@tigerpython/robotics-libraries 1.4.0

package/microbit/min/mbrobot_legacy.py

@@ -0,0 +1,45 @@
+import gc
+from microbit import i2c,pin1,pin2,pin8,pin12,pin13,pin14,sleep
+import machine
+_g1=.097
+def w(d1,d2,s1,s2):
+	try:i2c.write(16,bytearray([0,d1,s1]));i2c.write(16,bytearray([2,d2,s2]))
+	except:
+		print('Please switch on mbRobot!')
+		while True:0
+def setSpeed(speed):
+	A=speed;global _g2
+	if A<20:_g2=A+5
+	else:_g2=A
+def forward():w(0,0,_g2,_g2)
+def backward():w(1,1,_g2,_g2)
+def stop():w(0,0,0,0)
+def right():w(0 if _g2>0 else 1,1 if _g2>0 else 0,int(_g2*.9),int(_g2*.9))
+def left():w(1 if _g2>0 else 0,0 if _g2>0 else 1,int(_g2*.9),int(_g2*.9))
+def rightArc(r):
+	A=abs(_g2)
+	if r<_g1:B=0
+	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)
+	if _g2>0:w(0,0,A,B)
+	else:w(1,1,B,A)
+def leftArc(r):
+	A=abs(_g2)
+	if r<_g1:B=0
+	else:C=(r-_g1)/(r+_g1)*(1-A*A/200000);B=int(C*A)
+	if _g2>0:w(0,0,B,A)
+	else:w(1,1,A,B)
+exit=stop
+delay=sleep
+def getDistance():pin1.write_digital(1);pin1.write_digital(0);B=machine.time_pulse_us(pin2,1,50000);A=int(B/58.2+.5);return A if A>0 else 255
+def setLED(on):pin8.write_digital(on);pin12.write_digital(on)
+def setServo(S,Angle):
+	if S=='S1':A=20
+	if S=='S2':A=21
+	B=A,Angle;i2c.write(16,bytes(B))
+pin2.set_pull(pin2.NO_PULL)
+_g2=50
+irLeft=pin13
+irRight=pin14
+ledLeft=pin8
+ledRight=pin12
+forward()

package/microbit/min/mbrobot_plus.py

@@ -0,0 +1,75 @@
+_A='Please switch on mbRobot!'
+from microbit import i2c,pin0,pin1,pin2,sleep
+import machine,gc,music
+_g1=50
+_g2=.082
+def w(d1,d2,s1,s2):
+	try:i2c.write(16,bytearray([0,d1,d2,s1,s2]))
+	except:print(_A)
+def setSpeed(speed):
+	A=speed;global _g1
+	if A<30 and A!=0:setPID(1);_g1=A+30
+	elif A>=30 and A<32:setPID(0);_g1=A+2
+	else:setPID(0);_g1=A
+def setPID(pd):i2c.write(16,bytearray([10,pd]))
+def stop():setPID(0);w(0,0,0,0)
+def resetSpeed():setPID(0);A=50
+def forward():w(1,_g1,1,_g1)
+def backward():w(2,_g1,2,_g1)
+def left():A=1.825-.0175*_g1;w(2,int(_g1*A),1,int(_g1*A))
+def right():A=1.825-.0175*_g1;w(1,int(_g1*A),2,int(_g1*A))
+def rightArc(r):
+	A=abs(_g1)
+	if r<_g2:B=0
+	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)
+	if _g1>0:w(1,A,1,B)
+	else:w(2,B,2,A)
+def leftArc(r):
+	A=abs(_g1)
+	if r<_g2:B=0
+	else:C=(r-_g2)/(r+_g2)*(1-A*A/200000);B=int(C*A)
+	if _g1>0:w(1,B,1,A)
+	else:w(2,A,2,B)
+def getDistance():pin1.write_digital(1);pin1.write_digital(0);B=machine.time_pulse_us(pin2,1,50000);A=int(B/58.2-.5);return A if A>0 else 255
+class Motor:
+	def __init__(A,id):A._id=2*id
+	def _f2(A,d,s):
+		try:i2c.write(16,bytearray([A._id,d,s]))
+		except:
+			print(_A)
+			while True:0
+	def rotate(A,s):
+		B=abs(s)
+		if s>0:A._f2(1,B)
+		elif s<0:A._f2(2,B)
+		else:A._f2(0,0)
+class LEDState:OFF=0;RED=1;GREEN=2;YELLOW=3;BLUE=4;PINK=5;CYAN=6;WHITE=7
+def setLED(state,stateR=None):B=state;A=stateR;A=A or B;i2c.write(16,bytearray([11,B,A]))
+def setLEDLeft(state):i2c.write(16,bytearray([11,state]))
+def setLEDRight(state):i2c.write(16,bytearray([12,state]))
+def setAlarm(on):
+	if on:music.play(_g3,wait=False,loop=True)
+	else:music.stop()
+def beep():music.pitch(2000,200,wait=False)
+def ir_read_values_as_byte():i2c.write(16,bytearray([29]));A=i2c.read(16,1);return~A[0]
+def setServo(S,Angle):
+	if S=='S1':A=20
+	if S=='S2':A=21
+	B=A,Angle;i2c.write(16,bytes(B))
+class IR:L3=0;L2=1;L1=2;R1=3;R2=4;R3=5;masks=[1,2,4,8,16,32]
+class IRSensor:
+	def __init__(A,index):A.index=index
+	def read_digital(A):B=ir_read_values_as_byte();return(B&IR.masks[A.index])>>A.index
+irLeft=IRSensor(IR.L1)
+irRight=IRSensor(IR.R1)
+irL1=IRSensor(IR.L1)
+irR1=IRSensor(IR.R1)
+irL2=IRSensor(IR.L2)
+irR2=IRSensor(IR.R2)
+irL3=IRSensor(IR.L3)
+irR3=IRSensor(IR.R3)
+pin2.set_pull(pin2.NO_PULL)
+motL=Motor(0)
+motR=Motor(1)
+delay=sleep
+_g3=['c6:1','r','c6,1','r','r','r']

