Merge pull request #5 from smfox10/master

GeekServo 5KG舵机支持
KittenBot · Sep 27, 2023 · ca5a360 · ca5a360
2 parents 7cafe48 + 9d6f982
commit ca5a360
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Showing 4 changed files with 48 additions and 2 deletions.
diff --git a/_locales/zh-cn/robotbit-strings.json b/_locales/zh-cn/robotbit-strings.json
@@ -3,6 +3,8 @@
     "robotbit.Servo|block": "9g舵机|%index|角度 %degree",
     "robotbit.GeekServo|block": "Geekservo|9g舵机|%index|角度 %degree",
     "robotbit.GeekServo2KG|block": "Geekservo|2KG舵机|%index|角度 %degree",
+    "robotbit.GeekServo5KG|block": "Geekservo|5KG舵机|%index|角度 %degree",
+    "robotbit.GeekServo5KG_Motor|block": "Geekservo|5KG舵机_电机|%index|速度 %speed",
     "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/_locales/zh-tw/robotbit-strings.json b/_locales/zh-tw/robotbit-strings.json
@@ -2,6 +2,8 @@
     "robotbit.Servo|block": "9g舵機|%index|角度 %degree",
     "robotbit.GeekServo|block": "Geekservo|9g舵機|%index|角度 %degree",
     "robotbit.GeekServo2KG|block": "Geekservo|2KG舵機|%index|角度 %degree",
+    "robotbit.GeekServo5KG|block": "Geekservo|5KG舵機|%index|角度 %degree",
+    "robotbit.GeekServo5KG_Motor|block": "Geekservo|5KG舵機_馬達|%index|速度 %speed",
     "robotbit.StepperDegree|block": "步進 28BYJ-48|%index|角度 %degree",
     "robotbit.StepperTurn|block": "步進 28BYJ-48|%index|圈數 %turn",
     "robotbit.StepperDual|block": "雙步進(角度) |M1 %degree1| M2 %degree2",

diff --git a/main.ts b/main.ts
@@ -281,6 +281,48 @@ namespace robotbit {
         let value = v_us * 4096 / 20000
         setPwm(index + 7, 0, value)
     }
+
+        /**
+     * GeekServo5KG
+     * @param index Servo Channel; eg: S1
+     * @param degree [0-360] degree of servo; eg: 0, 180, 360
+    */
+    //% blockId=robotbit_gservo5kg block="GeekServo5KG|%index|degree %degree"
+    //% group="Servo" weight=59
+    //% degree.min=0 degree.max=360
+    //% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
+    export function GeekServo5KG(index: Servos, degree: number): void {
+        if (!initialized) {
+            initPCA9685()
+        }
+        const minInput = 0;
+        const maxInput = 355;//理论值为360
+        const minOutput = 500;
+        const maxOutput = 2500;
+        const v_us = ((degree - minInput) / (maxInput - minInput)) * (maxOutput - minOutput) + minOutput;
+
+        let value = v_us * 4096 / 20000
+        setPwm(index + 7, 0, value)
+    }
+
+    //% blockId=robotbit_gservo5kg_motor block="GeekServo5KG_MotorEN|%index|speed %speed"
+    //% group="Servo" weight=58
+    //% speed.min=-255 speed.max=255
+    //% name.fieldEditor="gridpicker" name.fieldOptions.columns=4
+    export function GeekServo5KG_Motor(index: Servos, speed: number): void { //5KG的电机模式 3000-5000 4000是回中
+        if (!initialized) {
+            initPCA9685()
+        }
+        const minInput = -255;
+        const maxInput = 255;
+        const minOutput = 5000;
+        const maxOutput = 3000;
+
+        const v_us = ((speed - minInput) / (maxInput - minInput)) * (maxOutput - minOutput) + minOutput;
+        let value = v_us * 4096 / 20000
+        setPwm(index + 7, 0, value)
+    }	
+
 
     //% blockId=robotbit_stepper_degree block="Stepper 28BYJ-48|%index|degree %degree"
     //% group="Motor" weight=54

diff --git a/pxt.json b/pxt.json
@@ -1,6 +1,6 @@
 {
     "name": "robotbit",
-    "version": "0.4.5",
+    "version": "0.4.6",
     "description": "Extension for Kittenbot Robotbit",
     "license": "MIT",
     "dependencies": {
@@ -20,7 +20,7 @@
     ],
     "public": true,
     "targetVersions": {
-        "target": "5.1.26",
+        "target": "6.0.18",
         "targetId": "microbit"
     },
     "supportedTargets": [