modified: examples/BasicMoves/BasicMoves.ino
new file: hippie_blocks.js new file: img/blocks/hippie.svg new file: img/blocks/hippie_RL.svg new file: img/blocks/hippie_RR.svg new file: img/blocks/hippie_YL.svg new file: img/blocks/hippie_YR.svg new file: lang/HIPPIE.json modified: src/Hippie.cpp modified: src/Hippie.h
This commit is contained in:
roboticafacil
parent
651025f826
commit
2a505a3bb5
@ -28,7 +28,7 @@ void loop()
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delay(500);
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// backward, shit piece
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hippie.new_walk(2, 4, 750);
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hippie.new_walk(4, 750, 2);
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hippie.home();
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delay(500);
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@ -38,7 +38,7 @@ void loop()
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delay(500);
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// right
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hippie.new_turn(2);
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hippie.new_turn(2,1000,2);
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hippie.home();
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delay(500);
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245
hippie_blocks.js
Normal file
245
hippie_blocks.js
Normal file
@ -0,0 +1,245 @@
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Facilino.LANG_COLOUR_MOVEMENT = '#CECE42';
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Facilino.LANG_COLOUR_MOVEMENT_WALK = '#8D8D25';
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Blockly.Blocks['HIPPIE_init'] = {
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category: Facilino.locales.getKey('LANG_CATEGORY_MOVEMENT'),
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subcategory: Facilino.locales.getKey('LANG_SUBCATEGORY_WALK'),
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category_colour: Facilino.LANG_COLOUR_MOVEMENT,
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colour: Facilino.LANG_COLOUR_MOVEMENT_WALK,
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helpUrl: Facilino.getHelpUrl('HIPPIE_init'),
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tags: [],
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examples: [],
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init: function () {
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this.appendDummyInput('').appendField(new Blockly.FieldImage('img/blocks/hippie.svg', 32*options.zoom, 32*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_HIPPIE_ROBOT'));
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this.appendValueInput('YR').appendField(new Blockly.FieldImage('img/blocks/hippie_YR.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_HIPPIE_YR')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
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this.appendValueInput('YL').appendField(new Blockly.FieldImage('img/blocks/hippie_YL.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_HIPPIE_YL')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
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this.appendValueInput('RR').appendField(new Blockly.FieldImage('img/blocks/hippie_RR.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_HIPPIE_RR')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
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this.appendValueInput('RL').appendField(new Blockly.FieldImage('img/blocks/hippie_RL.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_HIPPIE_RL')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
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this.setPreviousStatement(true,'code');
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this.setNextStatement(true,'code');
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this.setColour(Facilino.LANG_COLOUR_MOVEMENT_WALK);
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this.setTooltip(Facilino.locales.getKey('LANG_HIPPIE_INIT_TOOLTIP'));
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}
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};
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Blockly.Arduino['HIPPIE_init'] = function(block) {
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var code='';
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var input_YR = Blockly.Arduino.valueToCode(this,'YR',Blockly.Arduino.ORDER_ATOMIC) || '26';
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var input_YL = Blockly.Arduino.valueToCode(this,'YL',Blockly.Arduino.ORDER_ATOMIC) || '25';
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var input_RR = Blockly.Arduino.valueToCode(this,'RR',Blockly.Arduino.ORDER_ATOMIC) || '17';
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var input_RL = Blockly.Arduino.valueToCode(this,'RL',Blockly.Arduino.ORDER_ATOMIC) || '16';
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Blockly.Arduino.definitions_['define_hippie_h'] = '#include <Hippie.h>';
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Blockly.Arduino.definitions_['declare_var_define_hippie']='Hippie hippie;\n';
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Blockly.Arduino.setups_['setup_hippie_init'] = 'hippie.init('+input_YR+','+input_YL+','+input_RR+','+input_RL+');\n';
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return code;
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};
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Blockly.Arduino['HIPPIE_movement'] = function() {
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var code='';
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var movement = this.getFieldValue('MOVEMENT');
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if (movement==='0')
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code+='hippie.home();\n';
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else if (movement==='1')
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code+='hippie.jump('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '600')+');\n';
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else if (movement==='2')
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code+='hippie.walk('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '4')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '1000')+','+this.getFieldValue('FIELD3')+');\n';
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else if (movement==='3')
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code+='hippie.turn('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '4')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '1000')+','+this.getFieldValue('FIELD3')+');\n';
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else if (movement==='4')