package/microbit/min/mbrobot_plusV2.py

@@ -0,0 +1,102 @@
+from microbit import i2c,pin0,pin1,pin2,pin13,pin14,pin15,sleep
+import gc,machine,music,neopixel
+_g1=50
+_g2=50
+_g3=50
+_g4=bytearray(5)
+_g5=bytes(b'\x00\x0f\x10\x10\x11\x12\x12\x13\x13\x14\x15\x15\x16\x16\x17\x18\x18\x19\x19\x1a\x1b\x1b\x1c\x1c\x1d\x1e\x1e\x1f\x1f !!""#$$%%&\')*+,-./0123456789:;;<>?ACEGIKMPRUX[^aeimquz\x7f\x84\x89\x8f\x95\x9b\xa2\xa9\xb1\xb9\xc1\xca\xd3\xdd\xe8\xf3\xff')
+_g6=0
+_g7=0
+_g8=0
+_g9=25
+_g10=131
+_g11=bytearray(b'\x0b\x00\x00')
+_g12=neopixel.NeoPixel(pin15,4)
+np_rgb_pixels=_g12
+_g13=['c5:1','r','c5,1','r:3']
+_g14='Please connect to Maqueen robot and switch it on.'
+def _f1(dirL,powerL,dirR,powerR):
+	global _g4;_g4[1]=dirL;_g4[2]=powerL;_g4[3]=dirR;_g4[4]=powerR
+	try:i2c.write(16,_g4)
+	except:raise RuntimeError(_g14)
+def _f2(side,dir,power):
+	global _g4;_g4[1+side]=dir;_g4[2+side]=power
+	try:i2c.write(16,_g4)
+	except:raise RuntimeError(_g14)
+def _f3(speed,offset):return min(_g5[speed]+offset,255)
+def _f4(r):
+	B=int(r*100);A=_g1
+	if A<25:A=25
+	H=min(abs(A-70),20)/20;C=0
+	if B>5:
+		D=A*(3*_g8-A-9*B+220);E=-14*_g8+A-200+3*A-10*B-290;C=int(D/E)
+		if C<2:C=2 if B>15 else 1
+	F=_f3(int(C),0);G=_f3(int(A),0);return F,G
+def calibrate(offset,differential=0,arcScaling=0):global _g7;global _g6;global _g8;_g6=max(min(int(offset),50),-14);_g7=max(min(int(differential),150),-150);_g8=max(min(arcScaling,50),-50);setSpeed(_g1)
+def setSpeed(speed):
+	global _g1;global _g2;global _g3;_g1=int(min(max(speed,0),100));A=_f3(_g1,_g6);B=round((1-_g1/100)*abs(_g7))if _g1>0 else 0;C=round(_g1/100*abs(_g7))
+	if _g7>0:_g2=A-C;_g3=A+B
+	else:_g2=A+B;_g3=A-C
+def resetSpeed():setSpeed(50)
+def stop():_f1(0,0,0,0)
+def forward():_f1(0,_g2,0,_g3)
+def backward():_f1(1,_g2,1,_g3)
+def left():_f1(1,_g2,0,_g3)
+def right():_f1(0,_g2,1,_g3)
+def rightArc(radius):A,B=_f4(radius);_f1(0,B,0,A)
+def leftArc(radius):A,B=_f4(radius);_f1(0,A,0,B)
+class Motor:
+	def __init__(A,side):A._side=side
+	def rotate(B,speed):A=speed;C=int(min(max(abs(A),0),100));D=_f3(C,_g6);E=0 if A>0 else 1;_f2(B._side,E,D)
