mBlock beginner examples: SharpShot Vision

when mBot starts up :: events hat
wait (2) seconds
SharpShot Vision port [1 v] set mode [colour pick 1 hue v] :: #E8590C
forever
  play tone ((200) + ((SharpShot Vision port [1 v] sample point [1 v] hue :: #E8590C) * (2))) Hz for (0.1) seconds :: sound
end

// SharpShot Vision × mBlock 5  Example 1: Hear the colour  (equivalent Arduino sketch for mBot)
// Wiring: SharpShot Vision → mBot socket board → mBot port 1. Camera facing forward on the front. No colour teaching needed; sample point 1 is the cross marked "1" on the camera screen.
// Does exactly what the mBlock block example does, for people who want to see "what is behind the blocks" or use the Arduino IDE.
// Libraries needed:
//   1. Makeblock (Arduino IDE Library Manager, search "Makeblock", or the copy inside the mBlock 5 install folder)
//   2. MBC_Sensors v2: the four files in src/ of the extension .mext (MBC_Sensors.h/.cpp, mbc_proto.h, mbc_ids.h),
//      put them in Documents/Arduino/libraries/MBC_Sensors/ and #include <MBC_Sensors.h> (https://mbc-pro-sensors.github.io/en/makeblock.html)
// Board: Arduino Uno (the mBot mCore is an Uno). After uploading, unplug USB and run on battery.

#include <MeMCore.h>            // mBot (mCore): motors, LED, buzzer
#include <SoftwareSerial.h>
#include <MBC_Sensors.h>        // MBC sensors v2 (the same library the mBlock extension uses)

MBCPort mbc_port1(1);           // sensor on mBot port 1
MeDCMotor motorL(9);           // left wheel (M1)
MeDCMotor motorR(10);          // right wheel (M2)
MeRGBLed rgbled(7, 2);         // on-board RGB LED (2 pixels)
MeBuzzer buzzer;               // on-board buzzer

// left / right wheel power -100~100 (positive = forward): the mBot left wheel is mounted mirrored, so M1 gets the negative value; % becomes PWM 0~255
void wheels(int l, int r) {
  l = constrain(l, -100, 100); r = constrain(r, -100, 100);
  motorL.run(-l * 255 / 100);
  motorR.run(r * 255 / 100);
}

void setup() {   // everything runs inside setup(), just like the program mBlock generates
  mbc_port1.begin();
  delay(2000);   // Wait 2 s for the camera to boot
  ucSetMode(mbc_port1, 21);   // Switch the camera to "colour pick 1 hue"
  while (1) {   // Repeat forever
    buzzer.tone((200 + (ucSpot(mbc_port1, 1, 0) * 2)), 100);   // Pitch = 200 + sample point 1 hue × 2 Hz, for 0.1 s
  }
}

void loop() {}   // nothing here: the blocks above never return

when mBot starts up :: events hat
wait (2) seconds
SharpShot Vision port [1 v] set mode [colour tracking 3 standard v] :: #E8590C
forever
  if <SharpShot Vision port [1 v] colour [1 v] found? :: #E8590C> then
    LED [all v] colour red (0) green (255) blue (0) :: looks
  else
    LED [all v] colour red (255) green (0) blue (0) :: looks
  end
end

// SharpShot Vision × mBlock 5  Example 2: Green when the colour is found  (equivalent Arduino sketch for mBot)
// Wiring: SharpShot Vision → mBot socket board → mBot port 1. Camera facing forward on the front. First teach target 1 on the camera (see "Before you start").
// Does exactly what the mBlock block example does, for people who want to see "what is behind the blocks" or use the Arduino IDE.
// Libraries needed:
//   1. Makeblock (Arduino IDE Library Manager, search "Makeblock", or the copy inside the mBlock 5 install folder)
//   2. MBC_Sensors v2: the four files in src/ of the extension .mext (MBC_Sensors.h/.cpp, mbc_proto.h, mbc_ids.h),
//      put them in Documents/Arduino/libraries/MBC_Sensors/ and #include <MBC_Sensors.h> (https://mbc-pro-sensors.github.io/en/makeblock.html)
// Board: Arduino Uno (the mBot mCore is an Uno). After uploading, unplug USB and run on battery.