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code+='hippie.bend('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '1400')+','+this.getFieldValue('FIELD3')+');\n';
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else if (movement==='5')
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code+='hippie.shakeLeg('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '2000')+','+this.getFieldValue('FIELD3')+');\n';
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else if (movement==='6')
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code+='hippie.updown('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '1000')+','+(Blockly.Arduino.valueToCode(this, 'INP3', Blockly.Arduino.ORDER_ATOMIC) || '40')+');\n';
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else if (movement==='7')
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code+='hippie.swing('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '1000')+','+(Blockly.Arduino.valueToCode(this, 'INP3', Blockly.Arduino.ORDER_ATOMIC) || '40')+');\n';
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else if (movement==='8')
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code+='hippie.tiptoeSwing('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '900')+','+(Blockly.Arduino.valueToCode(this, 'INP3', Blockly.Arduino.ORDER_ATOMIC) || '40')+');\n';
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else if (movement==='9')
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code+='hippie.jitter('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '500')+','+(Blockly.Arduino.valueToCode(this, 'INP3', Blockly.Arduino.ORDER_ATOMIC) || '50')+');\n';
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else if (movement==='10')
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code+='hippie.ascendingTurn('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '900')+','+(Blockly.Arduino.valueToCode(this, 'INP3', Blockly.Arduino.ORDER_ATOMIC) || '50')+');\n';
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else if (movement==='11')
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code+='hippie.moonwalker('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '900')+','+(Blockly.Arduino.valueToCode(this, 'INP4', Blockly.Arduino.ORDER_ATOMIC) || '50')+','+this.getFieldValue('FIELD3')+');\n';
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else if (movement==='12')
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code+='hippie.crusaito('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '900')+','+(Blockly.Arduino.valueToCode(this, 'INP4', Blockly.Arduino.ORDER_ATOMIC) || '20')+','+this.getFieldValue('FIELD3')+');\n';
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else if (movement==='13')
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code+='hippie.flapping('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '1000')+','+(Blockly.Arduino.valueToCode(this, 'INP4', Blockly.Arduino.ORDER_ATOMIC) || '50')+','+this.getFieldValue('FIELD3')+');\n';
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return code;
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}
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Blockly.Blocks['HIPPIE_movement'] = {
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category: Facilino.locales.getKey('LANG_CATEGORY_MOVEMENT'),
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subcategory: Facilino.locales.getKey('LANG_SUBCATEGORY_WALK'),
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tags: [],
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helpUrl: Facilino.getHelpUrl('LARS_movement'),
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examples: [],
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category_colour: Facilino.LANG_COLOUR_MOVEMENT,
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colour: Facilino.LANG_COLOUR_MOVEMENT_WALK,
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init: function() {
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this.setColour(Facilino.LANG_COLOUR_MOVEMENT_WALK);
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var movement = new Blockly.FieldDropdown([
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HOME'),'0'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_JUMP'),'1'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_WALK'),'2'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_TURN'),'3'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BEND'),'4'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_SHAKE_LEG'),'5'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_UPDOWN'),'6'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_SWING'),'7'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_TIPTOE_SWING'),'8'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_JITTER'),'9'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_ASCENDING_TURN'),'10'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_MOONWALKER'),'11'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_CRUSAITO'),'12'],
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[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FLAPPING'),'13']
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]);
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this.appendDummyInput().appendField(new Blockly.FieldImage('img/blocks/hippie.svg', 32*options.zoom, 32*options.zoom)).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT'));
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this.appendDummyInput('').appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_MOVEMENT')).appendField(movement,'MOVEMENT').setAlign(Blockly.ALIGN_RIGHT);
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this.last_movement = -1;
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this._inp1_removed = true;
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this._inp2_removed = true;
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this._inp3_removed = true;
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this._inp4_removed = true;
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this.checkMovement();
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this.last_movement = this.getFieldValue('MOVEMENT');
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this.setInputsInline(false);
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this.setPreviousStatement(true,'code');
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this.setNextStatement(true,'code');
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this.setOutput(false);
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this.setTooltip(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_TOOLTIP'));
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},
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checkMovement: function() {
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var _movement = this.getFieldValue('MOVEMENT');
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try {
