|
|
- `(round (a))`
|
|
- transpiled: `round(a)`
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|
|
TODO: operators
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# Variables
|
|
|
|
Variables are stored as python variables with the prefix `UVAR` - for example `UVAR_myvar`
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# My blocks
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|
|
|
re just functions
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