#include <MeMCore.h>            // mBot (mCore): motors, LED, buzzer
#include <SoftwareSerial.h>
#include <MBC_Sensors.h>        // MBC sensors v2 (the same library the mBlock extension uses)

MBCPort mbc_port1(1);           // sensor on mBot port 1
MeDCMotor motorL(9);           // left wheel (M1)
MeDCMotor motorR(10);          // right wheel (M2)
MeRGBLed rgbled(7, 2);         // on-board RGB LED (2 pixels)
MeBuzzer buzzer;               // on-board buzzer

// left / right wheel power -100~100 (positive = forward): the mBot left wheel is mounted mirrored, so M1 gets the negative value; % becomes PWM 0~255
void wheels(int l, int r) {
  l = constrain(l, -100, 100); r = constrain(r, -100, 100);
  motorL.run(-l * 255 / 100);
  motorR.run(r * 255 / 100);
}

void setup() {   // everything runs inside setup(), just like the program mBlock generates
  mbc_port1.begin();
  delay(2000);   // Wait 2 s for the camera to boot
  ucSetMode(mbc_port1, 13);   // Switch the camera to "colour tracking 3 standard" (X, Y, area, count per colour)
  while (1) {   // Repeat forever
    if (ucFound(mbc_port1, 1)) {   // If colour 1 is found
      rgbled.setColor(0, 0, 255, 0); rgbled.show();   // Found: green
    } else {
      rgbled.setColor(0, 255, 0, 0); rgbled.show();   // Not found: red
    }
  }
}

void loop() {}   // nothing here: the blocks above never return

when mBot starts up :: events hat
wait (2) seconds
SharpShot Vision port [1 v] set mode [colour tracking 3 standard v] :: #E8590C
forever
  if <SharpShot Vision port [1 v] colour [1 v] found? :: #E8590C> then
    left wheel power (((SharpShot Vision port [1 v] colour [1 v] x :: #E8590C) - (80)) * (0.5)) %, right wheel power (0) % :: motion
  else
    stop moving :: motion
  end
end

// SharpShot Vision × mBlock 5  Example 3: One wheel turns toward the blob  (equivalent Arduino sketch for mBot)
// Wiring: SharpShot Vision → mBot socket board → mBot port 1. Camera facing forward on the front. First teach target 1 on the camera (see "Before you start").
// Does exactly what the mBlock block example does, for people who want to see "what is behind the blocks" or use the Arduino IDE.
// Libraries needed:
//   1. Makeblock (Arduino IDE Library Manager, search "Makeblock", or the copy inside the mBlock 5 install folder)
//   2. MBC_Sensors v2: the four files in src/ of the extension .mext (MBC_Sensors.h/.cpp, mbc_proto.h, mbc_ids.h),
//      put them in Documents/Arduino/libraries/MBC_Sensors/ and #include <MBC_Sensors.h> (https://mbc-pro-sensors.github.io/en/makeblock.html)
// Board: Arduino Uno (the mBot mCore is an Uno). After uploading, unplug USB and run on battery.

#include <MeMCore.h>            // mBot (mCore): motors, LED, buzzer
#include <SoftwareSerial.h>
#include <MBC_Sensors.h>        // MBC sensors v2 (the same library the mBlock extension uses)

MBCPort mbc_port1(1);           // sensor on mBot port 1
MeDCMotor motorL(9);           // left wheel (M1)
MeDCMotor motorR(10);          // right wheel (M2)
MeRGBLed rgbled(7, 2);         // on-board RGB LED (2 pixels)
MeBuzzer buzzer;               // on-board buzzer