+def setServo(servo,angle):
+	D=angle;A=servo
+	if A=='P0'or A=='S1':B=pin0
+	elif A=='P1'or A=='S2':B=pin1
+	elif A=='P2':B=pin2
+	else:raise ValueError("Unknown Servo. Please use 'P0', 'P1' or 'P2'.")
+	if D<0 or D>180:raise ValueError('Invalid angle. Must be between 0 and 180')
+	C=(_g10-_g9)*int(D);E=(C>>8)+(C>>10)+(C>>11)+(C>>12);F=_g9+E;B.set_analog_period(20);B.write_analog(F)
+def setMinAngleVal(duty):global _g9;_g9=int(duty)
+def setMaxAngleVal(duty):global _g10;_g10=int(duty)
+class IRSensor:
+	_g21=bytes(b'\x1d')
+	def __init__(A,index):A._index=index
+	def read_digital(A):
+		try:i2c.write(16,IRSensor._g21)
+		except:raise RuntimeError(_g14)
+		B=~i2c.read(16,1)[0];return(B&2**A._index)>>A._index
+	def read_analog(A):
+		try:i2c.write(16,IRSensor._g21)
+		except:raise RuntimeError(_g14)
+		B=i2c.read(16,11);return B[1+A._index*2]
+def ir_read_values_as_byte():i2c.write(16,bytearray([29]));A=i2c.read(16,1);return~A[0]
+def getDistance():pin13.write_digital(1);pin13.write_digital(0);A=machine.time_pulse_us(pin14,1,50000);B=(A>>6)+(A>>10)+(A>>11)+(A>>12)+1;return max(min(B,500),0)if B>0 else 255
+def setLED(state,stateR=None):B=state;A=stateR;global _g11;A=A if A!=None else B;_g11[1]=B;_g11[2]=A;i2c.write(16,_g11)
+def setLEDLeft(state):global _g11;_g11[1]=state;i2c.write(16,_g11)
+def setLEDRight(state):global _g11;_g11[2]=state;i2c.write(16,_g11)
+def fillRGB(red,green,blue):
+	for A in range(4):_g12[A]=red,green,blue
+	_g12.show()
+setRGB=fillRGB
+def clearRGB():_g12.clear()
+def posRGB(position,red,green,blue):
+	A=position
+	if A<0 or A>3:raise ValueError('invalid RGB-LED position. Must be 0,1,2 or 3.')
+	_g12[A]=red,green,blue;_g12.show()
+def setAlarm(state):
+	if state:music.play(_g13,wait=False,loop=True)
+	else:music.stop()
+def beep():music.pitch(440,200,wait=False)
+class LEDState:ON=1;OFF=0;RED=1
+class IR:R2=0;R1=1;M=2;L1=3;L2=4;masks=[1,2,4,8,16]
+pin2.set_pull(pin2.NO_PULL)
+delay=sleep
+irR2=IRSensor(0)
+irR1=IRSensor(1)
+irRight=irR1
+irM=IRSensor(2)
+irL1=IRSensor(3)
+irLeft=irL1
+irL2=IRSensor(4)
+motL=Motor(0)
+motR=Motor(2)

package/microbit/min/mbrobot_plusV3.py

@@ -0,0 +1,194 @@
+_B=True
+_A=False
+from microbit import i2c,sleep,running_time,pin0,pin1,pin2
+import neopixel,music
+_g1=bytearray(5)
+_g2=50
+_g3=50
+_g4=50
+_g5=bytes(b'\x00\x0f\x10\x10\x11\x12\x12\x13\x13\x14\x15\x15\x16\x16\x17\x18\x18\x19\x19\x1a\x1b\x1b\x1c\x1c\x1d\x1e\x1e\x1f\x1f !!""#$$%%&\')*+,-./0123456789:;;<>?ACEGIKMPRUX[^aeimquz\x7f\x84\x89\x8f\x95\x9b\xa2\xa9\xb1\xb9\xc1\xca\xd3\xdd\xe8\xf3\xff')
+_g6=0
+_g7='Please connect to Maqueen robot and switch it on.'
+_g8=neopixel.NeoPixel(pin1,4)
+_g9=['c5:1','r','c5,1','r:3']
+_g10=bytearray(1)
+_g11=bytearray(2)
+_g12=16
+_g13=25
+_g14=131
+_g15=8
+def _f1(reg):_g10[0]=reg;i2c.write(_g12,_g10)
+def _f2(reg,val):_g11[0]=reg;_g11[1]=val;i2c.write(_g12,_g11)
+def _f3(dirL,powerL,dirR,powerR):
+	global _g1;_g1[1]=dirL;_g1[2]=powerL;_g1[3]=dirR;_g1[4]=powerR
+	try:i2c.write(16,_g1)
+	except:raise RuntimeError(_g7)
+def _f4(side,dir,power):
+	global _g1;_g1[1+side]=dir;_g1[2+side]=power
+	try:i2c.write(16,_g1)
+	except:raise RuntimeError(_g7)
+def setSpeed(speed):A=speed;global _g2;global _g3;global _g4;_g2=int(min(max(A,0),100));_g3=int(round(2.4*A+14));_g4=int(round(2.4*A+14))
+def resetSpeed():setSpeed(50)
+def stop():_f3(0,0,0,0)
+def forward():_f3(0,_g3,0,_g4)
+def backward():_f3(1,_g3,1,_g4)
+def left():_f3(1,_g3,0,_g4)
+def right():_f3(0,_g3,1,_g4)
+def _f5(speed,offset):return min(_g5[speed]+offset,255)
+def _f6(r):
+	B=int(r*100);A=_g2
+	if A<25:A=25
+	C=0
+	if B>5:
+		D=A*(3*_g6-A-9*B+220);E=-14*_g6+A-200+3*A-10*B-290;C=int(D/E)
+		if C<2:C=2 if B>15 else 1
+	F=_f5(int(C),0);G=_f5(int(A),0);return F,G
+def rightArc(radius):A,B=_f6(radius);_f3(0,B,0,A)
+def leftArc(radius):A,B=_f6(radius);_f3(0,A,0,B)
+class Motor:
+	def __init__(A,side):A._side=side
+	def rotate(B,speed):A=speed;C=int(min(max(abs(A),0),100));D=C;E=0 if A>0 else 1;_f4(B._side,E,D)
+def setServo(servo,angle):
+	D=angle;C=servo
+	if D<0 or D>180:raise ValueError('Invalid angle. Must be between 0 and 180')
+	if C in['P0','S1']:A=pin0
+	elif C in['P1','S2']:A=pin1
+	elif C in['P2','S3']:A=pin2
+	else:raise ValueError('Valid servo names: S1, S2, S3 or P0, P1, P2')
+	B=(_g14-_g13)*int(D);E=(B>>8)+(B>>10)+(B>>11)+(B>>12);F=_g13+E;A.set_analog_period(20);A.write_analog(F)
+class IRSensor:
+	_g19=bytes(b'\x1d')
+	def __init__(A,index):A.index=index
+	def read_digital(A):
+		try:i2c.write(16,IRSensor._g19)
+		except:raise RuntimeError(_g7)
+		B=~i2c.read(16,1)[0];return(B&2**A.index)>>A.index
+	def read_analog(A):
+		try:_f1(29)
+		except:raise RuntimeError(_g7)
+		B=i2c.read(16,11);return B[2+2*A.index]<<8|B[1+2*A.index]
+def setLEDs(rgbl,rgbr):_f2(11,rgbl);_f2(12,rgbr)
+def setLED(state,stateR=None):B=state;A=stateR;A=A if A!=None else B;setLEDs(B,A)
+def setLEDLeft(rgbl):_f2(11,rgbl)
+def setLEDRight(rgbr):_f2(12,rgbr)
+def fillRGB(red,green,blue):_g8.clear();_g8.fill((red,green,blue));_g8.show()
+def setRGB(r,g,b):fillRGB(r,g,b)
+def clearRGB():_g8.clear()
+def posRGB(position,red,green,blue):
+	A=position
+	if A<0 or A>3:raise ValueError('invalid RGB-LED position. Must be 0,1,2 or 3.')
+	_g8[A]=red,green,blue;_g8.show()
+def setAlarm(state):
+	if state:music.play(_g9,wait=_A,loop=_B)
+	else:music.stop()
+def beep():music.pitch(440,200,wait=_A)
+def readLightIntensity(side):
