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Merge pull request #1 from roboticafacil/experimental

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modified:   examples/BasicMoves/BasicMoves.ino
This commit is contained in:
Robótica Fácil 2017-12-12 22:30:08 +01:00 committed by GitHub
commit 4ace7734d2
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 713 additions and 6 deletions
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4
examples/BasicMoves/BasicMoves.ino
View File

@ -28,7 +28,7 @@ void loop()
delay(500);
// backward, shit piece
hippie.new_walk(2, 4, 750);
hippie.new_walk(4, 750, 2);
hippie.home();
delay(500);
@ -38,7 +38,7 @@ void loop()
delay(500);
// right
hippie.new_turn(2);
hippie.new_turn(2,1000,2);
hippie.home();
delay(500);

245
hippie_blocks.js Normal file
View File

@ -0,0 +1,245 @@
Facilino.LANG_COLOUR_MOVEMENT = '#CECE42';
Facilino.LANG_COLOUR_MOVEMENT_WALK = '#8D8D25';
Blockly.Blocks['HIPPIE_init'] = {
category: Facilino.locales.getKey('LANG_CATEGORY_MOVEMENT'),
subcategory: Facilino.locales.getKey('LANG_SUBCATEGORY_WALK'),
category_colour: Facilino.LANG_COLOUR_MOVEMENT,
colour: Facilino.LANG_COLOUR_MOVEMENT_WALK,
helpUrl: Facilino.getHelpUrl('HIPPIE_init'),
tags: [],
examples: [],
init: function () {
this.appendDummyInput('').appendField(new Blockly.FieldImage('img/blocks/hippie.svg', 32*options.zoom, 32*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_HIPPIE_ROBOT'));
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);
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);
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);
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);
this.setPreviousStatement(true,'code');
this.setNextStatement(true,'code');
this.setColour(Facilino.LANG_COLOUR_MOVEMENT_WALK);
this.setTooltip(Facilino.locales.getKey('LANG_HIPPIE_INIT_TOOLTIP'));
}
};
Blockly.Arduino['HIPPIE_init'] = function(block) {
var code='';
var input_YR = Blockly.Arduino.valueToCode(this,'YR',Blockly.Arduino.ORDER_ATOMIC) || '26';
var input_YL = Blockly.Arduino.valueToCode(this,'YL',Blockly.Arduino.ORDER_ATOMIC) || '25';
var input_RR = Blockly.Arduino.valueToCode(this,'RR',Blockly.Arduino.ORDER_ATOMIC) || '17';
var input_RL = Blockly.Arduino.valueToCode(this,'RL',Blockly.Arduino.ORDER_ATOMIC) || '16';
Blockly.Arduino.definitions_['define_hippie_h'] = '#include <Hippie.h>';
Blockly.Arduino.definitions_['declare_var_define_hippie']='Hippie hippie;\n';
Blockly.Arduino.setups_['setup_hippie_init'] = 'hippie.init('+input_YR+','+input_YL+','+input_RR+','+input_RL+');\n';
return code;
};
Blockly.Arduino['HIPPIE_movement'] = function() {
var code='';
var movement = this.getFieldValue('MOVEMENT');
if (movement==='0')
code+='hippie.home();\n';
else if (movement==='1')
code+='hippie.jump('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '600')+');\n';
else if (movement==='2')
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';
else if (movement==='3')
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';
else if (movement==='4')
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';
else if (movement==='5')
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';
else if (movement==='6')
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';
else if (movement==='7')
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';
else if (movement==='8')
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';
else if (movement==='9')
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';
else if (movement==='10')
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';
else if (movement==='11')
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';
else if (movement==='12')
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';
else if (movement==='13')
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';
return code;
}
Blockly.Blocks['HIPPIE_movement'] = {
category: Facilino.locales.getKey('LANG_CATEGORY_MOVEMENT'),
subcategory: Facilino.locales.getKey('LANG_SUBCATEGORY_WALK'),
tags: [],
helpUrl: Facilino.getHelpUrl('LARS_movement'),
examples: [],
category_colour: Facilino.LANG_COLOUR_MOVEMENT,
colour: Facilino.LANG_COLOUR_MOVEMENT_WALK,
init: function() {
this.setColour(Facilino.LANG_COLOUR_MOVEMENT_WALK);
var movement = new Blockly.FieldDropdown([
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HOME'),'0'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_JUMP'),'1'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_WALK'),'2'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_TURN'),'3'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BEND'),'4'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_SHAKE_LEG'),'5'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_UPDOWN'),'6'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_SWING'),'7'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_TIPTOE_SWING'),'8'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_JITTER'),'9'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_ASCENDING_TURN'),'10'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_MOONWALKER'),'11'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_CRUSAITO'),'12'],
[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FLAPPING'),'13']
]);
this.appendDummyInput().appendField(new Blockly.FieldImage('img/blocks/hippie.svg', 32*options.zoom, 32*options.zoom)).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT'));
this.appendDummyInput('').appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_MOVEMENT')).appendField(movement,'MOVEMENT').setAlign(Blockly.ALIGN_RIGHT);
this.last_movement = -1;
this._inp1_removed = true;
this._inp2_removed = true;
this._inp3_removed = true;
this._inp4_removed = true;
this.checkMovement();
this.last_movement = this.getFieldValue('MOVEMENT');
this.setInputsInline(false);
this.setPreviousStatement(true,'code');
this.setNextStatement(true,'code');
this.setOutput(false);
this.setTooltip(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_TOOLTIP'));
},
checkMovement: function() {
var _movement = this.getFieldValue('MOVEMENT');
try {
if (_movement<11)
{
this._inp4_removed=true;
this.removeInput('INP4');
}
} catch (e) {}
try {
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)))
{
this._inp3_removed=true;
this.removeInput('INP3');
}
} catch (e) {}
try {
if (_movement<2)
{
this._inp3_removed=true;
this.removeInput('INP3');
}
} catch (e) {}
try {
if (_movement<1)
{
this._inp1_removed=true;
this.removeInput('INP1');
this._inp2_removed=true;
this.removeInput('INP2');
}
} catch (e) {}
if ( _movement == 1) {
if (this._inp1_removed)
{
this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
this._inp1_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
if (this._inp2_removed)
{
this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
this._inp2_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
} else if (( _movement >= 2)&&( _movement <= 10)) {
if (this._inp1_removed)
{
this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
this._inp1_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
if (this._inp2_removed)
{
this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
this._inp2_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
if (this._inp3_removed)
{
if (_movement==2)
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);
else if (_movement<=5)
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);
else
this.appendValueInput('INP3').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HEIGHT'),'TEXT3').setAlign(Blockly.ALIGN_RIGHT);
this._inp3_removed=false;
}
else {
try{
this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3'); this.getInput('INP3').removeField('FIELD3');
if (_movement==2)
this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BACKWARD'),'1']]),'FIELD3');
else if (_movement<=5)
this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_LEFT'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_RIGHT'),'1']]),'FIELD3');
else
this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HEIGHT'),'TEXT3');
}catch (e) {}
}
}
else{
if (this._inp1_removed)
{
this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
this._inp1_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
if (this._inp2_removed)
{
this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
this._inp2_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
if (this._inp3_removed)
{
if (_movement==11)
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);
else
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);
this._inp3_removed=false;
}
else {
try{
this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_DIR'),'TEXT3'); this.getInput('INP3').removeField('FIELD3');
if (_movement==11)
this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_LEFT'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_RIGHT'),'1']]),'FIELD3');
else
this.getInput('INP3').appendField(new Blockly.FieldDropdown([[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_BACKWARD'),'1']]),'FIELD3');
}catch (e) {}
}
if (this._inp4_removed)
{
this.appendValueInput('INP4').setCheck(Number).appendField(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HEIGHT','TEXT4')).setAlign(Blockly.ALIGN_RIGHT);
this._inp4_removed=false;
}
else
try{this.setFieldValue(Facilino.locales.getKey('LANG_HIPPIE_MOVEMENT_HEIGHT'),'TEXT4');}catch (e) {}
}
},
onchange: function() {
if (this.getFieldValue('MOVEMENT') !== this.last_movement) {
this.checkMovement();
this.last_movement = this.getFieldValue('MOVEMENT');
}
}
};

