2KG

KittenBot · Dec 3, 2019 · b1e955f · b1e955f
1 parent dd1b2a9
commit b1e955f
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Showing 4 changed files with 26 additions and 4 deletions.
diff --git a/.header.json b/.header.json
@@ -8,8 +8,8 @@
     "pubCurrent": false,
     "_rev": null,
     "id": "5f3fc131-dd08-4e8a-2a3f-61c22ba89542",
-    "recentUse": 1559628424,
-    "modificationTime": 1559628424,
+    "recentUse": 1575338102,
+    "modificationTime": 1575338048,
     "blobId": null,
     "blobVersion": null,
     "blobCurrent": false,

diff --git a/_locales/zh/robotbit-strings.json b/_locales/zh/robotbit-strings.json
@@ -1,5 +1,7 @@
 {
 	"robotbit.Servo|block": "舵机|%index|角度 %degree",
+	"robotbit.GeekServo|block": "GeekServo舵机|%index|角度 %degree",
+	"robotbit.GeekServo2KG|block": "2KG舵机|%index|角度 %degree",
 	"robotbit.StepperDegree|block": "步进 28BYJ-48|%index|角度 %degree",
 	"robotbit.StepperTurn|block": "步进 28BYJ-48|%index|圈数 %turn",
 	"robotbit.StepperDual|block": "双步进(角度) |M1 %degree1| M2 %degree2",

diff --git a/main.ts b/main.ts
@@ -242,7 +242,6 @@ namespace robotbit {
     */
     //% blockId=robotbit_gservo block="Geek Servo|%index|degree %degree"
     //% weight=99
-    //% blockGap=50
     //% degree.min=-45 degree.max=225
     //% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
     export function GeekServo(index: Servos, degree: number): void {
@@ -255,6 +254,27 @@ namespace robotbit {
         setPwm(index + 7, 0, value)
     }
 
+        /**
+     * GeekServo2KG
+     * @param index Servo Channel; eg: S1
+     * @param degree [0-360] degree of servo; eg: 0, 180, 360
+    */
+    //% blockId=robotbit_gservo2kg block="GeekServo2KG|%index|degree %degree"
+    //% weight=98
+    //% blockGap=50
+    //% degree.min=0 degree.max=360
+    //% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
+    export function GeekServo2KG(index: Servos, degree: number): void {
+        if (!initialized) {
+            initPCA9685()
+        }
+        // 50hz: 20,000 us
+        //let v_us = (degree * 2000 / 360 + 500)  0.5 ~ 2.5
+        let v_us = (Math.floor((degree) * 2000 / 350) + 500) //fixed
+        let value = v_us * 4096 / 20000
+        setPwm(index + 7, 0, value)
+    }
+
     //% blockId=robotbit_stepper_degree block="Stepper 28BYJ-48|%index|degree %degree"
     //% weight=90
     export function StepperDegree(index: Steppers, degree: number): void {

diff --git a/pxt.json b/pxt.json
@@ -1,6 +1,6 @@
 {
     "name": "robotbit",
-    "version": "0.3.2",
+    "version": "0.3.3",
     "description": "Extension for Kittenbot Robotbit",
     "license": "MIT",
     "dependencies": {