// left / right wheel power -100~100 (positive = forward): the mBot left wheel is mounted mirrored, so M1 gets the negative value; % becomes PWM 0~255
void wheels(int l, int r) {
  l = constrain(l, -100, 100); r = constrain(r, -100, 100);
  motorL.run(-l * 255 / 100);
  motorR.run(r * 255 / 100);
}

void setup() {   // everything runs inside setup(), just like the program mBlock generates
  mbc_port1.begin();
  delay(2000);   // Wait 2 s for the camera to boot
  ucSetMode(mbc_port1, 13);   // Switch the camera to "colour tracking 3 standard" (X, Y, area, count per colour)
  while (1) {   // Repeat forever
    if (ucFound(mbc_port1, 1)) {   // If colour 1 is found
      wheels(((ucBlob(mbc_port1, 1, 0) - 80) * 0.5), 0);   // Left wheel power = (colour 1 x − 80) × 0.5 (−40 to +40), right wheel 0
    } else {
      wheels(0, 0);   // Not found: stop
    }
  }
}

void loop() {}   // nothing here: the blocks above never return

when mBot starts up :: events hat
wait (2) seconds
SharpShot Vision port [1 v] set mode [colour tracking 3 standard v] :: #E8590C
forever
  if <SharpShot Vision port [1 v] colour [1 v] found? :: #E8590C> then
    if <(SharpShot Vision port [1 v] colour [1 v] area % :: #E8590C) > (15)> then
      stop moving :: motion
      LED [all v] colour red (0) green (0) blue (255) :: looks
      play tone (880) Hz for (0.3) seconds :: sound
    else
      LED [all v] colour red (0) green (255) blue (0) :: looks
      set [turn v] to (((SharpShot Vision port [1 v] colour [1 v] x :: #E8590C) - (80)) * (0.4))
      left wheel power ((35) + (turn)) %, right wheel power ((35) - (turn)) % :: motion
    end
  else
    stop moving :: motion
    LED [all v] colour red (255) green (0) blue (0) :: looks
  end
end

// SharpShot Vision × mBlock 5  Example 4: Follow, stop when close, with lights  (equivalent Arduino sketch for mBot)
// Wiring: SharpShot Vision → mBot socket board → mBot port 1. Camera facing forward on the front. First teach target 1 on the camera (see "Before you start").
// Does exactly what the mBlock block example does, for people who want to see "what is behind the blocks" or use the Arduino IDE.
// Libraries needed:
//   1. Makeblock (Arduino IDE Library Manager, search "Makeblock", or the copy inside the mBlock 5 install folder)
//   2. MBC_Sensors v2: the four files in src/ of the extension .mext (MBC_Sensors.h/.cpp, mbc_proto.h, mbc_ids.h),
//      put them in Documents/Arduino/libraries/MBC_Sensors/ and #include <MBC_Sensors.h> (https://mbc-pro-sensors.github.io/en/makeblock.html)
// Board: Arduino Uno (the mBot mCore is an Uno). After uploading, unplug USB and run on battery.

#include <MeMCore.h>            // mBot (mCore): motors, LED, buzzer
#include <SoftwareSerial.h>
#include <MBC_Sensors.h>        // MBC sensors v2 (the same library the mBlock extension uses)

MBCPort mbc_port1(1);           // sensor on mBot port 1
MeDCMotor motorL(9);           // left wheel (M1)
MeDCMotor motorR(10);          // right wheel (M2)
MeRGBLed rgbled(7, 2);         // on-board RGB LED (2 pixels)
MeBuzzer buzzer;               // on-board buzzer
float turn = 0;               // variable：turn

// left / right wheel power -100~100 (positive = forward): the mBot left wheel is mounted mirrored, so M1 gets the negative value; % becomes PWM 0~255
void wheels(int l, int r) {
  l = constrain(l, -100, 100); r = constrain(r, -100, 100);
  motorL.run(-l * 255 / 100);
  motorR.run(r * 255 / 100);
}

void setup() {   // everything runs inside setup(), just like the program mBlock generates
  mbc_port1.begin();
  delay(2000);   // Wait 2 s for the camera to boot
  ucSetMode(mbc_port1, 13);   // Switch the camera to "colour tracking 3 standard" (X, Y, area, count per colour)
  while (1) {   // Repeat forever
    if (ucFound(mbc_port1, 1)) {   // If colour 1 is found
      if ((ucBlob(mbc_port1, 1, 5) > 15)) {   // If colour 1 area is over 15 %
        wheels(0, 0);   // Blob is large (close): stop
        rgbled.setColor(0, 0, 0, 255); rgbled.show();   // Blue LED
        buzzer.tone(880, 300);   // Beep
      } else {
        rgbled.setColor(0, 0, 255, 0); rgbled.show();   // Green LED
        turn = ((ucBlob(mbc_port1, 1, 0) - 80) * 0.4);   // turn = (colour 1 x − 80) × 0.4 (−32 to +32)
        wheels((35 + turn), (35 - turn));   // Left = 35 + turn, right = 35 − turn: blob on the right (positive) → left wheel fast, turn right
      }
    } else {
      wheels(0, 0);   // Not found: stop
      rgbled.setColor(0, 255, 0, 0); rgbled.show();   // Red LED
    }
  }
}

void loop() {}   // nothing here: the blocks above never return

when mBot starts up :: events hat
wait (2) seconds
SharpShot Vision port [1 v] set mode [line follow 1 black line v] :: #E8590C
forever
  if <SharpShot Vision port [1 v] line seen? :: #E8590C> then
    LED [all v] colour red (0) green (255) blue (0) :: looks
    set [turn v] to ((SharpShot Vision port [1 v] line [near offset v] :: #E8590C) * (0.3))
    left wheel power ((30) + (turn)) %, right wheel power ((30) - (turn)) % :: motion
  else
    stop moving :: motion
    LED [all v] colour red (255) green (0) blue (0) :: looks
  end
end

// SharpShot Vision × mBlock 5  Example 5: Follow a black line  (equivalent Arduino sketch for mBot)
// Wiring: SharpShot Vision → mBot socket board → mBot port 1. Camera on the front, tilted down to see the floor 10-30 cm ahead.
// Does exactly what the mBlock block example does, for people who want to see "what is behind the blocks" or use the Arduino IDE.
// Libraries needed:
//   1. Makeblock (Arduino IDE Library Manager, search "Makeblock", or the copy inside the mBlock 5 install folder)
//   2. MBC_Sensors v2: the four files in src/ of the extension .mext (MBC_Sensors.h/.cpp, mbc_proto.h, mbc_ids.h),
//      put them in Documents/Arduino/libraries/MBC_Sensors/ and #include <MBC_Sensors.h> (https://mbc-pro-sensors.github.io/en/makeblock.html)
// Board: Arduino Uno (the mBot mCore is an Uno). After uploading, unplug USB and run on battery.

#include <MeMCore.h>            // mBot (mCore): motors, LED, buzzer
#include <SoftwareSerial.h>
#include <MBC_Sensors.h>        // MBC sensors v2 (the same library the mBlock extension uses)

MBCPort mbc_port1(1);           // sensor on mBot port 1
MeDCMotor motorL(9);           // left wheel (M1)
MeDCMotor motorR(10);          // right wheel (M2)
MeRGBLed rgbled(7, 2);         // on-board RGB LED (2 pixels)
MeBuzzer buzzer;               // on-board buzzer
float turn = 0;               // variable：turn

// left / right wheel power -100~100 (positive = forward): the mBot left wheel is mounted mirrored, so M1 gets the negative value; % becomes PWM 0~255
void wheels(int l, int r) {
  l = constrain(l, -100, 100); r = constrain(r, -100, 100);
  motorL.run(-l * 255 / 100);
  motorR.run(r * 255 / 100);
}

void setup() {   // everything runs inside setup(), just like the program mBlock generates
  mbc_port1.begin();
  delay(2000);   // Wait 2 s for the camera to boot
  ucSetMode(mbc_port1, 41);   // Switch the camera to "line follow 1 black line"
  while (1) {   // Repeat forever
    if (ucLineSeen(mbc_port1)) {   // If a line is seen
      rgbled.setColor(0, 0, 255, 0); rgbled.show();   // Line seen: green
      turn = (ucLine(mbc_port1, 0) * 0.3);   // turn = near offset × 0.3 (−30 to +30)
      wheels((30 + turn), (30 - turn));   // Left = 30 + turn, right = 30 − turn: line on the right (positive) → turn right
    } else {
      wheels(0, 0);   // No line: stop
      rgbled.setColor(0, 255, 0, 0); rgbled.show();   // Red LED
    }
  }
}