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if (_movement<11)
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{
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this._inp4_removed=true;
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this.removeInput('INP4');
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}
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} catch (e) {}
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try {
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if (((_movement>=6)&&(_movement<=10)&&(this.last_movement>=2)&&(this.last_movement<=5))||((_movement>=2)&&(_movement<=5)&&(this.last_movement>=6)&&(this.last_movement<=10)))
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{
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this._inp3_removed=true;
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this.removeInput('INP3');
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}
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} catch (e) {}
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try {
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if (_movement<2)
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{
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this._inp3_removed=true;
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this.removeInput('INP3');
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}
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} catch (e) {}
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try {
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if (_movement<1)
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{
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this._inp1_removed=true;
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this.removeInput('INP1');
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this._inp2_removed=true;
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this.removeInput('INP2');
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}
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} catch (e) {}
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if ( _movement == 1) {
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if (this._inp1_removed)
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{
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this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
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this._inp1_removed=false;
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}
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else
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try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
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if (this._inp2_removed)
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{
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this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
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this._inp2_removed=false;
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}
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else
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try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
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} else if (( _movement >= 2)&&( _movement <= 10)) {
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if (this._inp1_removed)
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{
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this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
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this._inp1_removed=false;
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}
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else
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try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
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if (this._inp2_removed)
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{
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this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
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this._inp2_removed=false;
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}
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else
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try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
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if (this._inp3_removed)
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{
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if (_movement==2)
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this.appendDummyInput('INP3').appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BACKWARD'),'1']]),'FIELD3').setAlign(Blockly.ALIGN_RIGHT);
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else if (_movement<=5)
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this.appendDummyInput('INP3').appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_LEFT'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_RIGHT'),'1']]),'FIELD3').setAlign(Blockly.ALIGN_RIGHT);
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else
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this.appendValueInput('INP3').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HEIGHT'),'TEXT3').setAlign(Blockly.ALIGN_RIGHT);
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this._inp3_removed=false;
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}
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else {
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try{
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this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3'); this.getInput('INP3').removeField('FIELD3');
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if (_movement==2)
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this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BACKWARD'),'1']]),'FIELD3');
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else if (_movement<=5)
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this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_LEFT'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_RIGHT'),'1']]),'FIELD3');
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else
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this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HEIGHT'),'TEXT3');
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}catch (e) {}
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}
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}
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else{
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if (this._inp1_removed)
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{
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this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
