SUMO:BIT Extension for Microsoft MakeCode

This code provides the driver for SUMO:BIT.

SUMO:BIT is a sumo robot expansion board designed for the BBC micro:bit. It emulates the educational focus of the micro:bit and the simplicity of its coding environment to simplify robotic projects, specifically sumo robots.

Adding the Extension in MakeCode Editor

• open https://makecode.microbit.org/
• click on New Project and give your project a meaningful name
• click on Extensions under the gearwheel ⚙️ menu
• search for 'sumobit' or "https://github.com/cytrontechnologies/pxt-sumobit"
• click on the sumobit card to install the extension

Examples

DC Motors

• Use run (motor selection) motor (direction) at (speed) speed with (accelaration) acceleration factor block to control the right and left motors indivually or both motors simultaneously.
• The set motors speed: left (speed) right (speed) acceleration (accelaration) block enables you to control both motors with different speeds in one block. Please note that both motors will share the same acceleration factor. A common application of this block is for turn or rotate.
• To stop the motor, use the brake (motor selection) motor block.

Moving the robot foward or backward

input.onButtonPressed(Button.A, function () {
    // Both motor move forward at 100 speed and 9 acceleration factor for 1 second
    sumobit.runMotor(SumobitMotorChannel.Both, SumobitMotorDirection.Forward, 100, 9)
    basic.pause(1000) 
    // Stop both motors for 0.2 second
    sumobit.stopMotor(SumobitMotorChannel.Both)
    basic.pause(200)
    // Both motor move backwatd at 100 speed and 9 acceleration factor for 1 second
    sumobit.runMotor(sumobit.MotorChannel.All, MotorDirection.Backward, 100, 0)
    basic.pause(1000)
    // Stop both motors
    sumobit.stopMotor(SumobitMotorChannel.Both)
})

Making a left or right turn

input.onButtonPressed(Button.A, function () {
    // Both motor move forward at 100 speed and 9 acceleration factor for 1 second
    sumobit.runMotor(SumobitMotorChannel.Both, SumobitMotorDirection.Forward, 100, 9)
    basic.pause(1000)
    // Rotate in place by running both motors in opposite directions
    sumobit.setMotorsSpeed(50, -50, 9)
    basic.pause(500)
    // Run both motor at 50 speed and 9 acceleration factor for 0.5 second
    sumobit.runMotor(SumobitMotorChannel.Both, SumobitMotorDirection.Forward, 50, 9)
    basic.pause(500)
    // Rotate around the right wheel by stopping the right motor and running the left motor
    sumobit.setMotorsSpeed(0, 50, 9)
    basic.pause(1000)
    // Run both motor at 50 speed and 9 acceleration factor for 0.8 second
    sumobit.runMotor(SumobitMotorChannel.Both, SumobitMotorDirection.Forward, 100, 9)
    basic.pause(800
    // Stop both motors)
    sumobit.stopMotor(SumobitMotorChannel.Both)
})

RGB

• Turn off all RGB pixels using the clear all RGB pixels block.
• Set an individual pixel color with set RGB pixel (pixel number) to (RGB value), or set all pixels using set all RGB pixels to (RGB value).
• Use the red (r value) green (g value) blue (b value) block to define custom RGB values.

Basic RGB control

basic.forever(function () {
    // Show blue colour on RGB0 LED
    sumobit.setRgbPixelColor(0, 0x0000ff)
    // Show yellow colour on RGB1 LED
    sumobit.setRgbPixelColor(1, 0xffff00)
    basic.pause(2000)
    // Show purple colour on RGB LED pixels
    sumobit.setAllRgbPixelsColor(sumobit.rgb(255, 0, 255))
    basic.pause(2000)
    // Turn off all RGB lights
    sumobit.clearAllRgbPixels()
    basic.pause(2000)
})

Opponent Sensors

• Use (sensor selection) opponent sensor to read the current state (0 or 1) of the digital opponent sensors.
• The (sensor selection) sensor detect opponent boolean block returns true if the selected sensor detects an obstacle (Low).

Display the opponent sensor state and perform an action when obstacle is detected

basic.forever(function () {
    // LED matrix display the current state of the front center opponent sensor (0 or 1)
    basic.showNumber(sumobit.oppSensorValue(SumobitSensorSelection1.Center))
    // Red RGB will light up if obstacle detacted by the front center opponent sensor
    if (sumobit.oppSensorDetection(SumobitSensorSelection2.Left)) {
        sumobit.setAllRgbPixelsColor(0xff0000)
    } else {
        sumobit.clearAllRgbPixels()
    }
})

Edge Sensor

• The (sensor selection) edge sensor block return analog outputs from the edge sensors.
• Use the calibrate edge sensor block to automatically find the threshold for detecting the white edge of the Dohyo.
• The (sensor selection) sensor detact edge) is a boolean block that will return true if the edge is detacted (analog value is less than threshold.

Read the analog input values of right and left edge sensors

basic.forever(function () {
    serial.writeString("RIGHT EDGE: ")
    serial.writeString("" + (sumobit.fetchEdgeValue(SumobitEdgeSelection.Right)))
    serial.writeString(" | LEFT EDGE: ")
    serial.writeString("" + (sumobit.fetchEdgeValue(SumobitEdgeSelection.Left)))
    serial.writeLine("")
    basic.pause(500)
})

Basic Backoff routine

// Calibrate the edge sensor to find the threshold value
sumobit.calibrateEdgeThreshold()
basic.forever(function () {
    // Check if the sensor reading is less than threshold value (edge detected)
    if (sumobit.compareEdgeCalibrated(SumobitEdgeSelection.Right)) {
        // Reverse the robot to move away from the edge
        sumobit.runMotor(SumobitMotorChannel.Both, SumobitMotorDirection.Backward, 50, 9)
        basic.pause(300)
        // Make a ~180 degree rotation
        sumobit.setMotorsSpeed(-50, 50)
        basic.pause(500)
        // Stop the robot for a while before continue searching for opponent
        sumobit.stopMotor(SumobitMotorChannel.Both)
        basic.pause(50)
    }
})

Mode

• The mode block reads the current DIP switch state (0-16).
• The mode (mode number) boolean block returns true when a specific mode is selected.

Display current mode and perform an action based on selected mode

basic.forever(function () {
    // LED matrix display the current mode
    basic.showNumber(sumobit.readModeValue())
    // Red RGB will light up when the current mode is 7
    if (sumobit.checkMode(7)) {
        sumobit.setAllRgbPixelsColor(0x00ff00)
    } else {
        sumobit.clearAllRgbPixels()
    }
})

Battery

• The batery voltage block returns the current battery voltage.

Display battery level and give warning when battery is low

basic.forever(function () {
    // LED matrix diplay the battery voltage
    basic.showNumber(sumobit.readBatteryValue())
    // Red RGB will light up when the battery voltage is less tgab 11V
    if (sumobit.readBatteryValue() < 11) {
        sumobit.setAllRgbPixelsColor(0xff0000)
    } else {
        sumobit.clearAllRgbPixels()
    }
})

More (Robot Kit)

• Use the set robot speed(speed) block to set the initial speed of both motor. The speed be used in most of blocks in this section.
• The start countdown (3 second or 5 second) is use to start LED matric countdown from (3 or 5 second) to 9. The block is commmonly use befort starting a sumo robot match.
• backoff (direction) is a preset backoff routine. Direction is the rotation direction of the robot after edge is detected.
• The attack (mode) is a preset attack routine that can be used for both testing and during the game. The robot's reaction will be based on which opponent sensor detects an opponent.