void loop() {}   // nothing here: the blocks above never return

when mBot starts up :: events hat
wait (2) seconds
SharpShot Vision port [1 v] set mode [object detection 1 object list v] :: #E8590C
forever
  if <SharpShot Vision port [1 v] [colour 1 v] [triangle v] object seen? :: #E8590C> then
    LED [all v] colour red (0) green (255) blue (0) :: looks
    set [which v] to (SharpShot Vision port [1 v] [colour 1 v] [triangle v] object number :: #E8590C)
    set [turn v] to (((SharpShot Vision port [1 v] object (which) x :: #E8590C) - (80)) * (0.4))
    left wheel power ((25) + (turn)) %, right wheel power ((25) - (turn)) % :: motion
  else
    stop moving :: motion
    LED [all v] colour red (255) green (0) blue (0) :: looks
  end
end

// SharpShot Vision × mBlock 5  Example 6: Chase the red triangle  (equivalent Arduino sketch for mBot)
// Wiring: SharpShot Vision → mBot socket board → mBot port 1. Camera facing forward on the front. First teach target 1 as red on the camera (cross on the red triangle; see "Before you start").
// Does exactly what the mBlock block example does, for people who want to see "what is behind the blocks" or use the Arduino IDE.
// Libraries needed:
//   1. Makeblock (Arduino IDE Library Manager, search "Makeblock", or the copy inside the mBlock 5 install folder)
//   2. MBC_Sensors v2: the four files in src/ of the extension .mext (MBC_Sensors.h/.cpp, mbc_proto.h, mbc_ids.h),
//      put them in Documents/Arduino/libraries/MBC_Sensors/ and #include <MBC_Sensors.h> (https://mbc-pro-sensors.github.io/en/makeblock.html)
// Board: Arduino Uno (the mBot mCore is an Uno). After uploading, unplug USB and run on battery.

#include <MeMCore.h>            // mBot (mCore): motors, LED, buzzer
#include <SoftwareSerial.h>
#include <MBC_Sensors.h>        // MBC sensors v2 (the same library the mBlock extension uses)

MBCPort mbc_port1(1);           // sensor on mBot port 1
MeDCMotor motorL(9);           // left wheel (M1)
MeDCMotor motorR(10);          // right wheel (M2)
MeRGBLed rgbled(7, 2);         // on-board RGB LED (2 pixels)
MeBuzzer buzzer;               // on-board buzzer
float which = 0;              // variable：which
float turn = 0;               // variable：turn

// left / right wheel power -100~100 (positive = forward): the mBot left wheel is mounted mirrored, so M1 gets the negative value; % becomes PWM 0~255
void wheels(int l, int r) {
  l = constrain(l, -100, 100); r = constrain(r, -100, 100);
  motorL.run(-l * 255 / 100);
  motorR.run(r * 255 / 100);
}

void setup() {   // everything runs inside setup(), just like the program mBlock generates
  mbc_port1.begin();
  delay(2000);   // Wait 2 s for the camera to boot
  ucSetMode(mbc_port1, 51);   // Switch the camera to "object detection 1 object list" (colour, shape, X, Y per object)
  while (1) {   // Repeat forever
    if (ucHasObj(mbc_port1, 1, 3)) {   // If a colour 1 triangle object is seen
      rgbled.setColor(0, 0, 255, 0); rgbled.show();   // Seen: green
      which = ucObjFind(mbc_port1, 1, 3);   // which = which object the colour 1 triangle is (object 1 is the largest; 1 to 8)
      turn = ((ucObj(mbc_port1, which, 3) - 80) * 0.4);   // turn = (object "which" x − 80) × 0.4 (−32 to +32)
      wheels((25 + turn), (25 - turn));   // Left = 25 + turn, right = 25 − turn: triangle on the right (positive) → turn right
    } else {
      wheels(0, 0);   // No red triangle: stop
      rgbled.setColor(0, 255, 0, 0); rgbled.show();   // Red LED
    }
  }
}

void loop() {}   // nothing here: the blocks above never return