79
img/blocks/hippie.svg Normal file
View File

@ -0,0 +1,79 @@
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43
lang/HIPPIE.json Normal file
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@ -0,0 +1,43 @@
{
"langs":
{
"en-GB":
{
"keys":
{
"LANG_SUBCATEGORY_WALK": "Robot walk",
"LANG_MOVEMENT_HIPPIE_ROBOT": "Define robot",
"LANG_MOVEMENT_HIPPIE_YR": " Leg 1",
"LANG_MOVEMENT_HIPPIE_YL": " Leg 2",
"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",
"LANG_HIPPIE_MOVEMENT_JUMP": "Jump",
"LANG_HIPPIE_MOVEMENT_WALK": "Walk",
"LANG_HIPPIE_MOVEMENT_TURN": "Turn",
"LANG_HIPPIE_MOVEMENT_BEND": "Bend",
"LANG_HIPPIE_MOVEMENT_SHAKE_LEG": "Shake leg",
"LANG_HIPPIE_MOVEMENT_UPDOWN": "Up-down",
"LANG_HIPPIE_MOVEMENT_SWING": "Swing",
"LANG_HIPPIE_MOVEMENT_TIPTOE_SWING": "Tip-toe swing",
"LANG_HIPPIE_MOVEMENT_JITTER": "Jitter",
"LANG_HIPPIE_MOVEMENT_ASCENDING_TURN": "Ascending Turn",
"LANG_HIPPIE_MOVEMENT_MOONWALKER": "Moonwalker",
"LANG_HIPPIE_MOVEMENT_CRUSAITO": "Crusaito",
"LANG_HIPPIE_MOVEMENT_FLAPPING": "Flapping",
"LANG_HIPPIE_MOVEMENT_MOVEMENT": "Movement",
"LANG_HIPPIE_MOVEMENT": "Move robot",
"LANG_HIPPIE_MOVEMENT_TOOLTIP": "Generates movement primitives for a hip-less robot",
"LANG_HIPPIE_MOVEMENT_STEPS": "Steps",
"LANG_HIPPIE_MOVEMENT_PERIOD": "Period",
"LANG_HIPPIE_MOVEMENT_DIR": "Direction",
"LANG_HIPPIE_MOVEMENT_HEIGHT": "Height",
"LANG_HIPPIE_MOVEMENT_FORWARD": "Forward",
"LANG_HIPPIE_MOVEMENT_BACKWARD": "Backward",
"LANG_HIPPIE_MOVEMENT_LEFT": "Left",
"LANG_HIPPIE_MOVEMENT_RIGHT": "Right"
}
}
}
}

4
src/Hippie.cpp
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@ -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

4
src/Hippie.h
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@ -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: