main.ts

/*
 startbit package
*/
//% weight=10 icon="\uf013" color=#2896ff
namespace startbit {

    export enum startbit_Colors {
        //% block="Red"
        Red = 0x01,
        //% block="Green"
        Green = 0x02,
        //% block="Blue"
        Blue = 0x03,
        //% block="Black"
        Black = 0x04,
        //% block="White"
        White = 0x05,
        //% block="None"
        None = 0x06
    }

    export enum startbit_lineFollower {
        //% blockId="S1_OUT_S2_OUT" block="Sensor1 and sensor2 are out black line"
        S1_OUT_S2_OUT = 0x00,
        //% blockId="S1_OUT_S2_IN" block="Sensor2 in black line but sensor1 not"
        S1_OUT_S2_IN = 0x01,
        //% blockId="S1_IN_S2_OUT" block="Sensor1 in black line but sensor2 not"
        S1_IN_S2_OUT = 0x02,
        //% blockId="S1_IN_S2_IN" block="Sensor1 and sensor2 are in black line "
        S1_IN_S2_IN = 0x03
    }

    export enum startbit_colorSensorPort {
        //% block="Port 4"
        port4 = 0x04
    }

    export enum startbit_Servos {
        //% block="servo 1"
        Servo1 = 0x01,
        //% block="servo 2"
        Servo2 = 0x02
    }

    export enum startbit_ultrasonicPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02
    }

    export enum startbit_touchKeyPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02,
        //% block="Port 3"
        port3 = 0x03
    }

    export enum startbit_lineFollowPort {
        //% block="Port 1"
        port1 = 0x01
    }


    export enum startbit_PinIOStatus {
        //% block="Low"
        Low = 0x00,
        //% block="High"
        Hight = 0x01
    }

    export enum startbit_LineFollowerSensor {
        //% block="Sensor 1"
        LFSensor_1 = 0x00,
        //% block="Sensor 2"
        LFSensor_2 = 0x01
    }

    export enum startbit_busServoPort {
        //% block="Port 6"
        port6 = 0x06
    }

    export enum startbit_knobPort {
        //% block="Port 1"
        port1 = 0x01
    }
	
    export enum startbit_photosensitivePort {
        //% block="Port 1"
        port1 = 0x01	    
    }
	
    export enum startbit_PhotosensitiveSensor {
        //% block="Port 1"
        port1 = 0x00	    
    }

    export enum startbit_fanPort {
        //% block="Port 1"
        port1,
        //% block="Port 2"
        port2
    }

    export enum startbit_servorange {
        //% block="180"
        range1 = 180,
        //% block="270"
        range2 =270
    }
	
    export enum startbit_digitaltubePort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02
    }
	
    export enum startbit_CmdType {
        //% block="Invalid command"
        NO_COMMAND = 0,
        //% block="car run"
        CAR_RUN = 1,
	//% block="robot run"   
	ROBOT_RUN = 1,
        //% block="Servo"
        SERVO = 2,
        //% block="Ultrasonic distance"
        ULTRASONIC = 3,
        //% block="Temperature"
        TEMPERATURE = 4,
        //% block="Sound"
        SOUND = 5,
        //% block="Light"
        LIGHT = 6,
        //% block="Voltage"
        BAT = 7,
        //% block="Rgb light"
        RGB_LIGHT = 8,
        //% block="Honk horn"
        DIDI = 9,
        //% block="Read firmware version"
        VERSION = 10,
        //% block="Read angle"
        READ_ANGLE = 11,
        //% block="Light belt"        
        RGB_BELT = 12,
        //% block="WIFI mode"
        WIFI_MODE = 13,
        //% block="Get mac"
        GET_MAC = 14,
        //% block="Get hand cmd"
        GET_HAND_CMD = 15
     }

    export enum startbit_CarRunCmdType {
        //% block="Stop"
        STOP = 0,
        //% block="Go ahead"
        GO_AHEAD,
        //% block="Back"
        GO_BACK,
        //% block="Turn left"
        TURN_LEFT,
        //% block="Turn right"
        TURN_RIGHT,
        //% block="Go ahead slowly"
        GO_AHEAD_SLOW,
        //% block="Turn left slowly"
        TURN_LEFT_SLOW,
        //% block="Turn right slowly"
        TURN_RIGHT_SLOW,
        //% block="Invalid command"
        COMMAND_ERRO
    }

    /**
     * Startbit initialization, please execute at boot time
    */
    //% weight=100 blockId=startbit_Init block="Initialize Startbit"
    export function startbit_Init() {
        startbit_initRGBLight();
        serial.redirect(
            SerialPin.P12,
            SerialPin.P8,
            BaudRate.BaudRate115200);

        basic.forever(() => {
            getHandleCmd();
        });
        basic.pause(2000);
    }


    let handleCmd: string = "";
    let currentVoltage: number = 0;
    let volume: number = 0;
    let lhRGBLight: StartbitRGBLight.LHstartbitRGBLight;
    let lhRGBLightBelt: StartbitRGBLight.LHstartbitRGBLight;

    let P14_ad = 0;


    let MESSAGE_MAC = 0xff;
    let MESSAGE_ANGLE = 0x100;

    let i2cPortValid: boolean = true;
    let connectStatus: boolean = false;

    let servo1Angle: number = 0xfff;
    let servo2Angle: number = 0xfff;

    let macStr: string = "";
    let actiongroup_finished = true;
    
    let Digitaltube:startbit_TM1640LEDs
    let TM1640_CMD1 = 0x40;
    let TM1640_CMD2 = 0xC0;
    let TM1640_CMD3 = 0x80;
    let _SEGMENTS = [0x3F, 0x06, 0x5B, 0x4F, 0x66, 0x6D, 0x7D, 0x07, 0x7F, 0x6F, 0x77, 0x7C, 0x39, 0x5E, 0x79, 0x71];
	
    /**
    * Get the handle command.
    */
    function getHandleCmd() {
        let charStr: string = serial.readString();
        handleCmd = handleCmd.concat(charStr);
        let cnt: number = countChar(handleCmd, "$");
        if (cnt == 0)
            return;
        let index = findIndexof(handleCmd, "$", 0);
        if (index != -1) {
            let cmd: string = handleCmd.substr(0, index);
            if (cmd.charAt(0).compare("A") == 0) {
                if (cmd.length == 7) {
                    let arg1Int: number = strToNumber(cmd.substr(1, 2));
                    let arg2Int: number = strToNumber(cmd.substr(3, 2));
                    let arg3Int: number = strToNumber(cmd.substr(5, 2));

                    P14_ad = arg1Int;

                    if (arg3Int != -1) {
                        currentVoltage = arg3Int * 10353 / 400;
                        currentVoltage = Math.round(currentVoltage);
                    }

                    if (arg2Int != -1) {
                        volume = arg2Int;
                    }
                } else if (cmd.length == 5) {
                    actiongroup_finished = true;
                } else {

