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Fixes bugs in motor and sensor library concerning the daisy-chaining feature
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| Motor.Power("1A",50) | ||
| Motor.Power("1B",50) | ||
| Motor.Power("1C",50) | ||
| Motor.Power("1D",50) | ||
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| While "True" | ||
| LCD.StopUpdate() | ||
| LCD.Clear() | ||
| LCD.Text(1,0,2,1, "Plug touch sensors to") | ||
| LCD.Text(1,0,14,1, "the daisy chain bricks") | ||
| LCD.Text(1,0,26,1, "to control the motors") | ||
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| For l=1 To 4 | ||
| For s=1 To 4 | ||
| m = l + Text.GetCharacter(64+s) | ||
| P = Sensor.ReadPercent(s+(l-1)*4) | ||
| x = s*40 - 30 | ||
| y = l*20 + 25 | ||
| If P>50 Then | ||
| LCD.FillRect(1,x,y, 30,18) | ||
| LCD.Text(1,x+2,y+5, 1, P) | ||
| Motor.Start(m) | ||
| else | ||
| LCD.Rect(1,x,y,30,18) | ||
| LCD.Text(1,x+10,y+5, 1, P) | ||
| Motor.Stop(m,"true") | ||
| Endif | ||
| endfor | ||
| endfor | ||
| LCD.Update() | ||
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| Program.Delay(100) | ||
| EndWhile |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,12 @@ | ||
| Motor.ScheduleSyncForCount("AD",100,200,1000,"false") | ||
| Program.Delay(5000) | ||
| Motor.ScheduleSyncForCount("AD",100,200,500,"false") | ||
| Program.Delay(1000) | ||
| Motor.ScheduleSyncForTime("AD",100,-200,1000,"true") | ||
| Program.Delay(1000) | ||
| Motor.SchedulePowerForCount("A", 100, 0,500,0, "true") | ||
| Program.Delay(1000) | ||
| Motor.SchedulePowerForTime("AD", -100, 0,500,0, "true") | ||
| Program.Delay(1000) | ||
| Motor.ScheduleSpeedForCount("D", -100, 0,500,0, "false") | ||
| Program.Delay(1000) | ||
| Motor.ScheduleSpeedForTime("A", 100, 0,500,0, "true") | ||
| Program.Delay(1000) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Linq; | ||
| using System.Text; | ||
| using System.Threading; | ||
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| using Microsoft.SmallBasic.Library; | ||
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| namespace SmallBasicEV3Extension | ||
| { | ||
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| [SmallBasicType] | ||
| public class Thread | ||
| { | ||
| // The list of all threads that were triggered from the basic program. | ||
| // A thread is identified by its event handler target and can be | ||
| // triggered multiple times, in which case the handler will be called this many times, | ||
| // but only in sequence. | ||
| private static Dictionary<SmallBasicCallback, Thread> triggeredThreads = new Dictionary<SmallBasicCallback, Thread>(); | ||
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| // This does not install an event handler, but triggers a new thread instead. | ||
| // That was the only way to get a nice API for threading in Small Basic. | ||
| public static event SmallBasicCallback Run | ||
| { | ||
| // do not install an event handler, but start a thread instead | ||
| add | ||
| { | ||
| lock (triggeredThreads) | ||
| { | ||
| if (!triggeredThreads.ContainsKey(value)) | ||
| { | ||
| triggeredThreads[value] = new Thread(value); | ||
| } | ||
| triggeredThreads[value].Trigger(); | ||
| } | ||
| } | ||
| remove | ||
| { | ||
| // no action, because threads can not be removed | ||
| } | ||
| } | ||
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| // instance members | ||
| private SmallBasicCallback callback; | ||
| private int triggerCount; | ||
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| private Thread(SmallBasicCallback callback) | ||
| { | ||
| this.callback = callback; | ||
| this.triggerCount = 0; | ||
| (new System.Threading.Thread(run)).Start(); | ||
| } | ||
|
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| private void Trigger() | ||
| { | ||
| lock (this) | ||
| { | ||
| triggerCount++; | ||
| Monitor.PulseAll(this); | ||
| } | ||
| } | ||
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| private void run() | ||
| { | ||
| for (; ; ) // this c#-thread runs forever for the case that basic wants to trigger the thread once more | ||
| { | ||
| // wait for a trigger | ||
| bool mustrun = false; | ||
| lock (this) | ||
| { | ||
| if (triggerCount>0) | ||
| { | ||
| triggerCount--; | ||
| mustrun = true; | ||
| } | ||
| else | ||
| { | ||
| Monitor.Wait(this); | ||
| } | ||
| } | ||
| // when a trigger is detected, run the basic thread once | ||
| if (mustrun) | ||
| { | ||
| callback.Invoke(); | ||
| } | ||
| } | ||
| } | ||
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||
| } | ||
|
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||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| a=1 | ||
| Thread.Run = changer | ||
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| While "true" | ||
| x = a | ||
| x = x+a | ||
| If x<>2 And x<>4 then | ||
| TextWindow.WriteLine("Found miss-match") | ||
| endif | ||
| endwhile | ||
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| Sub changer | ||
| While "True" | ||
| A = 1 | ||
| A = 1 | ||
| A = 1 | ||
| A = 1 | ||
| A = 1 | ||
| A = 2 | ||
| A = 2 | ||
| A = 2 | ||
| A = 2 | ||
| A = 2 | ||
| endwhile | ||
| endsub | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| ' Test program to chech how much memory is available for variables | ||
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| SIZE = 1000000 | ||
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| LCD.Clear() | ||
| A = Vector.Init(SIZE, 4711) | ||
| LCD.Text(1, 10,0, 1, "A["+(SIZE-1)+"] = " + A[SIZE-1]) | ||
| B = Vector.Init(SIZE, 815) | ||
| LCD.Text(1, 10,12, 1, "B["+(SIZE-1)+"] = " + B[SIZE-1]) | ||
| C = Vector.Init(SIZE, 1111) | ||
| LCD.Text(1, 10,24, 1, "C["+(SIZE-1)+"] = " + C[SIZE-1]) | ||
| D = Vector.Init(SIZE, 2222) | ||
| LCD.Text(1, 10,36, 1, "D["+(SIZE-1)+"] = " + D[SIZE-1]) | ||
| E = Vector.Init(SIZE, 3333) | ||
| LCD.Text(1, 10,48, 1, "E["+(SIZE-1)+"] = " + E[SIZE-1]) | ||
| F = Vector.Init(SIZE, 4444) | ||
| LCD.Text(1, 10,60, 1, "F["+(SIZE-1)+"] = " + F[SIZE-1]) | ||
| G = Vector.Init(SIZE, 5555) | ||
| LCD.Text(1, 10,72, 1, "G["+(SIZE-1)+"] = " + G[SIZE-1]) | ||
| H = Vector.Init(SIZE, 666) | ||
| LCD.Text(1, 10,84, 1, "H["+(SIZE-1)+"] = " + H[SIZE-1]) | ||
| I = Vector.Init(SIZE, 1234) | ||
| LCD.Text(1, 10,96, 1, "I["+(SIZE-1)+"] = " + I[SIZE-1]) | ||
| J = Vector.Init(SIZE, 5678) | ||
| LCD.Text(1, 10,108, 1, "J["+(SIZE-1)+"] = " + J[SIZE-1]) | ||
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| Buttons.Wait() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| a=1 | ||
| Thread.Run = changer | ||
|
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| While "true" | ||
| x = a | ||
| x = x+a | ||
| If x<>2 And x<>4 then | ||
| TextWindow.WriteLine("Found miss-match") | ||
| endif | ||
| endwhile | ||
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| Sub changer | ||
| While "True" | ||
| A = 1 | ||
| A = 1 | ||
| A = 1 | ||
| A = 1 | ||
| A = 1 | ||
| A = 2 | ||
| A = 2 | ||
| A = 2 | ||
| A = 2 | ||
| A = 2 | ||
| endwhile | ||
| endsub | ||
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