update to v1.4

ofdl-robotics-tw · Nov 16, 2024 · de05f7f · de05f7f
1 parent 69f0ffc
commit de05f7f
Show file tree

Hide file tree

Showing 12 changed files with 76 additions and 20 deletions.
diff --git a/Help/en/0_0_OFDLMods.xml b/Help/en/0_0_OFDLMods.xml
@@ -3,7 +3,7 @@
   <members>
     <member name="W:OFDL_Module_Version">
       <summary>
-		Version: 1.3, 2023-09-27
+		Version: 1.4, 2024-11-16
 		Thanks for using OFDL clev3r modules, when you see this section means the module help is installed!
 		If have any issue of the modules or help, please contact us:
 		Github: github.com/ofdl-robotics-tw

diff --git a/Help/en/0_Gyro.xml b/Help/en/0_Gyro.xml
@@ -63,6 +63,7 @@
 
 	<member name="M:resetHard">
       <summary>
+		This method marked as deprecated!
         Reset the Gyro sensor to zero degrees. (Need 500ms)
 		(Hard Reset with GYRO-CAL mode, still need test.)
       </summary>

diff --git a/Help/en/0_Pixy2.xml b/Help/en/0_Pixy2.xml
@@ -32,6 +32,19 @@
       <param name="hOut">The Height (0-255) output.</param>
     </member>
 
+	<member name="M:getRGB">
+      <summary>
+        Gets specific RGB info from Pixy2.
+      </summary>
+      <param name="port">The port (1~4) you connect to device.</param>
+      <param name="xIn">X Image Location.</param>
+      <param name="yIn">Y Image Location.</param>
+	  <param name="isSaturated">Saturated, 0 is false, 1 is true.</param>
+      <param name="rOut">The Red Value output.</param>
+      <param name="gOut">The Green Value output.</param>
+      <param name="bOut">The Blue Value output.</param>
+    </member>
+
 	<member name="M:setLampOn">
       <summary>
         Set Pixy2 Lamp On.

diff --git a/Help/ru/0_0_OFDLMods.xml b/Help/ru/0_0_OFDLMods.xml
@@ -3,7 +3,7 @@
   <members>
     <member name="W:OFDL_Module_Version">
       <summary>
-		Version: 1.3, 2023-09-27
+		Version: 1.4, 2024-11-16
 		Thanks for using OFDL clev3r modules, when you see this section means the module help is installed!
 		If have any issue of the modules or help, please contact us:
 		Github: github.com/ofdl-robotics-tw

diff --git a/Help/ru/0_Gyro.xml b/Help/ru/0_Gyro.xml
@@ -63,6 +63,7 @@
 
 	<member name="M:resetHard">
       <summary>
+		This method marked as deprecated!
         Reset the Gyro sensor to zero degrees. (Need 500ms)
 		(Hard Reset with GYRO-CAL mode, still need test.)
       </summary>

diff --git a/Help/ru/0_Pixy2.xml b/Help/ru/0_Pixy2.xml
@@ -32,6 +32,19 @@
       <param name="hOut">The Height (0-255) output.</param>
     </member>
 
+	<member name="M:getRGB">
+      <summary>
+        Gets specific RGB info from Pixy2.
+      </summary>
+      <param name="port">The port (1~4) you connect to device.</param>
+      <param name="xIn">X Image Location.</param>
+      <param name="yIn">Y Image Location.</param>
+	  <param name="isSaturated">Saturated, 0 is false, 1 is true.</param>
+      <param name="rOut">The Red Value output.</param>
+      <param name="gOut">The Green Value output.</param>
+      <param name="bOut">The Blue Value output.</param>
+    </member>
+
 	<member name="M:setLampOn">
       <summary>
         Set Pixy2 Lamp On.

diff --git a/Help/ua/0_0_OFDLMods.xml b/Help/ua/0_0_OFDLMods.xml
@@ -3,7 +3,7 @@
   <members>
     <member name="W:OFDL_Module_Version">
       <summary>
-		Version: 1.3, 2023-09-27
+		Version: 1.4, 2024-11-16
 		Thanks for using OFDL clev3r modules, when you see this section means the module help is installed!
 		If have any issue of the modules or help, please contact us:
 		Github: github.com/ofdl-robotics-tw

diff --git a/Help/ua/0_Gyro.xml b/Help/ua/0_Gyro.xml
@@ -63,6 +63,7 @@
 
 	<member name="M:resetHard">
       <summary>
+		This method marked as deprecated!
         Reset the Gyro sensor to zero degrees. (Need 500ms)
 		(Hard Reset with GYRO-CAL mode, still need test.)
       </summary>

diff --git a/Help/ua/0_Pixy2.xml b/Help/ua/0_Pixy2.xml
@@ -32,6 +32,19 @@
       <param name="hOut">The Height (0-255) output.</param>
     </member>
 