                }
            }
            if (cmd.charAt(0).compare("C") == 0 && cmd.length == 11) {
                if (lhRGBLightBelt != null) {
                    for (let i = 0; i < 10; i++) {
                        let color = converOneChar(cmd.charAt(i + 1));
                        if (color != -1)
                            lhRGBLightBelt.setPixelColor(i, color);
                    }
                    lhRGBLightBelt.show();
                }
            }
            if (cmd.charAt(0).compare("M") == 0 && cmd.length == 18) {
                macStr = cmd.substr(1, 17);
                control.raiseEvent(MESSAGE_MAC, 1);
            }
            if (cmd.compare("WIFI_S_CONNECT") == 0) {
                connectStatus = true;
            }
            if (cmd.compare("WIFI_S_DISCONNECT") == 0) {
                connectStatus = false;
            }
            if (cmd.charAt(0).compare("S") == 0 && cmd.length == 5) {
                let arg1Int: number = strToNumber(cmd.substr(1, 1));
                let arg2Str = cmd.substr(2, 3);
                if (arg2Str.compare("XXX") == 0) {
                    return;
                }
                let arg2Int: number = 0;
                if (arg2Str.charAt(0).compare("F") != 0) {
                    arg2Int = strToNumber(arg2Str);
                }
                if (arg2Int > 1000)
                    arg2Int = 1000;
                if (arg1Int == 1) {
                    servo1Angle = mapRGB(arg2Int, 0, 1000, 0, 240);
                    servo1Angle -= 120;
                    control.raiseEvent(MESSAGE_ANGLE, 1);
                }
                else if (arg1Int == 2) {
                    servo2Angle = mapRGB(arg2Int, 0, 1000, 0, 240);
                    servo2Angle -= 120;
                    control.raiseEvent(MESSAGE_ANGLE, 2);
                }
            }
        }
        handleCmd = "";
    }

    function checkADPortValue(value: number): number {
        if (value == -1)
            return 2;
        if (value <= 0x2E)
            return 0;
        else if (value >= 0xAA)
            return 1;
        else
            return 2;//未识别电平状态
    }

    function findIndexof(src: string, strFind: string, startIndex: number): number {
        for (let i = startIndex; i < src.length; i++) {
            if (src.charAt(i).compare(strFind) == 0) {
                return i;
            }
        }
        return -1;
    }

    function countChar(src: string, strFind: string): number {
        let cnt: number = 0;
        for (let i = 0; i < src.length; i++) {
            if (src.charAt(i).compare(strFind) == 0) {
                cnt++;
            }
        }
        return cnt;
    }

    function strToNumber(str: string): number {
        let num: number = 0;
        for (let i = 0; i < str.length; i++) {
            let tmp: number = converOneChar(str.charAt(i));
            if (tmp == -1)
                return -1;
            if (i > 0)
                num *= 16;
            num += tmp;
        }
        return num;
    }

    function decStrToNumber(str: string): number {
        let num: number = 0;
        for (let i = 0; i < str.length; i++) {
            let tmp: number = converOneChar(str.charAt(i));
            if (tmp == -1)
                return -1;
            if (i > 0)
                num *= 10;
            num += tmp;
        }
        return num;
    }

    function converOneChar(str: string): number {
        if (str.compare("0") >= 0 && str.compare("9") <= 0) {
            return parseInt(str);
        }
        else if (str.compare("A") >= 0 && str.compare("F") <= 0) {
            if (str.compare("A") == 0) {
                return 10;
            }
            else if (str.compare("B") == 0) {
                return 11;
            }
            else if (str.compare("C") == 0) {
                return 12;
            }
            else if (str.compare("D") == 0) {
                return 13;
            }
            else if (str.compare("E") == 0) {
                return 14;
            }
            else if (str.compare("F") == 0) {
                return 15;
            }
            return -1;
        }
        else
            return -1;
    }

    /**
    * Set the angle of servo 1 to 8, range of 0~270 degree
    */
    //% weight=100 blockId=setPWMServo block="Set pwm servo range|range %range|index %index|angle %angle|duration %duration"
    //% angle.min=0 angle.max=270
    //% inlineInputMode=inline
    //% subcategory=Servo
    export function setPWMServo(range:startbit_servorange, index: number = 1, angle: number, duration: number = 300) {
	    
        let position = mapRGB(angle, 0, range, 500, 2500);

        let buf = pins.createBuffer(10);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x08;
        buf[3] = 0x03;//cmd type
        buf[4] = 0x01;
        buf[5] = duration & 0xff;
        buf[6] = (duration >> 8) & 0xff;
        buf[7] = index;
        buf[8] = position & 0xff;
        buf[9] = (position >> 8) & 0xff;
        serial.writeBuffer(buf);
    }

    /**
    * Set the angle of servo 1 to 8, range of 0~270 degree
    */
    //% weight=99 blockId=setServo block="Set pwm servo range|range %range|index %index|angle %angle|duration %duration"
    //% angle.min=0 angle.max=270
    //% subcategory=Servo
    export function setServo(range:startbit_servorange, index: number[], angle: number[], duration: number) {
        let buf = pins.createBuffer(index.length *3 + 7);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = index.length * 3 + 5;
        buf[3] = 0x03;//cmd type
        buf[4] = index.length;
        buf[5] = duration & 0xff;
        buf[6] = (duration >> 8) & 0xff;
        for(let i = 0;i < index.length;i++)
        {
            let position = mapRGB(angle[i], 0, range, 500, 2500)
            buf[7 + 3 * i] = index[i];
            buf[8 + 3 * i] = position & 0xff;
            buf[9 + 3 * i] = (position >> 8) & 0xff;
        }
        serial.writeBuffer(buf);
    }

    /**
    * Set the angle of bus servo 1 to 12, range of -120~120 degree
    */
    //% weight=98 blockId=startbit_setBusServo block="Set bus servo|port %port|index %index|angle(-120~120) %angle|duration %duration"
    //% angle.min=-120 angle.max=120
    //% index.defl= [1]
    //% subcategory=Servo
    export function startbit_setBusServo(port: startbit_busServoPort, index: number[], angle: number[], duration: number) {
        for (let i = 0; i < angle.length; i++) {
	    if (angle[i] > 120 || angle[i] < -120) {
            return;
	    }
	    angle[i] += 120;
            angle[i] = mapRGB(angle[i], 0, 240, 0, 1000);
	}
	    
        let buf = pins.createBuffer(3*index.length+7);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = (index.length*3 + 5) & 0xff;
        buf[3] = 0x35;//cmd type DEC 54
        buf[4] = (index.length) & 0xff;
        buf[5] = duration & 0xff;
        buf[6] = (duration >> 8) & 0xff;
	for (let i = 0; i < index.length; i++) {
	    buf[7 + i*3] = index[i];
	    buf[8 + i*3] = angle[i] & 0xff;
	    buf[9 + i*3] = (angle[i] >> 8) & 0xff;
	}
        serial.writeBuffer(buf);    
    }

	
    /**
    * Set the servo controller to run a actiongroup
    * @param times Running times. eg: 1
    */
    //% weight=94 blockId=startbit_runActionGroup block="Run ActionGroup|index %index|times %times"
    //% subcategory=Servo
    export function startbit_runActionGroup(index: number, times: number = 1) {

        let buf = pins.createBuffer(7);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x05;
        buf[3] = 0x06;//cmd type CMD_ACTION_GROUP_RUN
        buf[4] = index & 0xff;
        buf[5] = times & 0xff;
        buf[6] = (times >> 8) & 0xff;

        actiongroup_finished = false;
        serial.writeBuffer(buf);
    }
	
    /**
    * Stop running actiongroup
    */
    //% weight=92 blockId=startbit_stopnActionGroup block="Stop ActionGroup"
    //% subcategory=Servo
    export function startbit_stopActionGroup() {

        let buf = pins.createBuffer(7);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x02;
        buf[3] = 0x07;//cmd type CMD_ACTION_GROUP_STOP
	    
	actiongroup_finished = false;
        serial.writeBuffer(buf);
    }
	
    /**
     * Wait for Actiongroup Finishing
     */
    //% weight=93 blockId=startbit_actionRunover block="Action run over"
    //% subcategory=Servo
    export function startbit_actionRunover(): boolean {
        // let ret = false;
        if (actiongroup_finished == true) {
            // ret = true;
            actiongroup_finished = true;
        }
        else {
            actiongroup_finished = false;
        }
        return actiongroup_finished;
    }