+	_f1(78);A=i2c.read(16,4,repeat=_A)
+	if side==1:return A[0]<<8|A[1]
+	else:return A[2]<<8|A[3]
+def setPatrolSpeed(speed):_f2(63,speed)
+def setIntersectionRunMode(mode):_f2(69,mode)
+def setTRordRunMode(mode):_f2(70,mode)
+def setLeftOrStraightRunMode(mode):_f2(71,mode)
+def setRightOrStraightRunMode(mode):_f2(72,mode)
+def patrolling(patrol):
+	if patrol==1:A=5
+	else:A=8
+	_f2(60,A)
+def intersectionDetecting():_f1(61);A=i2c.read(16,1)[0];return A
+def pidControlDistance(dir,distance,interruption):
+	A=distance;C=2
+	if A>=6000:A=60000
+	_f2(64,dir);_f2(85,C);_f2(65,A>>8);_f2(66,A);_f2(60,6)
+	if interruption==1:
+		_f1(87);B=i2c.read(16,1)
+		while B[0]==1:sleep(10);B=i2c.read(16,1)
+def pidControlAngle(angle,interruption):
+	A=angle;D=2
+	if A>=0:B=1
+	else:B=2;A=-A
+	_f2(67,B);_f2(86,D);_f2(68,A);_f2(60,6)
+	if interruption==1:
+		_f1(87);C=i2c.read(16,1)
+		while C[0]==1:sleep(10);C=i2c.read(16,1)
+def pidControlStop():_f2(60,16)
+def readRealTimeSpeed(type):
+	_f2(76,1);A=i2c.read(16,2)
+	if type==1:return A[0]/5
+	else:return A[1]/5
+def _f7(cmd,args=[]):
+	B=len(args);C=B+1;A=bytearray(4+B);A[0]=85;A[1]=C>>8&255;A[2]=C&255;A[3]=cmd
+	for(D,E)in enumerate(args):A[4+D]=E
+	i2c.write(51,A)
+def _f8(expectedCommand):
+	F=1000;J=32;G=running_time();B=_A;A=None;C=_A
+	while running_time()-G<F and C==_A:
+		H=i2c.read(51,1)[0]
+		if H==83:C=_B
+		elif H==99:return B,A
+		sleep(16)
+	if C==_B:
+		D=i2c.read(51,3);K=D[0];L=D[1]|D[2]<<8
+		if K==expectedCommand:
+			B=_B;A=bytearray();E=L;M=min(E,J)
+			while running_time()-G<F and E>0:
+				try:I=i2c.read(51,M);A.extend(I);E-=len(I)
+				except:sleep(1)
+	return B,A
+def setLidarMode(mode=8):
+	A=mode;global _g15
+	if A not in[4,8]:raise ValueError('Lidar mode must be 4 or 8')
+	C='4x4'if A==4 else'8x8';print('Switching Lidar Mode to '+C+'.\nPlease wait up to 10 seconds.');B=_A
+	for D in range(10):
+		_f7(1,[0,0,0,A]);B,E=_f8(1)
+		if B==_B:break
+		sleep(17)
+	if B:_g15=A;sleep(5000)
+	else:raise RuntimeError('Failed to switch Lidar Mode')
+def getDistanceAt(x_pos,y_pos):
+	_f7(3,[x_pos,y_pos]);B,A=_f8(3)
+	if B and len(A)>=2:C=(A[0]|A[1]<<8)//10;return C
+	else:return 1023
+def getDistanceList():
+	_f7(2);D,A=_f8(2)
+	if D and len(A)>=32:
+		B=[]
+		for C in range(0,len(A),2):E=A[C]|A[C+1]<<8;B.append(E//10)
+		return B
+	else:return[]
+def getDistance():global _g15;A=int(_g15/2);B=getDistanceAt(A-1,A-1);C=getDistanceAt(A,A-1);D=getDistanceAt(A-1,A);E=getDistanceAt(A,A);F=[B,C,D,E];return min(F)
+def getDistanceGrid():
+	_f7(2);G,A=_f8(2)
+	if G and len(A)>=32:
+		B=[];C=16 if len(A)==128 else 8
+		for D in range(0,len(A),C):
+			E=[]
+			for F in range(0,C,2):H=A[D+F]|A[D+F+1]<<8;E.append(H//10)
+			B.append(E)
+		return B
+	else:return[]
+def getDistanceColumn(index):
+	_f7(5,[index]);D,A=_f8(5)
+	if D and len(A)>=8:
+		B=[]
+		for C in range(0,len(A),2):E=A[C]|A[C+1]<<8;B.append(E//10)
+		return B
+	return[]
+def getDistanceRow(index):
+	_f7(6,[index]);D,A=_f8(6)
+	if D and len(A)>=8:
+		B=[]
+		for C in range(0,len(A),2):E=A[C]|A[C+1]<<8;B.append(E//10)
+		return B
+	return[]
+pin2.set_pull(pin2.NO_PULL)
+delay=sleep
+irR2=IRSensor(0)
+irR1=IRSensor(1)
+irRight=irR1
+irM=IRSensor(2)
+irL1=IRSensor(3)
+irLeft=irL1
+irL2=IRSensor(4)
+motL=Motor(0)
+motR=Motor(2)