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this._inp1_removed=false;
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}
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else
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try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
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if (this._inp2_removed)
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{
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this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
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this._inp2_removed=false;
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}
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else
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try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
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if (this._inp3_removed)
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{
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if (_movement==11)
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this.appendDummyInput('INP3').appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_LEFT'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_RIGHT'),'1']]),'FIELD3').setAlign(Blockly.ALIGN_RIGHT);
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else
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this.appendDummyInput('INP3').appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BACKWARD'),'1']]),'FIELD3').setAlign(Blockly.ALIGN_RIGHT);
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this._inp3_removed=false;
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}
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else {
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try{
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this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3'); this.getInput('INP3').removeField('FIELD3');
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if (_movement==11)
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this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_LEFT'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_RIGHT'),'1']]),'FIELD3');
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else
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this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BACKWARD'),'1']]),'FIELD3');
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}catch (e) {}
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}
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if (this._inp4_removed)
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{
|
||||
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}
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};
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|
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|
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|
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"LANG_SUBCATEGORY_WALK": "Robot walk",
|
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"LANG_MOVEMENT_HIPPIE_ROBOT": "Define robot",
|
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"LANG_MOVEMENT_HIPPIE_YR": " Leg 1",
|
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"LANG_MOVEMENT_HIPPIE_YL": " Leg 2",
|
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"LANG_MOVEMENT_HIPPIE_RR": "Ankle 1",
|
||||
"LANG_MOVEMENT_HIPPIE_RL": "Ankle 2",
|
||||
"LANG_HIPPIE_INIT_TOOLTIP": "Defines the servo pins for a quadruped robot.",
|
||||
"LANG_HIPPIE_MOVEMENT_HOME": "Home",
|
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"LANG_HIPPIE_MOVEMENT_JUMP": "Jump",
|
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"LANG_HIPPIE_MOVEMENT_WALK": "Walk",
|
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"LANG_HIPPIE_MOVEMENT_TURN": "Turn",
|
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"LANG_HIPPIE_MOVEMENT_BEND": "Bend",
|
||||
"LANG_HIPPIE_MOVEMENT_SHAKE_LEG": "Shake leg",
|
||||
"LANG_HIPPIE_MOVEMENT_UPDOWN": "Up-down",
|
||||
"LANG_HIPPIE_MOVEMENT_SWING": "Swing",
|
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"LANG_HIPPIE_MOVEMENT_TIPTOE_SWING": "Tip-toe swing",
|
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"LANG_HIPPIE_MOVEMENT_JITTER": "Jitter",
|
||||
"LANG_HIPPIE_MOVEMENT_ASCENDING_TURN": "Ascending Turn",
|
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"LANG_HIPPIE_MOVEMENT_MOONWALKER": "Moonwalker",
|
||||
"LANG_HIPPIE_MOVEMENT_CRUSAITO": "Crusaito",
|
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"LANG_HIPPIE_MOVEMENT_FLAPPING": "Flapping",
|
||||
"LANG_HIPPIE_MOVEMENT_MOVEMENT": "Movement",
|
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"LANG_HIPPIE_MOVEMENT": "Move robot",
|
||||
"LANG_HIPPIE_MOVEMENT_TOOLTIP": "Generates movement primitives for a hip-less robot",
|
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"LANG_HIPPIE_MOVEMENT_STEPS": "Steps",
|
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"LANG_HIPPIE_MOVEMENT_PERIOD": "Period",
|
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"LANG_HIPPIE_MOVEMENT_DIR": "Direction",
|
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"LANG_HIPPIE_MOVEMENT_HEIGHT": "Height",
|
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"LANG_HIPPIE_MOVEMENT_FORWARD": "Forward",
|
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"LANG_HIPPIE_MOVEMENT_BACKWARD": "Backward",
|
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"LANG_HIPPIE_MOVEMENT_LEFT": "Left",
|
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"LANG_HIPPIE_MOVEMENT_RIGHT": "Right"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -263,7 +263,7 @@ void Hippie::bend (int steps, int T, int dir){
|
||||
//-- T: Period of one steps
|
||||
//-- dir: direction of movement
|
||||
//--------------------------------------------------------
|
||||
void Hippie::new_walk(int dir, float steps, int T){
|
||||
void Hippie::new_walk(float steps, int T, int dir){
|
||||
if(dir==1){
|
||||
// Positions of walking
|
||||
int Pos_A[4] = {90,90,180, 90};
|
||||
@ -329,7 +329,7 @@ void Hippie::new_walk(int dir, float steps, int T){
|
||||
//-- T: Period of one steps
|
||||
//-- dir: direction of movement
|
||||
//--------------------------------------------------------
|
||||
void Hippie::new_turn(int dir, float steps, int T){
|
||||
void Hippie::new_turn(float steps, int T, int dir){
|
||||
//LEFT
|
||||
if (dir==1) {
|
||||
// Positions of turning
|
||||
|
||||
@ -53,8 +53,8 @@ class Hippie
|
||||
|
||||
void test_pos();
|
||||
|
||||
void new_walk(int dir = FORWARD, float steps =4, int T=750);
|
||||
void new_turn(int dir = LEFT, float steps =2, int T=1000);
|
||||
void new_walk(float steps =4, int T=750, int dir = FORWARD);
|
||||
void new_turn(float steps =2, int T=1000, int dir = LEFT);
|
||||
|
||||
|
||||
private:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user