	
    /**
     * Send read startbit servos angle command
     */
    //% weight=99 blockId=startbit_readAngle block="Send |%servo|angle command "
    //% subcategory=Servo
    export function startbit_readAngle(servo: startbit_Servos) {
        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x05;
        buf[5] = servo;
        serial.writeBuffer(buf);
    }


    /**
     * Do someting when Startbit receive angle
     * @param body code to run when event is raised
     */
    //% weight=97 blockId=onStartbit_getAngle blockGap=50 block="on Startbit|%servo|get angle"
    //% subcategory=Servo
    export function onStartbit_getAngle(servo: startbit_Servos, body: Action) {
        control.onEvent(MESSAGE_ANGLE, servo, body);
    }


    /**
     *  Get servos angle
     */
    //% weight=98 blockId=getServosAngle block="Get|%servo|angle(-120~120)"
    //% subcategory=Servo
    export function getServosAngle(servo: startbit_Servos): number {
        if (servo == startbit_Servos.Servo1) {
            return servo1Angle;
        }
        else if (servo == startbit_Servos.Servo2) {
            return servo2Angle;
        }
        else
            return 0xFFF;
    }
    
    /**
     *  Send robot attitude to the servo controller
     *  @param pitch eg: 0
     *  @param roll eg: 0
     */
    //% weight=91 blockId=startbit_sendAttitude block="Send pitch|%pitch|and roll|%roll"
   /*
    export function startbit_sendAttitude(pitch: number, roll: number) {
        pitch < -90 ? -90 : pitch;
        pitch > 90 ? 90 : pitch;
        roll < -90 ? -90 : roll;
        roll > 90 ? 90 : roll;

        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x5A;
        buf[4] = pitch;
        buf[5] = roll;
        serial.writeBuffer(buf);
    }
    */
	
    /**
    *	Set the speed of the number 1 motor and number 2 motor, range of -100~100, that can control the tank to go advance or turn of.
    */
    //% weight=96 blockId=startbit_setMotorSpeed  block="Set motor1 speed(-100~100)|%speed1|and motor2|speed %speed2"
    //% speed1.min=-100 speed1.max=100
    //% speed2.min=-100 speed2.max=100
    //% subcategory=Servo
    export function startbit_setMotorSpeed(speed1: number, speed2: number) {
        if (speed1 > 100 || speed1 < -100 || speed2 > 100 || speed2 < -100) {
            return;
        }
        speed1 = speed1 * -1;
        speed2 = speed2 * -1;
        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x32;//cmd type
        buf[4] = speed1;
        buf[5] = speed2;
        serial.writeBuffer(buf);
    }

    /**
    *	Set the speed of the fan, range of -100~100.
    */
    //% weight=95 blockId=startbit_setFanSpeed  blockGap=50 block="Set |%port fan speed(-100~100)|%speed1"
    //% speed1.min=-100 speed1.max=100
    //% subcategory=Servo
    export function startbit_setFanSpeed(port: startbit_fanPort, speed1: number) {
        if (speed1 > 100 || speed1 < -100) {
            return;
        }
        let pin1 = AnalogPin.P1;
        let pin2 = AnalogPin.P2;

        if (port == startbit_fanPort.port2) {
            pin1 = AnalogPin.P13;
            pin2 = AnalogPin.P14;
        }
        if (speed1 < 0) {
            pins.analogWritePin(pin2, 0);
            pins.analogWritePin(pin1, pins.map(-speed1, 0, 100, 0, 1023));
        }
        else if (speed1 > 0) {
            pins.analogWritePin(pin1, 0);
            pins.analogWritePin(pin2, pins.map(speed1, 0, 100, 0, 1023));
        }
        else {
            pins.analogWritePin(pin2, 0);
            pins.analogWritePin(pin1, 0);
        }

    }

    /**
    * Get the volume level detected by the sound sensor, range 0 to 255
    */
    //% weight=94 blockId=startbit_getSoundVolume block="Sound volume"
    //% subcategory=Sensor
    export function startbit_getSoundVolume(): number {
        return volume;
    }

    /**
     *  Get startbit current voltage,the unit is mV
    */
    //% weight=93 blockGap=50 blockId=startbit_getBatVoltage block="Get startbit current voltage (mV)"
    //% subcategory=Sensor
    export function startbit_getBatVoltage(): number {
        return currentVoltage;
    }
	
    /**
        * TM1640 LED display
        */
    export class startbit_TM1640LEDs {
        buf: Buffer;
        clk: DigitalPin;
        dio: DigitalPin;
        _ON: number;
        brightness: number;
        count: number;  // number of LEDs

        /**
         * initial TM1640
         */
        init(): void {
            pins.digitalWritePin(this.clk, 0);
            pins.digitalWritePin(this.dio, 0);
            this._ON = 8;
            this.buf = pins.createBuffer(this.count);
            this.clear();
        }

        /**
         * Start 
         */
        _start() {
            pins.digitalWritePin(this.dio, 0);
            pins.digitalWritePin(this.clk, 0);
        }

        /**
         * Stop
         */
        _stop() {
            pins.digitalWritePin(this.dio, 0);
            pins.digitalWritePin(this.clk, 1);
            pins.digitalWritePin(this.dio, 1);
        }

        /**
         * send command1
         */
        _write_data_cmd() {
            this._start();
            this._write_byte(TM1640_CMD1);
            this._stop();
        }

        /**
         * send command3
         */
        _write_dsp_ctrl() {
            this._start();
            this._write_byte(TM1640_CMD3 | this._ON | this.brightness);
            this._stop();
        }

        /**
         * send a byte to 2-wire interface
         */
        _write_byte(b: number) {
            for (let i = 0; i < 8; i++) {
                pins.digitalWritePin(this.clk, 0);
                pins.digitalWritePin(this.dio, (b >> i) & 1);
                pins.digitalWritePin(this.clk, 1);

            }
            pins.digitalWritePin(this.clk, 1);
            pins.digitalWritePin(this.clk, 0);
        }

        intensity(val: number = 7) {
            if (val < 1) {
                this.off();
                return;
            }
            if (val > 8) val = 8;
            this._ON = 8;
            this.brightness = val - 1;
            this._write_data_cmd();
            this._write_dsp_ctrl();
        }

        /**
         * set data to TM1640, with given bit
         */
        _dat(bit: number, dat: number) {
            this._write_data_cmd();
            this._start();
            this._write_byte(TM1640_CMD2 | (bit % this.count))
            this._write_byte(dat);
            this._stop();
            this._write_dsp_ctrl();
        }


        showbit(num: number = 5, bit: number = 0) {
            this.buf[bit % this.count] = _SEGMENTS[num % 16]
            this._dat(bit, _SEGMENTS[num % 16])
        }

        showNumber(num: number) {
            if (num < 0) {
                this._dat(0, 0x40) // '-'
                num = -num
            }
            else
                this.showbit(Math.idiv(num, 1000) % 10)
            this.showbit(num % 10, 3)
            this.showbit(Math.idiv(num, 10) % 10, 2)
            this.showbit(Math.idiv(num, 100) % 10, 1)
        }

        showHex(num: number) {
            if (num < 0) {
                this._dat(0, 0x40) // '-'
                num = -num
            }
            else
                this.showbit((num >> 12) % 16)
            this.showbit(num % 16, 3)
            this.showbit((num >> 4) % 16, 2)
            this.showbit((num >> 8) % 16, 1)
        }


        showDP(bit: number = 1, show: boolean = true) {
            bit = bit % this.count
            if (show) this._dat(bit, this.buf[bit] | 0x80)
            else this._dat(bit, this.buf[bit] & 0x7F)
        }

        clear() {
            for (let i = 0; i < this.count; i++) {
                this._dat(i, 0)
                this.buf[i] = 0
            }
        }

        on() {
            this._ON = 8;
            this._write_data_cmd();
            this._write_dsp_ctrl();
        }

        off() {
            this._ON = 0;
            this._write_data_cmd();
            this._write_dsp_ctrl();
        }
    }
    /**
     * 创建 TM1640 对象.
     * @param clk the CLK pin for TM1640, eg: DigitalPin.P1
     * @param dio the DIO pin for TM1640, eg: DigitalPin.P2
     * @param intensity the brightness of the LED, eg: 7
     * @param count the count of the LED, eg: 4
     */   
    function startbit_TM1640create(port: startbit_digitaltubePort, intensity: number, count: number): startbit_TM1640LEDs {
        let digitaltube = new startbit_TM1640LEDs();
        switch (port) {
            case startbit_digitaltubePort.port1:
                digitaltube.clk = DigitalPin.P2;
                digitaltube.dio = DigitalPin.P1;
                break;
            case startbit_digitaltubePort.port2:
                digitaltube.clk = DigitalPin.P14;
                digitaltube.dio = DigitalPin.P13;
                break;
        }

        if ((count < 1) || (count > 5)) count = 4;
        digitaltube.count = count;
        digitaltube.brightness = intensity;
        digitaltube.init();
        return digitaltube;
    }

  /**
     * @param clk the CLK pin for TM1640, eg: DigitalPin.P1
     * @param dio the DIO pin for TM1640, eg: DigitalPin.P2
     * @param intensity the brightness of the LED, eg: 7
     * @param count the count of the LED, eg: 4
     */
    //% weight=96 blockId=startbit_digitaltube block="digitaltube|%port|intensity %intensity|LED count %count"
    export function startbit_digitaltube(port: startbit_digitaltubePort, intensity: number, count: number) {
        Digitaltube = startbit_TM1640create(port, intensity, count);
    }

    /**
     * show a number. 
     * @param num is a number, eg: 0
     */
    //% weight=91 blockId=startbit_showNumber block="digitaltube show number| %num"
    //% subcategory=LED
    export function startbit_showNumber(num: number)  {
        Digitaltube.showNumber(num);
    }

    /**
     * show a number in given position. 
     * @param num number will show, eg: 5
     * @param bit the position of the LED, eg: 0
     */
    //% weight=89 blockId=startbit_showbit block="digitaltube show digit| %num|at %bit"
    //% subcategory=LED
    export function startbit_showbit(num: number = 5, bit: number = 0) {
        Digitaltube.showbit(num, bit);
    }

    /**
     * show a hex number. 
     * @param num is a hex number, eg: 0
     */
    //% weight=90 blockId=startbit_showhex block="digitaltube show hex number| %num"
    //% subcategory=LED
    export function startbit_showhex(num: number) {
        Digitaltube.showHex(num);
    }

    /**
     * show or hide dot point. 
     * @param bit is the position, eg: 1
     * @param show is show/hide dp, eg: true
     */
    //% weight=88 blockId=startbit_showDP block="digitaltube DotPoint at| %bit|show %show"
    //% subcategory=LED
    export function startbit_showDP(bit: number = 1, show: boolean = true) {
        Digitaltube.showDP(bit, show);
    } 

    /**
     * set TM1640 intensity, range is [0-8], 0 is off.
     * @param val the brightness of the TM1640, eg: 7
     */
    //% weight=92 blockId=startbit_intensity block=" digitaltube set intensity %val"
    //% subcategory=LED
    export function startbit_intensity(val: number = 7) {
        Digitaltube.intensity(val);
    } 

    /**
     * turn off LED. 
     */
    //% weight=86 blockId=startbit_off block="turn off digitaltube"
    //% subcategory=LED
    export function startbit_off() {
        Digitaltube.off();
    }

    /**
     * turn on LED. 
     */
    //% weight=87 blockId=startbit_on block="turn on digitaltube"
    //% subcategory=LED
    export function startbit_on() {
        Digitaltube.on();
    }

    /**
     * clear LED. 
     */
    //%weight=85 blockId=startbit_clear blockGap=50 block="clear digitaltube"
    //% subcategory=LED
    export function startbit_clear() {
        Digitaltube.clear();
    }  

    const APDS9960_I2C_ADDR = 0x39;
    const APDS9960_ID_1 = 0xA8;
    const APDS9960_ID_2 = 0x9C;
    /* APDS-9960 register addresses */
    const APDS9960_ENABLE = 0x80;
    const APDS9960_ATIME = 0x81;
    const APDS9960_WTIME = 0x83;
    const APDS9960_AILTL = 0x84;
    const APDS9960_AILTH = 0x85;
    const APDS9960_AIHTL = 0x86;
    const APDS9960_AIHTH = 0x87;
    const APDS9960_PERS = 0x8C;
    const APDS9960_CONFIG1 = 0x8D;
    const APDS9960_PPULSE = 0x8E;
    const APDS9960_CONTROL = 0x8F;
    const APDS9960_CONFIG2 = 0x90;
    const APDS9960_ID = 0x92;
    const APDS9960_STATUS = 0x93;
    const APDS9960_CDATAL = 0x94;
    const APDS9960_CDATAH = 0x95;
    const APDS9960_RDATAL = 0x96;
    const APDS9960_RDATAH = 0x97;
    const APDS9960_GDATAL = 0x98;
    const APDS9960_GDATAH = 0x99;
    const APDS9960_BDATAL = 0x9A;
    const APDS9960_BDATAH = 0x9B;
    const APDS9960_POFFSET_UR = 0x9D;
    const APDS9960_POFFSET_DL = 0x9E;
    const APDS9960_CONFIG3 = 0x9F;
    const APDS9960_GCONF4 = 0xAB;
    const APDS9960_AICLEAR = 0xE7;


    /* LED Drive values */
    const LED_DRIVE_100MA = 0;

    /* ALS Gain (AGAIN) values */
    const AGAIN_4X = 1;

    /* Default values */
    const DEFAULT_ATIME = 219;    // 103ms
    const DEFAULT_WTIME = 246;    // 27ms
    const DEFAULT_PROX_PPULSE = 0x87;    // 16us, 8 pulses
    const DEFAULT_POFFSET_UR = 0;       // 0 offset
    const DEFAULT_POFFSET_DL = 0;       // 0 offset      
    const DEFAULT_CONFIG1 = 0x60;    // No 12x wait (WTIME) factor
    const DEFAULT_AILT = 0xFFFF;  // Force interrupt for calibration
    const DEFAULT_AIHT = 0;
    const DEFAULT_PERS = 0x11;    // 2 consecutive prox or ALS for int.
    const DEFAULT_CONFIG2 = 0x01;    // No saturation interrupts or LED boost  
    const DEFAULT_CONFIG3 = 0;       // Enable all photodiodes, no SAI
    const DEFAULT_LDRIVE = LED_DRIVE_100MA;
    const DEFAULT_AGAIN = AGAIN_4X;

    const OFF = 0;
    const POWER = 0;
    const AMBIENT_LIGHT = 1;
    const ALL = 7;

    const red_wb = 2130;
    const green_wb = 3500;
    const blue_wb = 4620;

    function i2cwrite(reg: number, value: number) {
        let buf = pins.createBuffer(2);
        buf[0] = reg;
        buf[1] = value;
        pins.i2cWriteBuffer(APDS9960_I2C_ADDR, buf);
    }

    function i2cread(reg: number): number {
        pins.i2cWriteNumber(APDS9960_I2C_ADDR, reg, NumberFormat.UInt8BE);
        let val = pins.i2cReadNumber(APDS9960_I2C_ADDR, NumberFormat.UInt8BE);
        return val;
    }