package/microbit/min/mbrobotmot.py

@@ -0,0 +1,25 @@
+import gc
+from microbit import i2c,pin1,pin2,pin8,pin12,pin13,pin14,sleep
+import machine
+class Motor:
+	def __init__(A,id):A._id=2*id
+	def rotate(A,s):
+		B=abs(s)
+		if s>0:A._f2(0,B)
+		elif s<0:A._f2(1,B)
+		else:A._f2(0,0)
+	def _f2(A,d,s):
+		try:i2c.write(16,bytearray([A._id,d,s]))
+		except:
+			print('Please switch on mbRobot!')
+			while True:0
+delay=sleep
+def getDistance():pin1.write_digital(1);pin1.write_digital(0);B=machine.time_pulse_us(pin2,1,50000);A=int(B/58.2+.5);return A if A>0 else 255
+def setLED(on):pin8.write_digital(on);pin12.write_digital(on)
+pin2.set_pull(pin2.NO_PULL)
+irLeft=pin13
+irRight=pin14
+ledLeft=pin8
+ledRight=pin12
+motL=Motor(0)
+motR=Motor(1)

package/microbit/min/mbthetabot.py

@@ -0,0 +1,47 @@
+from microbit import*
+from utime import ticks_us,sleep_us
+from neopixel import*
+_g1=50
+_g2=40
+_g3=40
+_g4=bytes(b'\x00\x0b\x0b\x0c\x0c\r\r\r\x0e\x0e\x0f\x0f\x0f\x10\x10\x11\x11\x11\x12\x12\x13\x13\x13\x14\x14\x15\x15\x15\x16\x16\x17\x17\x17\x18\x19\x1a\x1b\x1b\x1c\x1d\x1e\x1f !"##$%&\'()*++,-./0123468:<?ADFILOSVZ^bgkpu{\x81\x87\x8d\x94\x9b\xa3\xab\xb4\xbd\xc6\xd0\xdb\xe6\xf2\xff')
+_g5=0
+_g6=0
+_g7=0
+_g8=34
+_g9=14
+def _f1(dirL,powerL,dirR,powerR):pinsL=pin14,pin13;pinsR=pin16,pin15;pinsL[dirL].write_analog(powerL);pinsL[1-dirL].write_analog(0);pinsR[dirR].write_analog(powerR);pinsR[1-dirR].write_analog(0)
+def _f2(side,direction,power):
+	if side==0:pins=pin14,pin13
+	elif side==2:pins=pin16,pin15
+	pins[direction].write_analog(power);pins[1-direction].write_analog(0)
+def _f3(r):
+	outerSpeed=_g1;rCm=int(r*100);threshold=outerSpeed-max(rCm+20,40)
+	if threshold<=0:outerSpeed=min(max(rCm+40,40),100)
+	reducedSpeed=0
+	if rCm>=4:flattening=(100-outerSpeed)//2;reducedSpeed=(rCm*10-35)/(rCm*(11+(_g7-4)/10)+90+flattening);reducedSpeed=reducedSpeed*outerSpeed
+	innerByte=_f4(int(reducedSpeed),0);outerByte=_f4(int(outerSpeed),0);return innerByte,outerByte
+def calibrate(offset,differential=0,arcScaling=0):global _g6;global _g5;global _g7;_g5=max(min(int(offset),150),-10);_g6=max(min(int(differential),150),-150);_g7=max(min(arcScaling,50),-15);setSpeed(_g1)
+def setSpeed(speed):
+	global _g1;global _g2;global _g3;_g1=int(min(max(speed,0),100));powerByte=_f4(_g1,_g5);boost=round((1-_g1/100)*abs(_g6))if _g1>0 else 0;reduction=round(_g1/100*abs(_g6))
+	if _g6>0:_g2=powerByte-reduction;_g3=powerByte+boost
+	else:_g2=powerByte+boost;_g3=powerByte-reduction
+def _f4(speed,offset):speedIndex=int(speed*(len(_g4)-1)/100);return min(_g4[speedIndex]+offset,1023)
+def stop():_f1(0,0,0,0)
+def forward():_f1(0,_g2,0,_g3)
+def backward():_f1(1,_g2,1,_g3)
+def left():_f1(1,_g2,0,_g3)
+def right():_f1(0,_g2,1,_g3)
+def rightArc(radius):inner,outer=_f3(radius);_f1(0,outer,0,inner)
+def leftArc(radius):inner,outer=_f3(radius);_f1(0,inner,0,outer)
+def getDistance():
+	pin12.write_digital(1);sleep_us(10);pin12.write_digital(0);pin12.set_pull(pin15.NO_PULL)
+	while pin12.read_digital()==0:0
+	start=ticks_us()
+	while pin12.read_digital()==1:0
+	end=ticks_us();echo=end-start;distance=int(.01715*echo);return distance
+def setLED(position,red,green,blue):global _g8;i2c_data=bytearray(5);i2c_data[0]=1;i2c_data[1]=position;i2c_data[2]=red;i2c_data[3]=green;i2c_data[4]=blue;i2c.write(_g8,i2c_data)
+def fill(red,green,blue):
+	for position in range(_g9):setLED(position,red,green,blue)
+def readLine(side):i2c.write(_g8,bytearray([side+1]),False);result=i2c.read(_g8,2);result=result[0]+(result[1]<<8);return result
+def readLight(side):i2c.write(_g8,bytearray([side+3]),False);result=i2c.read(_g8,2);result=result[0]+(result[1]<<8);return result