+	<member name="M:getRGB">
+      <summary>
+        Gets specific RGB info from Pixy2.
+      </summary>
+      <param name="port">The port (1~4) you connect to device.</param>
+      <param name="xIn">X Image Location.</param>
+      <param name="yIn">Y Image Location.</param>
+	  <param name="isSaturated">Saturated, 0 is false, 1 is true.</param>
+      <param name="rOut">The Red Value output.</param>
+      <param name="gOut">The Green Value output.</param>
+      <param name="bOut">The Blue Value output.</param>
+    </member>
+
 	<member name="M:setLampOn">
       <summary>
         Set Pixy2 Lamp On.

diff --git a/Mods/.version b/Mods/.version
@@ -1,5 +1,5 @@
 [Modules]
 name=OFDL EV3 CLEV3R Modules
-ver=1.3
-date=2023-09-27
+ver=1.4
+date=2024-11-16
 url=github.com/ofdl-robotics-tw
diff --git a/Mods/Gyro.bpm b/Mods/Gyro.bpm
@@ -1,6 +1,6 @@
 'Name: EV3 Adv Gyro module
-'Version: 1.0
-'Author: OFDL Anthony 2023/08/29
+'Version: 1.1
+'Author: OFDL Anthony 2024/11/16
 '---------------------------------
 
 Function getAngle(in number port, out number value)
@@ -26,15 +26,10 @@ Function getTiltRate(in number port, out number value)
 EndFunction
 
 Function getHeading(in number port, in number rpx_bias, out number rpx, out number rpx_360)
-  'bias
-  If rpx_bias <= 180 Then
-    bias = 0 - rpx_bias
-  Else
-    bias = 360 - rpx_bias
-  EndIf
-
+  'By OFDL HYT
+  'https://www.geogebra.org/calculator/kd4pn2j6
   'rpx 0 ~ 360
-  rpx_360= bias + Math.Remainder(Math.Remainder(Sensor.ReadRawValue(port, 0), 360) + 360, 360)
+  rpx_360= Math.Remainder(Math.Remainder(Sensor.ReadRawValue(port, 0) - rpx_bias , 360) + 360, 360)
 
   'rpx -180 ~ 180
   If rpx_360 <= 180 Then
@@ -56,12 +51,19 @@ Function reset(in number port)
 EndFunction
 
 Function resetHard(in number port)
+  ''As test result, This reset method may broke sensors factory setting. So disabled.
+  LCD.Clear()
+  LCD.Text(1, 0, 10, 1, "resetHard() is deprecated")
+  Speaker.Note(100, "C5", 100)
+  Speaker.Wait()
+  LCD.Update()
+
   'put the gyro into CAL mode.
-  Sensor.SetMode(port, 4)
+  ''Sensor.SetMode(port, 4)
   'wait it apply
-  Program.Delay(550)
+  ''Program.Delay(550)
   'put the gyro into angle mode.
-  Sensor.SetMode(port, 0)
+  ''Sensor.SetMode(port, 0)
 EndFunction
 
 Function resetCheck(in number port, out string result)

diff --git a/Mods/Pixy2.bpm b/Mods/Pixy2.bpm
@@ -1,6 +1,6 @@
 'Name: Pixy2 module
-'Version: 1.0
-'Author: OFDL Anthony 2023/08/29
+'Version: 1.1
+'Author: OFDL Anthony 2024/11/16
 '---------------------------------
 '
 ' Please make sure pixy2 is in "LEGO I2C" mode.
@@ -26,6 +26,18 @@ Function getSignature(in number port, in number sig, out number x, out number y,
   h = values[4]
 EndFunction
 
+Function getRGB(in number port, in number xIn, in number yIn, in number isSaturated, out number r, out number g, out number b)
+  'TESSLAB Darren test Pass
+  writeBuffer[0] = 94
+  writeBuffer[1] = Math.Remainder((xIn * 0.80952380952) + 128, 256) - 128
+  writeBuffer[2] = Math.Remainder((yIn * 1.23188405797) + 128, 256) - 128
+  writeBuffer[3] = isSaturated
+  values = Sensor.CommunicateI2C(port, 1, 4, 3, writeBuffer)
+  r = values[0]
+  g = values[1]
+  b = values[2]
+EndFunction
+
 Function setLampOn(in number port)
   Sensor.WriteI2CRegister(port, 0, 98, 1)
 EndFunction