    function InitColor(): boolean {
        let id = i2cread(APDS9960_ID);
        //  serial.writeLine("id:")
        //  serial.writeNumber(id); 
        // if (!(id == APDS9960_ID_1 || id == APDS9960_ID_2)) {
        //     return false;
        // }
        //  serial.writeLine("set mode:")
        setMode(ALL, OFF);
        i2cwrite(APDS9960_ATIME, DEFAULT_ATIME);
        i2cwrite(APDS9960_WTIME, DEFAULT_WTIME);
        i2cwrite(APDS9960_PPULSE, DEFAULT_PROX_PPULSE);
        i2cwrite(APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR);
        i2cwrite(APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL);
        i2cwrite(APDS9960_CONFIG1, DEFAULT_CONFIG1);
        setLEDDrive(DEFAULT_LDRIVE);
        setAmbientLightGain(DEFAULT_AGAIN);
        setLightIntLowThreshold(DEFAULT_AILT);
        setLightIntHighThreshold(DEFAULT_AIHT);
        i2cwrite(APDS9960_PERS, DEFAULT_PERS);
        i2cwrite(APDS9960_CONFIG2, DEFAULT_CONFIG2);
        i2cwrite(APDS9960_CONFIG3, DEFAULT_CONFIG3);
        return true;
    }

    function setLEDDrive(drive: number) {
        let val = i2cread(APDS9960_CONTROL);
        /* Set bits in register to given value */
        drive &= 0b00000011;
        drive = drive << 6;
        val &= 0b00111111;
        val |= drive;
        i2cwrite(APDS9960_CONTROL, val);
    }

    function setLightIntLowThreshold(threshold: number) {
        let val_low = threshold & 0x00FF;
        let val_high = (threshold & 0xFF00) >> 8;
        i2cwrite(APDS9960_AILTL, val_low);
        i2cwrite(APDS9960_AILTH, val_high);
    }

    function setLightIntHighThreshold(threshold: number) {
        let val_low = threshold & 0x00FF;
        let val_high = (threshold & 0xFF00) >> 8;
        i2cwrite(APDS9960_AIHTL, val_low);
        i2cwrite(APDS9960_AIHTH, val_high);
    }


    function rgb2hue(r: number, g: number, b: number): number {
        let max = Math.max(r, Math.max(g, b))
        let min = Math.min(r, Math.min(g, b))
        let c = max - min;
        let hue = 0;
        let segment = 0;
        let shift = 0;
        if (c == 0)
            return 0;
        if ((r > g) && (r > b)) {
            segment = (60.0 * (g - b)) / c;
            if (segment < 0)
                hue = segment + 360;
        }
        else if ((g > b) && (g > r)) {
            segment = (60.0 * (b - r)) / c;
            hue = segment + 120;
        }
        else if ((b > g) && (b > r)) {
            segment = (60.0 * (r - g)) / c;
            hue = segment + 240;
        }
        return hue;
    }

    function setMode(mode: number, enable: number) {
        let reg_val = getMode();
        /* Change bit(s) in ENABLE register */
        enable = enable & 0x01;
        if (mode >= 0 && mode <= 6) {
            if (enable > 0) {
                reg_val |= (1 << mode);
            }
            else {
                //reg_val &= ~(1 << mode);
                reg_val &= (0xff - (1 << mode));
            }
        }
        else if (mode == ALL) {
            if (enable > 0) {
                reg_val = 0x7F;
            }
            else {
                reg_val = 0x00;
            }
        }
        i2cwrite(APDS9960_ENABLE, reg_val);
    }

    function getMode(): number {
        let enable_value = i2cread(APDS9960_ENABLE);
        return enable_value;
    }

    function enableLightSensor(interrupts: boolean) {
        setAmbientLightGain(DEFAULT_AGAIN);
        if (interrupts) {
            setAmbientLightIntEnable(1);
        }
        else {
            setAmbientLightIntEnable(0);
        }
        enablePower();
        setMode(AMBIENT_LIGHT, 1);
    }

    function setAmbientLightGain(drive: number) {
        let val = i2cread(APDS9960_CONTROL);
        /* Set bits in register to given value */
        drive &= 0b00000011;
        val &= 0b11111100;
        val |= drive;
        i2cwrite(APDS9960_CONTROL, val);
    }

    function getAmbientLightGain(): number {
        let val = i2cread(APDS9960_CONTROL);
        val &= 0b00000011;
        return val;
    }

    function enablePower() {
        setMode(POWER, 1);
    }

    function setAmbientLightIntEnable(enable: number) {
        let val = i2cread(APDS9960_ENABLE);
        /* Set bits in register to given value */
        enable &= 0b00000001;
        enable = enable << 4;
        val &= 0b11101111;
        val |= enable;
        i2cwrite(APDS9960_ENABLE, val);
    }

    function readAmbientLight(): number {
        let val = i2cread(APDS9960_CDATAL);
        let val_byte = i2cread(APDS9960_CDATAH);
        val = val + val_byte * 256;
        return val;
    }


    /**
     * Initialize the color sensor,please execute at boot time
     */
    //% weight=98 blockId=startbit_init_colorSensor block="Initialize color sensor port at %port"
    export function startbit_init_colorSensor(port: startbit_colorSensorPort) {
        InitColor();
        enableLightSensor(true);
        control.waitMicros(100);
    }

    /**
	 *  Color sensor return the color.
	 */
    //% weight=100 blockId=startbit_checkCurrentColor block="Current color %color"
    //% subcategory=Sensor
    export function startbit_checkCurrentColor(color: startbit_Colors): boolean {
        let c = i2cread(APDS9960_CDATAL) + i2cread(APDS9960_CDATAH) * 256;
        let r = i2cread(APDS9960_RDATAL) + i2cread(APDS9960_RDATAH) * 256;
        let g = i2cread(APDS9960_GDATAL) + i2cread(APDS9960_GDATAH) * 256;
        let b = i2cread(APDS9960_BDATAL) + i2cread(APDS9960_BDATAH) * 256;

        // serial.writeNumber(c);
        // serial.writeLine("->ccc");
        // serial.writeNumber(r);
        // serial.writeLine("->red");
        // serial.writeNumber(g);
        // serial.writeLine("->green");
        // serial.writeNumber(b);
        // serial.writeLine("->blue");

        if (r > red_wb)
            r = red_wb;
        if (g > green_wb)
            g = green_wb;
        if (b > blue_wb)
            b = blue_wb;

        r = Math.round(mapRGB(r, 0, red_wb, 0, 255));
        g = Math.round(mapRGB(g, 0, green_wb, 0, 255));
        b = Math.round(mapRGB(b, 0, blue_wb, 0, 255));
        // serial.writeNumber(r);
        // serial.writeLine("->rred");
        // serial.writeNumber(g);
        // serial.writeLine("->ggreen");
        // serial.writeNumber(b);
        // serial.writeLine("->bblue");
         let hsv = rgb2hue(r, g, b);
        // serial.writeNumber(hsv);
        // serial.writeLine("->hsv");
        let t = startbit_Colors.None;
        if (c > 2200 && r > 65 && g > 65 && b > 65) {
            t = startbit_Colors.White;
        }
        else if (c > 800) {
            if (hsv < 8 || hsv > 350)
                t = startbit_Colors.Red;
            else if (hsv > 60 && hsv < 170) {
                t = startbit_Colors.Green;
            }
            else if (hsv > 210 && hsv < 230) {
                t = startbit_Colors.Blue;
            }
        }
        else if (c > 200 && r > 10 && g > 7 && b > 7 && r < 16.5 && g < 15 && b < 14) {
            t = startbit_Colors.Black;
        }
        return (color == t);
    }

    /**
    * Get the obstacle avoidance sensor status,1 detect obstacle,0 no detect obstacle
    */
    //% weight=97 blockId=startbit_avoidSensor block="Obstacle avoidance sensor|port %port|detect obstacle"
    //% subcategory=Sensor
    export function startbit_avoidSensor(port: startbit_touchKeyPort): boolean {
        let status = 0;
        let flag: boolean = false;
        switch (port) {
            case startbit_touchKeyPort.port1:
                pins.setPull(DigitalPin.P1, PinPullMode.PullUp);
                status = pins.digitalReadPin(DigitalPin.P1);
                break;
            case startbit_touchKeyPort.port2:
                pins.setPull(DigitalPin.P13, PinPullMode.PullUp);
                status = pins.digitalReadPin(DigitalPin.P13);
                break;
            case startbit_touchKeyPort.port3:
                if (P14_ad > 0xA)
                    status = 1
                else
                    status = 0;
                break;
        }
        if (status == 1)
            flag = false;
        else
            flag = true;
        return flag;
    }


    /**
    * Get the condition of the line follower sensor
    */
    //% weight=95 blockId=startbit_readLineFollowerStatus blockGap=50 block="Line follower status|port %port|%status"
    //% subcategory=Sensor
    export function startbit_readLineFollowerStatus(port: startbit_lineFollowPort, status: startbit_lineFollower): boolean {
        let s1 = 0;
        let s2 = 0;
        switch (port) {
            case startbit_lineFollowPort.port1:
                s1 = pins.analogReadPin(AnalogPin.P1);
                s2 = pins.analogReadPin(AnalogPin.P2);
                s1 = s1 * 255 / 1023;
                s2 = s2 * 255 / 1023;
                if (s1 < 200)
                    s1 = 0;
                else
                    s1 = 1;
                if (s2 < 200)
                    s2 = 0;
                else
                    s2 = 1;
                break;
        }
        let s = ((1 & s1) << 1) | s2;
        if (s == status) {
            return true;
        }
        else {
            return false;
        }
    }

    /**
     * Get the line follower sensor port ad value
     */
    //% weight=89 blockId=startbit_lineSensorValue blockGap=50 block="Get line follower sensor|port %port|%sensor|ad value"
    //% subcategory=Sensor
    export function startbit_lineSensorValue(port: startbit_lineFollowPort, sensor: startbit_LineFollowerSensor): number {
        let s1 = 0;
        let s2 = 0;
        switch (port) {
            case startbit_lineFollowPort.port1:
                s1 = pins.analogReadPin(AnalogPin.P1);
                s2 = pins.analogReadPin(AnalogPin.P2);
                s1 = s1 * 255 / 1023;
                s2 = s2 * 255 / 1023;
                break;
        }
        if (sensor == startbit_LineFollowerSensor.LFSensor_1) {
            return 255 - s1;
        }
        else {
            return 255 - s2;
        }

    }
    /**
    * Get the condition of the touch button,press return 1,or return 0
    */
    //% weight=99 blockId=startbit_touchButton block="Touch button|port %port|is pressed"    
    //% subcategory=Sensor
    export function startbit_touchButton(port: startbit_touchKeyPort): boolean {
        let status: boolean = false;
        switch (port) {
            case startbit_touchKeyPort.port1:
                pins.setPull(DigitalPin.P1, PinPullMode.PullUp);
                status = !pins.digitalReadPin(DigitalPin.P1);
                break;
            case startbit_touchKeyPort.port2:
                pins.setPull(DigitalPin.P13, PinPullMode.PullUp);
                status = !pins.digitalReadPin(DigitalPin.P13);
                break;
            case startbit_touchKeyPort.port3:
                if (P14_ad > 0xA)
                    status = false;
                else
                    status = true;
                break;
        }
        return status;
    }

    let distanceBak = 0;
    /**
     * Get the distance of ultrasonic detection to the obstacle 
     */
    //% weight=90 blockId=startbit_ultrasonic  block="Ultrasonic|port %port|distance(cm)"
    //% subcategory=Sensor
    export function startbit_ultrasonic(port: startbit_ultrasonicPort): number {
        let echoPin: DigitalPin;
        let trigPin: DigitalPin;
        switch (port) {
            case startbit_ultrasonicPort.port1:
                echoPin = DigitalPin.P2;
                trigPin = DigitalPin.P1;
                break;
            case startbit_ultrasonicPort.port2:
                echoPin = DigitalPin.P14;
                trigPin = DigitalPin.P13;
                break;
        }
        pins.setPull(echoPin, PinPullMode.PullNone);
        pins.setPull(trigPin, PinPullMode.PullNone);

        pins.digitalWritePin(trigPin, 0);
        control.waitMicros(2);
        pins.digitalWritePin(trigPin, 1);
        control.waitMicros(10);
        pins.digitalWritePin(trigPin, 0);
        control.waitMicros(5);
        let d = pins.pulseIn(echoPin, PulseValue.High, 25000);
        let distance = d;
        // filter timeout spikes
        if (distance == 0 && distanceBak != 0) {
            distance = distanceBak;
        }
        distanceBak = d;
        return Math.round(distance / 58);
    }

    /**
    * Get the ad value of the knob moudule
    */
    //% weight=92 blockId=startbit_getKnobValue  block="Get knob|port %port|value(0~255)"
    //% subcategory=Sensor
    export function startbit_getKnobValue(port: startbit_knobPort): number {
        let adValue = pins.analogReadPin(AnalogPin.P1);
        adValue = adValue * 255 / 1023;
        return adValue;
    }
	
    /**
    * Get the ad value of the photosensitive moudule
    */
    //% weight=91 blockId=startbit_getphotosensitiveValue  block="Get Photosensitive|port %port|value(0~255)"
    //% subcategory=Sensor
    export function startbit_getphotosensitiveValue(port: startbit_photosensitivePort): number {
        let adValue = pins.analogReadPin(AnalogPin.P1);
        adValue = adValue * 255 / 1023;
        return 255 - adValue;
    }

    /**
    * Get the Photosensitive sensor status,1 detect bright,0 no detect bright
    */
    //% weight=98 blockId=startbit_photosensitiveSensor block="Photosensitive sensor|port %port|detect bright"
    //% subcategory=Sensor
    export function startbit_photosensitiveSensor(port: startbit_PhotosensitiveSensor): boolean {
        let status = 0;
        let flag: boolean = false;
        switch (port) {
            case startbit_PhotosensitiveSensor.port1:
                pins.setPull(DigitalPin.P2, PinPullMode.PullUp);
                status = pins.digitalReadPin(DigitalPin.P2);
                break;
        }
        if (status == 1)
            flag = false;
        else
            flag = true;
        return flag;
    }
	
 //% blockId="startbit_initRGBLight" block="Initialize RGB led"
    //% weight=100
    //% subcategory=LED
    export function startbit_initRGBLight() {
        if (!lhRGBLight) {
            lhRGBLight = StartbitRGBLight.create(DigitalPin.P15, 6, StartbitRGBPixelMode.RGB);
        }
        startbit_clearLight();
    }

    /**
         * Set the brightness of the strip. This flag only applies to future operation.
         * @param brightness a measure of LED brightness in 0-255. eg: 255
    */
    //% blockId="startbit_setBrightness" block="set brightness %brightness"
    //% weight=99
    //% subcategory=LED
    export function startbit_setBrightness(brightness: number): void {
        lhRGBLight.setBrightness(brightness);
    }

    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=98 blockId=startbit_setPixelRGB block="Set|%lightoffset|color to %rgb"
    //% subcategory=LED
    export function startbit_setPixelRGB(lightoffset: StartbitLights, rgb: StartbitRGBColors) {
        lhRGBLight.setPixelColor(lightoffset, rgb);
    }