package/microbit/min/mbwait.py

@@ -0,0 +1,23 @@
+from microbit import button_a,button_b,pin0,pin1,pin2,pin_logo,sleep
+POLLING_DELAY=100
+def wait_for_press(button='any'):
+	A=button;button_a.was_pressed();button_b.was_pressed()
+	if A=='a'or A=='A':
+		while not button_a.was_pressed():sleep(POLLING_DELAY)
+	elif A=='b'or A=='B':
+		while not button_b.was_pressed():sleep(POLLING_DELAY)
+	elif A=='any'or A=='ANY':
+		while not button_a.was_pressed()and not button_b.was_pressed():sleep(POLLING_DELAY)
+	elif A=='both'or A=='ab'or A=='AB':
+		while not(button_a.is_pressed()and button_b.is_pressed()):sleep(POLLING_DELAY)
+		while button_a.is_pressed()or button_b.is_pressed():sleep(POLLING_DELAY)
+	else:raise RuntimeError("Button to wait for must be either: 'a', 'b', 'any' or 'both'.")
+def wait_for_touch(pin='logo'):
+	B=pin;A=pin_logo
+	if B=='pin0':A=pin0
+	elif B=='pin1':A=pin1
+	elif B=='pin2':A=pin2
+	elif B=='logo'or B=='pin_logo'or B=='pinLogo':A=pin_logo
+	else:raise RuntimeError("Argument 'pin' must be one of: 'pin_logo', 'pin0', 'pin1' or 'pin2'.")
+	A.set_touch_mode(A.CAPACITIVE)
+	while not A.is_touched():sleep(POLLING_DELAY)

package/microbit/min/mbxgo.py

@@ -0,0 +1,37 @@
+from microbit import*
+_g1=50
+_g2=False
+_g3=pin14
+_g4=pin13
+def checkInit(func):
+	def wrapper(*args,**kwargs):
+		global _g2
+		if not _g2:init_xgo_serial(_g3,_g4)
+		return func(*args,**kwargs)
+	return wrapper
+def _f1(speed,in_min,in_max,out_min,out_max):return(speed-in_min)*(out_max-out_min)//(in_max-in_min)+out_min
+@checkInit
+def _f2(direction,speed):
+	move_buffer=bytearray(9);move_buffer[0]=85;move_buffer[1]=0;move_buffer[2]=9;move_buffer[3]=0;move_buffer[7]=0;move_buffer[8]=170;speed=max(0,min(100,speed))
+	if direction==0:move_buffer[4]=48;move_buffer[5]=_f1(speed,0,100,128,255)
+	elif direction==1:move_buffer[4]=48;move_buffer[5]=_f1(speed,0,100,128,0)
+	elif direction==2:move_buffer[4]=49;move_buffer[5]=_f1(speed,0,100,128,0)
+	elif direction==3:move_buffer[4]=49;move_buffer[5]=_f1(speed,0,100,128,255)
+	move_buffer[6]=~(9+move_buffer[4]+move_buffer[5])&255;uart.write(move_buffer)
+@checkInit
+def clampX(milimeters=50):clampBuffer=bytearray(9);clampBuffer[0]=85;clampBuffer[1]=0;clampBuffer[2]=9;clampBuffer[3]=0;clampBuffer[4]=115;clampBuffer[7]=0;clampBuffer[8]=170;clampBuffer[5]=milimeters;clampBuffer[6]=~(124+clampBuffer[5])&255;uart.write(clampBuffer);sleep(1000)
+@checkInit
+def clampZ(milimeters=50):clampBuffer=bytearray(9);clampBuffer[0]=85;clampBuffer[1]=0;clampBuffer[2]=9;clampBuffer[3]=0;clampBuffer[4]=116;clampBuffer[7]=0;clampBuffer[8]=170;clampBuffer[5]=milimeters;clampBuffer[6]=~(125+clampBuffer[5])&255;uart.write(clampBuffer);sleep(1000)
+@checkInit
+def clamp(force):clampBuffer=bytearray(9);clampBuffer[0]=85;clampBuffer[1]=0;clampBuffer[2]=9;clampBuffer[3]=0;clampBuffer[4]=113;clampBuffer[7]=0;clampBuffer[8]=170;clampBuffer[5]=force;clampBuffer[6]=~(122+clampBuffer[5])&255;uart.write(clampBuffer);sleep(1000)
+def init_xgo_serial(tx_pin,rx_pin,baudrate=115200):global _g2;uart.init(baudrate=baudrate,tx=tx_pin,rx=rx_pin);init_action();_g2=True
+def init_action():commands_buffer=bytearray(9);commands_buffer[0]=85;commands_buffer[1]=0;commands_buffer[2]=9;commands_buffer[3]=0;commands_buffer[4]=62;commands_buffer[5]=255;commands_buffer[6]=185;commands_buffer[7]=0;commands_buffer[8]=170;uart.write(commands_buffer);sleep(2000)
+@checkInit
+def action(id):commands_buffer=bytearray(9);commands_buffer[0]=85;commands_buffer[1]=0;commands_buffer[2]=9;commands_buffer[3]=0;commands_buffer[4]=62;commands_buffer[5]=id;commands_buffer[6]=~(71+id)&255;commands_buffer[7]=0;commands_buffer[8]=170;uart.write(commands_buffer);sleep(2000)
+def changeInit(tx,rx):global _g3;global _g4;_g3=tx;_g4=rx;init_xgo_serial(_g3,_g4)
+@checkInit
+def setSpeed(speed):global _g1;_g1=speed
+def forward():_f2(0,_g1)
+def backward():_f2(1,_g1)
+def left():_f2(2,_g1)
+def right():_f2(3,_g1)

package/package.json

@@ -0,0 +1,54 @@
+{
+  "name": "@tigerpython/robotics-libraries",
+  "version": "1.4.0",
+  "description": "TigerJython robotics modules (micro:bit, Calliope mini) with minified and raw Python sources, plus a typed JS/TS API for easy integration.",
+  "license": "MPL-2.0",
+  "repository": {
+    "type": "git",
+    "url": "git+ssh://git@gitlab.inf.ethz.ch/public-dkomm/webtp/robotics_libraries.git"
+  },
+  "keywords": [
+    "tigerjython",
+    "tigerpython",
+    "robotics",
+    "microbit",
+    "calliope-mini",
+    "micropython"
+  ],
+  "publishConfig": {
+    "access": "public"
+  },
+  "main": "./dist/index.js",
+  "module": "./dist/index.mjs",
+  "types": "./dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "import": "./dist/index.mjs",
+      "require": "./dist/index.js"
+    },
+    "./calliope/*": "./calliope/*",
+    "./microbit/*": "./microbit/*",
+    "./package.json": "./package.json"
+  },
+  "files": [
+    "dist",
+    "calliope",
+    "microbit",
+    "README.md",
+    "LICENSE",
+    "CHANGELOG"
+  ],
+  "scripts": {
+    "build:py": "python3 script.py",
+    "build:ts": "tsup",
+    "build": "npm run build:py && npm run build:ts",
+    "prepare": "husky && npm run build",
+    "prepublishOnly": "npm run build"
+  },
+  "devDependencies": {
+    "husky": "^9.1.7",
+    "tsup": "^8.3.5",
+    "typescript": "^5.7.2"
+  }
+}