Added support for Reflection Raw mode for the color sensor to the sim…

…ulator (#1017) * redesigned-code-to-support-ref-raw Code that adds reflection raw support for the color sensor. The range of values for this is from 0 to 1023, because analog to digital converter is 10 bits. In fact, the color sensor gives values of about 400 - 700, but I decided to leave the range, which could theoretically be. For other cases (reflections and ambient lighting), the range remains from 0 to 100. The average value when setting the mode in the simulator is displayed as 512, for other modes 50%. * block-description-update Block description update, as it did not take into account the mode of raw reflection values.
microsoft · May 5, 2023 · 9be35a1 · 9be35a1
1 parent 2ca706d
commit 9be35a1
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Showing 5 changed files with 26 additions and 9 deletions.
diff --git a/libs/color-sensor/color.ts b/libs/color-sensor/color.ts
@@ -250,7 +250,7 @@ namespace sensors {
         }
 
         /**
-         * Measure the ambient or reflected light value from 0 (darkest) to 100 (brightest).
+         * Measure the ambient or reflected light value from 0 (darkest) to 100 (brightest). In raw reflection light mode, the range will be different.
          * @param sensor the color sensor port
          */
         //% help=sensors/color-sensor/light

diff --git a/sim/state/color.ts b/sim/state/color.ts
@@ -21,7 +21,7 @@ namespace pxsim {
     export class ColorSensorNode extends UartSensorNode {
         id = NodeType.ColorSensor;
 
-        private color: number = 50;
+        private color: number = 0;
 
         constructor(port: number) {
             super(port);
@@ -40,5 +40,13 @@ namespace pxsim {
         getValue() {
             return this.color;
         }
+
+        setMode(mode: number) {
+            this.mode = mode;
+            if (this.mode == ColorSensorMode.RefRaw) this.color = 512; 
+            else this.color = 50;
+            this.changed = true;
+            this.modeChanged = true;
+        }
     }
 }
diff --git a/sim/visuals/board.ts b/sim/visuals/board.ts
@@ -241,6 +241,8 @@ namespace pxsim.visuals {
                         view = new ColorGridControl(this.element, this.defs, state, port);
                     } else if (state.getMode() == ColorSensorMode.Reflected) {
                         view = new ColorWheelControl(this.element, this.defs, state, port);
+                    } else if (state.getMode() == ColorSensorMode.RefRaw) {
+                        view = new ColorWheelControl(this.element, this.defs, state, port);
                     } else if (state.getMode() == ColorSensorMode.Ambient) {
                         view = new ColorWheelControl(this.element, this.defs, state, port);
                     }

diff --git a/sim/visuals/controls/colorWheel.ts b/sim/visuals/controls/colorWheel.ts
@@ -26,19 +26,25 @@ namespace pxsim.visuals {
             return 131;
         }
 
-        private getMaxValue() {
-            return 100;
+        private getMaxValue(state: ColorSensorMode) {
+            return (state == ColorSensorMode.RefRaw ? 1023 : 100);
+        }
+
+        private mapValue(x: number, inMin: number, inMax: number, outMin: number, outMax: number) {
+            return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin;
         }
 
         updateState() {
             if (!this.visible) {
                 return;
             }
             const node = this.state;
-            const percentage = node.getValue();
-            const inversePercentage = this.getMaxValue() - percentage;
-            svg.setGradientValue(this.colorGradient, inversePercentage + "%");
-            this.reporter.textContent = `${parseFloat((percentage).toString()).toFixed(0)}%`;
+            const value = node.getValue();
+            let inverseValue = this.getMaxValue(node.getMode()) - value;
+            if (node.getMode() == ColorSensorMode.RefRaw) inverseValue = this.mapValue(inverseValue, 0, 1023, 0, 100);
+            svg.setGradientValue(this.colorGradient, inverseValue + "%");
+            this.reporter.textContent = `${parseFloat((value).toString()).toFixed(0)}`;
+            if (node.getMode() != ColorSensorMode.RefRaw) this.reporter.textContent += `%`;
         }
 
         updateColorLevel(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
@@ -47,7 +53,7 @@ namespace pxsim.visuals {
             const height = bBox.height;
             let t = Math.max(0, Math.min(1, (height + bBox.top / this.scaleFactor - cur.y / this.scaleFactor) / height));
             const state = this.state;
-            state.setColor(t * this.getMaxValue());
+            state.setColor(t * this.getMaxValue(state.getMode()));
         }
 
         getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {

diff --git a/sim/visuals/nodes/colorSensorView.ts b/sim/visuals/nodes/colorSensorView.ts
@@ -29,6 +29,7 @@ namespace pxsim.visuals {
             switch (mode) {
                 case ColorSensorMode.Colors: this.updateSensorLightVisual('#0062DD'); return; // blue
                 case ColorSensorMode.Reflected: this.updateSensorLightVisual('#F86262'); return; // red
+                case ColorSensorMode.RefRaw: this.updateSensorLightVisual('#F86262'); return; // red
                 case ColorSensorMode.Ambient: this.updateSensorLightVisual('#67C3E2'); return; // light blue
             }
             this.updateSensorLightVisual('#ffffff');