    /**
     * Set RGB Color argument
     */
    //% weight=97 blockId=startbit_setPixelRGBArgs block="Set|%lightoffset|color to %rgb"
    //% subcategory=LED
    export function startbit_setPixelRGBArgs(lightoffset: StartbitLights, rgb: number) {
        lhRGBLight.setPixelColor(lightoffset, rgb);
    }


    /**
     * Display the colored lights, and set the color of the colored lights to match the use. After setting the color of the colored lights, the color of the lights must be displayed.
     */
    //% weight=96 blockId=startbit_showLight block="Show light"
    //% subcategory=LED
    export function startbit_showLight() {
        lhRGBLight.show();
    }

    /**
     * Clear the color of the colored lights and turn off the lights.
     */
    //% weight=95 blockGap=50 blockId=startbit_clearLight block="Clear light"
    //% subcategory=LED
    export function startbit_clearLight() {
        lhRGBLight.clear();
    }

    /**
	 * Initialize Light belt
	 */
    //% weight=94 blockId=startbit_belt_initRGBLight block="Initialize light belt at port %port"
    export function startbit_belt_initRGBLight(port: startbit_ultrasonicPort) {
        switch (port) {
            case startbit_ultrasonicPort.port1:
                if (!lhRGBLightBelt) {
                    lhRGBLightBelt = StartbitRGBLight.create(DigitalPin.P1, 15, StartbitRGBPixelMode.RGB);
                }
                break;
            case startbit_ultrasonicPort.port2:
                if (!lhRGBLightBelt) {
                    lhRGBLightBelt = StartbitRGBLight.create(DigitalPin.P13, 15, StartbitRGBPixelMode.RGB);
                }
                break;
        }

        startbit_clearLight();
    }

    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=93 blockId=startbit_belt_setPixelRGB block="Set light belt|%lightoffset|color to %rgb"
    //% subcategory=LED
    export function startbit_belt_setPixelRGB(lightoffset: StartbitLightsBelt, rgb: StartbitRGBColors) {
        lhRGBLightBelt.setPixelColor(lightoffset, rgb);
    }

    /**
     * Display the colored lights, and set the color of the colored lights to match the use. After setting the color of the colored lights, the color of the lights must be displayed.
     */
    //% weight=92 blockId=startbit_belt_showLight block="Show light belt"
    //% subcategory=LED
    export function startbit_belt_showLight() {
        lhRGBLightBelt.show();
    }

    /**
     * Clear the color of the colored lights and turn off the lights.
     */
    //% weight=91 blockGap=50 blockId=startbit_belt_clearLight block="Clear light belt"
    //% subcategory=LED
    export function startbit_belt_clearLight() {
        lhRGBLightBelt.clear();
    }

    function mapRGB(x: number, in_min: number, in_max: number, out_min: number, out_max: number): number {
        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
    }

    /**
    * Resolve the Bluetooth that phone APP send command type, the total of nine types of commands: tank display command, servo debug command, obtaining the distance of ultrasonic command, obtaining temperature command, obtain sound size rank orders, to obtain the light level command, set the color lights command, honking command, firmware version information command.
    */
    //% weight=99 blockId=startbit_analyzeBluetoothCmd block="Get bluetooth command type %str"
    //% subcategory=Bluetooth
    export function startbit_analyzeBluetoothCmd(str: string): number {
        if (str.length > 6) {
            let cmdHead = str.substr(0, 3);

            if (cmdHead == "CMD") {
                let cmdTypeStr: string = str.substr(4, 2);
                let cmdType = strToNumber(cmdTypeStr);
                if (cmdType > startbit_CmdType.GET_HAND_CMD || cmdType < 0) {
                    return startbit_CmdType.NO_COMMAND;
                }
                else {
                    return cmdType;
                }
            }
            else {
                return startbit_CmdType.NO_COMMAND;
            }
        }
        else {
            return startbit_CmdType.NO_COMMAND;
        }
    }
    /**
     * Resolve the parameters that the phone APP send the command,there are 3 parameters of servo debug command,the other command has just one parameter.
     */
    //% weight=98  blockId=startbit_cgetArgs block="Get bluetooth command|%str|argument at %index"
    //% index.min=1 index.max=3
    //% subcategory=Bluetooth
    export function startbit_getArgs(str: string, index: number): number {
        let cmdType = startbit_analyzeBluetoothCmd(str);
        if (cmdType == startbit_CmdType.NO_COMMAND) {
            return startbit_CarRunCmdType.COMMAND_ERRO;
        }
        else {
            let dataIndex = 7;
            let subLegth = 2;
            if (index == 2) {
                dataIndex = 10;
                subLegth = 2;
            }
            else if (index == 3) {
                dataIndex = 13;
                subLegth = 4;
            }
            if (cmdType == startbit_CmdType.SERVO) {
                if (str.length < 17) {
                    return startbit_CmdType.NO_COMMAND;
                }
            }
            if ((index == 1 && str.length < 10) || (index == 2 && str.length < 13) || (index == 3 && str.length < 17)) {
                return 0;
            }
            let strArgs = str.substr(dataIndex, subLegth);
            let arg = strToNumber(strArgs);
            if (arg == -1)
                return 0;
            return arg;
        }
    }

    /**
     * Returns the enumeration of the command type, which can be compared with this module after obtaining the bluetooth command type sent by the mobile phone APP.
     */
    //% weight=97 blockId=startbit_getBluetoothCmdtype block="Bluetooth command type %type"
    //% subcategory=Bluetooth
    export function startbit_getBluetoothCmdtype(type: startbit_CmdType): number {
        return type;
    }

    /**
     * The command type of the tank is stop, go ahead, back, turn left, turn right, slow down, turn left slowly, turn right slowly.
     */
    //% weight=96 blockId=startbit_getRunCarType block="Car run type %type"
    //% subcategory=Bluetooth
    export function startbit_getRunCarType(type: startbit_CarRunCmdType): number {
        return type;
    }

    /**
     * The distance from the ultrasonic obstacle is the standard command, which is sent to the mobile phone. The APP will indicate the distance of the ultrasonic obstacle.
     */
    //% weight=95 blockId=startbit_convertUltrasonic block="Convert ultrasonic distance %data"
    //% subcategory=Bluetooth
    export function startbit_convertUltrasonic(data: number): string {
        let cmdStr: string = "CMD|03|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * The conversion temperature value to standard command, sent to the mobile phone, and the APP displays the current temperature.
     */
    //% weight=94 blockId=startbit_convertTemperature block="Convert temperature %data"
    //% subcategory=Bluetooth
    export function startbit_convertTemperature(data: number): string {
        let cmdStr: string = "CMD|04|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Convert the light value to the standard command and send it to the mobile phone. The APP displays the current light level (0~255).
     */
    //% weight=93 blockId=startbit_convertLight block="Convert light %data"
    //% subcategory=Bluetooth
    export function startbit_convertLight(data: number): string {
        let cmdStr: string = "CMD|06|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Convert the battery value to the standard command and send it to the mobile phone. The APP displays the current voltage.
     */
    //% weight=92 blockId=startbit_convertBattery blockGap=50 block="Convert battery %data"
    //% subcategory=Bluetooth
    export function startbit_convertBattery(data: number): string {
        let cmdStr: string = "CMD|07|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Convert the hand cmd to phone app
     */
    //% weight=51 blockId=startbit_convertHandCmd blockGap=50 block="Convert uHand:bit %data"
    export function startbit_convertHandCmd(data: number): string {
        let cmdStr: string = "CMD|15|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Get device mac address
     */
    //% weight=100 blockId=startbit_getMacAddress block="Get device id"
    //% subcategory=Bluetooth
    export function startbit_getMacAddress(): string {
        return macStr + "$";
    }
	
    const ASR_I2C_ADDR = 0x79;

    const ASR_RESULT_ADDR = 100;
    const ASR_WORDS_ERASE_ADDR = 101;
    const ASR_MODE_ADDR = 102;
    const ASR_ADD_WORDS_ADDR = 160;

    export enum ASRMode {
        //% block="1"
        mode1 = 0x01,
        //% block="2"
        mode2 = 0x02,
        //% block="3"
        mode3 = 0x03
    }
	
    function II2Cread(reg: number): Buffer {
        let val = pins.i2cReadBuffer(reg, 1);
        return val;
    }

    function WireWriteByte(addr: number, val: number): boolean {
        let buf = pins.createBuffer(1);
        buf[0] = val;
        let rvalue = pins.i2cWriteBuffer(addr, buf);
        if (rvalue != 0) {
            return false;
        }
        return true;
    }	

    function WireWriteDataArray(addr: number, reg: number, val: number): boolean {
        let buf = pins.createBuffer(3);
        buf[0] = reg;
        buf[1] = val & 0xff;
        buf[2] = (val >> 8) & 0xff;
        let rvalue = pins.i2cWriteBuffer(addr, buf);
        if (rvalue != 0) {
            return false;
        }
        return true;
    }
	
    function WireReadDataArray(addr: number, reg: number, len: number): number {
        if (!WireWriteByte(addr, reg)) {
            return -1;
        }

        let buf = II2Cread(addr);
        if (buf.length != 1) {
            return 0;
        }
        return buf[0];
    }

    //% weight=96 blockId=startbit_ASRSETMODE block="Set to |%mode mode"
    export function startbit_ASRSETMODE(mode: ASRMode) {
        WireWriteDataArray(ASR_I2C_ADDR, ASR_MODE_ADDR, mode);
    }

    //% weight=84 blockId=startbit_ASRREAD block="Read Data"
    //% subcategory=Sensor
    export function startbit_ASRREAD(): number {
        let val = WireReadDataArray(ASR_I2C_ADDR, ASR_RESULT_ADDR, 1);
        return val;
    }

    /**
     * @param idNum is a number, eg: 1
     * @param words is text, eg: "ni hao"
     */
    //% weight=83 blockId=startbit_ASRAddWords block="Add idNum|%idNum words|%words"
    //% subcategory=Sensor
    export function startbit_ASRAddWords(idNum: number, words: string) {
        let buf = pins.createBuffer(words.length + 2);
        buf[0] = ASR_ADD_WORDS_ADDR;
        buf[1] = idNum;
        for (let i = 0; i < words.length; i++) {
            buf[2 + i] = words.charCodeAt(i);
        }
        pins.i2cWriteBuffer(ASR_I2C_ADDR, buf);
        basic.pause(50);
    }

    //% weight=82 blockId=startbit_ASRWORDSERASE block="Erase Data"
    //% subcategory=Sensor
    export function startbit_ASRWORDSERASE() {
        WireWriteDataArray(ASR_I2C_ADDR, ASR_WORDS_ERASE_ADDR, null);
	basic.pause(60);
    }
	
    const MP3_I2C_ADDR = 0x7B;
    const MP3_PLAY_NUM_ADDR = 1;
    const MP3_PLAY_ADDR = 5;
    const MP3_PAUSE_ADDR = 6;
    const MP3_PREV_ADDR = 8;
    const MP3_NEXT_ADDR = 9;
    const MP3_VOL_VALUE_ADDR = 12;
    const MP3_SINGLE_LOOP_ON_ADDR = 13;
    const MP3_SINGLE_LOOP_OFF_ADDR = 14;

    export enum startbit_mp3button {
        //% block="PLAY"
        PLAY = MP3_PLAY_ADDR,
        //% block="PAUSE"
        PAUSE = MP3_PAUSE_ADDR,
        //% block="PREV"
        PREV = MP3_PREV_ADDR,
        //% block="NEXT"
        NEXT = MP3_NEXT_ADDR
    }

    export enum startbit_mp3Loop {
        //% block="ON"
        ON = MP3_SINGLE_LOOP_ON_ADDR,
        //% block="OFF"
        OFF = MP3_SINGLE_LOOP_OFF_ADDR
    }

    //% weight=87 blockId=startbit_MP3_BUTTON block="MP3 |%button music"
    //% subcategory=Sensor
    export function startbit_MP3_BUTTON(button: startbit_mp3button) {
        WireWriteDataArray(MP3_I2C_ADDR, button, null);
        basic.pause(20);
    }

    /**
     * @param value is a number, eg: 20
     */
    //% weight=88 blockId=startbit_MP3_VOL block="MP3 VOL |%value"
    //% subcategory=Sensor
    export function startbit_MP3_VOL(value: number) {
        WireWriteDataArray(MP3_I2C_ADDR, MP3_VOL_VALUE_ADDR, value);
        basic.pause(20);
    }


    //% weight=85 blockId=startbit_MP3_SINGLE_LOOP blockGap=50 block="MP3 SINGLE LOOP |%state"
    //% subcategory=Sensor
    export function startbit_MP3_SINGLE_LOOP(state: startbit_mp3Loop) {
        WireWriteDataArray(MP3_I2C_ADDR, state, null);
        basic.pause(20);
    }

    /**
     * @param num is a number, eg: 1
     */
    //% weight=86 blockId=startbit_MP3_PLAY_NUM block="MP3 PLAY NUM|%num"
    //% subcategory=Sensor
    export function startbit_MP3_PLAY_NUM(num: number) {
        WireWriteDataArray(MP3_I2C_ADDR, MP3_PLAY_NUM_ADDR, num);
        basic.pause(20);
    }

    export enum startbit_LineFollowerSensors {
        //% block="S1"
        S1,
        //% block="S2"
        S2,
        //% block="S3"
        S3,
        //% block="S4"
        S4
    }

    export enum startbit_LineColor {
        //% block="Black"
        Black,
        //% block="White"
        White
    }	

    const LINE_FOLLOWER_I2C_ADDR = 0x78   
    
    //% weight=96 blockId=startbit_line_followers block="Line follower %lineFollowerSensor in %LineColor ?"
    //% inlineInputMode=inline
    //% subcategory=Sensor
    export function startbit_line_followers(lineFollowerSensor: startbit_LineFollowerSensors, LineColor: startbit_LineColor): boolean {
        pins.i2cWriteNumber(LINE_FOLLOWER_I2C_ADDR, 1, NumberFormat.UInt8BE);	    
	let data = pins.i2cReadNumber(LINE_FOLLOWER_I2C_ADDR, NumberFormat.UInt8BE);
        let status = false;
        switch (lineFollowerSensor) {
            case startbit_LineFollowerSensors.S1:
                if (data & 0x01) {
                    if (LineColor == startbit_LineColor.Black) {
                        status = true;
                    }
                }
                else {
                    if (LineColor == startbit_LineColor.White) {
                        status = true;
                    }
                }
                break;

            case startbit_LineFollowerSensors.S2:
                if (data & 0x02) {
                    if (LineColor == startbit_LineColor.Black) {
                        status = true;
                    }
                }
                else {
                    if (LineColor == startbit_LineColor.White) {
                        status = true;
                    }
                }
                break;

            case startbit_LineFollowerSensors.S3:
                if (data & 0x04) {
                    if (LineColor == startbit_LineColor.Black) {
                        status = true;
                    }
                }
                else {
                    if (LineColor == startbit_LineColor.White) {
                        status = true;
                    }
                }
                break;

            case startbit_LineFollowerSensors.S4:
                if (data & 0x08) {
                    if (LineColor == startbit_LineColor.Black) {
                        status = true;
                    }
                }
                else {
                    if (LineColor == startbit_LineColor.White) {
                        status = true;
                    }
                }
                break;
        }
        return status;
    }
}