diff --git a/img/blocks/LARS.svg b/img/blocks/LARS.svg
new file mode 100644
index 0000000..f061f4a
--- /dev/null
+++ b/img/blocks/LARS.svg
@@ -0,0 +1,65 @@
+
+
+
+image/svg+xml image/svg+xml image/svg+xml image/svg+xml image/svg+xml image/svg+xml image/svg+xml image/svg+xml image/svg+xml ';
- Blockly.Arduino.setups_['setup_espui'] = '\n';
- Blockly.Arduino.setups_['setup_espui'] += ' ESPUI.prepareFileSystem();\n';
- return null;
-};
+Blockly.Blocks['LARS_init'] = {
+ category: Facilino.locales.getKey('LANG_CATEGORY_MOVEMENT'),
+ subcategory: Facilino.locales.getKey('LANG_SUBCATEGORY_WALK'),
+ helpUrl: Facilino.getHelpUrl('LARS_init'),
+ category_colour: Facilino.LANG_COLOUR_MOVEMENT,
+ colour: Facilino.LANG_COLOUR_MOVEMENT_WALK,
+ tags: [],
+ examples: [],
+ init: function () {
+ this.setPreviousStatement(true,'code');
+ this.setNextStatement(true,'code');
+ this.setColour(Facilino.LANG_COLOUR_MOVEMENT_WALK);
+ this.setTooltip(Facilino.locales.getKey('LANG_LARS_INIT_TOOLTIP'));
+ }
+}
- */
-Blockly.Blocks['walk_forward'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('walk_forward'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Walking");
- this.setColour("#FF00FF");
- this.setTooltip("");
+Blockly.Arduino['LARS_movement'] = function() {
+ var code='';
+ var movement = this.getFieldValue('MOVEMENT');
+ if (movement==='0')
+ code+='lars.home();\n';
+ else if (movement==='1')
+ code+='lars.hello();\n';
+ else if (movement==='2')
+ code+='lars.wave('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+');\n';
+ else if (movement==='3')
+ code+='lars.turnL('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '600')+');\n';
+ else if (movement==='4')
+ code+='lars.turnR('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '600')+');\n';
+ else if (movement==='5')
+ code+='lars.moonwalk('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '5000')+');\n';
+ else if (movement==='6')
+ code+='lars.dance('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '600')+');\n';
+ else if (movement==='7')
+ code+='lars.upDown('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '5000')+');\n';
+ else if (movement==='8')
+ code+='lars.pushUp('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '600')+');\n';
+ else if (movement==='9')
+ code+='lars.walk('+this.getFieldValue('FIELD3')+','+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '800')+');\n';
+ else if (movement==='10')
+ code+='lars.omniWalk('+(Blockly.Arduino.valueToCode(this, 'INP1', Blockly.Arduino.ORDER_ATOMIC) || '1')+','+(Blockly.Arduino.valueToCode(this, 'INP2', Blockly.Arduino.ORDER_ATOMIC) || '800')+','+this.getFieldValue('FIELD3')+','+(Blockly.Arduino.valueToCode(this, 'INP4', Blockly.Arduino.ORDER_ATOMIC) || '0')+');\n';
+ return code;
+ }
- }
-};
-
-Blockly.Arduino['walk_forward'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.walk();\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['walk_backward'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('walk_backward'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Walking_Back");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['walk_backward'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.walk(0);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Turn_R'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Turn_R'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Turn_Right");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Turn_R'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.turnR(1, 550);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Turn_L'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Turn_L'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Turn_Left");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Turn_L'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.turnL(1, 550);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['PushUp'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('PushUp'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Push_Up");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['PushUp'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.pushUp(1, 600);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['UpDown'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('UpDown'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Up_Down");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['UpDown'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.upDown(1, 5000);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Dance'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Dance'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Dance");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Dance'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.dance(1, 600);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Wave'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Wave'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Wave");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Wave'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.wave();\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Slow_Turn_R'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Slow_Turn_R'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Slow_Turn_Right");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Slow_Turn_R'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.omniWalk(1, 600, true, 1);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Slow_Turn_L'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Slow_Turn_L'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Slow_Turn_Left");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Slow_Turn_L'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.omniWalk(1, 600, false, 1);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['MoonWalk'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('MoonWalk'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Moonwalk");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['MoonWalk'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.moonwalkL(1, 5000);\n';
- code+= '\n';
- return code;
-};
-
-Blockly.Blocks['Hello'] = {
- category: Facilino.locales.getKey('LANG_CATEGORY_BLOCKS'),
- helpUrl: Facilino.getHelpUrl('Hello'),
- tags: [],
- examples: [],
- init: function() {
- this.setPreviousStatement(true, null);
- this.setNextStatement(true, null);
- this.appendDummyInput()
- .appendField("Audience_Hello");
- this.setColour("#FF00FF");
- this.setTooltip("");
-
- }
-};
-
-Blockly.Arduino['Hello'] = function(block) {
- Blockly.Arduino.setups_['setup_']='robot.init();\n ';
- var input_shall_walk = Blockly.Arduino.valueToCode(block, 'shall_walk', Blockly.Arduino.ORDER_ATOMIC);
- Blockly.Arduino.definitions_['define_lars_h']='#include ';
- Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
- var code='';
- code+='robot.hello();\n';
- code+= '\n';
- return code;
-};
+ Blockly.Blocks['LARS_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_LARS_MOVEMENT_HOME'),'0'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_HELLO'),'1'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_WAVE'),'2'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_TURN_LEFT'),'3'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_TURN_RIGHT'),'4'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_MOONWALK'),'5'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_DANCE'),'6'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_UPDOWN'),'7'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_PUSHUP'),'8'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_WALK'),'9'],
+ [Facilino.locales.getKey('LANG_LARS_MOVEMENT_OMNIWALK'),'10']
+ ]);
+ this.appendDummyInput().appendField(new Blockly.FieldImage('img/blocks/LARS.svg', 32*options.zoom, 32*options.zoom)).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT'));
+ this.appendDummyInput('').appendField(Facilino.locales.getKey('LANG_LARS_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_LARS_MOVEMENT_TOOLTIP'));
+ },
+ checkMovement: function() {
+ var _movement = this.getFieldValue('MOVEMENT');
+ try {
+ if (_movement<10)
+ {
+ this._inp4_removed=true;
+ this.removeInput('INP4');
+ }
+ } catch (e) {}
+ try {
+ if (_movement<9)
+ {
+ this._inp3_removed=true;
+ this.removeInput('INP3');
+ }
+ } catch (e) {}
+ try {
+ if (_movement<3)
+ {
+ this._inp2_removed=true;
+ this.removeInput('INP2');
+ }
+ } catch (e) {}
+ try {
+ if (_movement<2)
+ {
+ this._inp1_removed=true;
+ this.removeInput('INP1');
+ }
+ } catch (e) {}
+ if ( _movement === '2') {
+ if (this._inp1_removed)
+ {
+ this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_LEG_NUMBER'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp1_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_LEG_NUMBER'),'TEXT1');}catch (e) {}
+ } else if (( _movement >= '3')&&( _movement <= '8')) {
+ if (this._inp1_removed)
+ {
+ this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp1_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
+ if (this._inp2_removed)
+ {
+ this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_PERIOD','TEXT2')).setAlign(Blockly.ALIGN_RIGHT);
+ this._inp2_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
+ } else if ( _movement === '9') {
+ if (this._inp1_removed)
+ {
+ this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp1_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
+ if (this._inp2_removed)
+ {
+ this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_PERIOD'),'TEXT2').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp2_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
+ if (this._inp3_removed)
+ {
+ this.appendDummyInput('INP3').appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_DIR'),'TEXT3').appendField(new Blockly.FieldDropdown([['Forward','0'],['Backward','1']]),'FIELD3').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp3_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_DIR'),'TEXT3'); this.getInput('INP3').removeField('FIELD3'); this.getInput('INP3').appendField(new Blockly.FieldDropdown([['Forward','0'],['Backward','1']]),'FIELD3');}catch (e) {}
+ }
+ else if ( _movement === '10') {
+ if (this._inp1_removed)
+ {
+ this.appendValueInput('INP1').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_STEPS'),'TEXT1').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp1_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_STEPS'),'TEXT1');}catch (e) {}
+ if (this._inp2_removed)
+ {
+ this.appendValueInput('INP2').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_PERIOD'),'TEXT2').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp2_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_PERIOD'),'TEXT2');}catch (e) {}
+ if (this._inp3_removed)
+ {
+ this.appendDummyInput('INP3').appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_DIR'),'TEXT3').appendField(new Blockly.FieldDropdown([['Yes','true'],['No','false']]),'FIELD3').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp3_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_SIDE'),'TEXT3'); this.getInput('INP3').removeField('FIELD3'); this.getInput('INP3').appendField(new Blockly.FieldDropdown([['Yes','true'],['No','false']]),'FIELD3');}catch (e) {}
+ if (this._inp4_removed)
+ {
+ this.appendValueInput('INP4').setCheck(Number).appendField(Facilino.locales.getKey('LANG_LARS_MOVEMENT_TURN_FACTOR'),'TEXT4').setAlign(Blockly.ALIGN_RIGHT);
+ this._inp4_removed=false;
+ }
+ else
+ try{this.setFieldValue(Facilino.locales.getKey('LANG_LARS_MOVEMENT_TURN_FACTOR'),'TEXT4');}catch (e) {}
+
+ }
+ },
+ onchange: function() {
+ if (this.getFieldValue('MOVEMENT') !== this.last_movement) {
+ this.checkMovement();
+ this.last_movement = this.getFieldValue('MOVEMENT');
+ }
+ }
+ };
\ No newline at end of file
diff --git a/src/LARS.cpp b/src/LARS.cpp
index 8863d6c..737d5ab 100644
--- a/src/LARS.cpp
+++ b/src/LARS.cpp
@@ -59,6 +59,18 @@ void LARS::init() {
home();
}
+void init(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL)
+{
+ board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
+ board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
+ board_pins[BACK_RIGHT_HIP] = BRH; // back right inner
+ board_pins[BACK_LEFT_HIP] = BLH; // back left inner
+ board_pins[FRONT_RIGHT_LEG] = FRL; // front right outer
+ board_pins[FRONT_LEFT_LEG] = FLL; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
+ board_pins[BACK_RIGHT_LEG] = BRL; // back right outer
+ board_pins[BACK_LEFT_LEG] = BLL; // back left outer
+}
+
void LARS::turnR(float steps, float T = 600) {
//int x_amp = 15;
//int z_amp = 15;
diff --git a/src/LARS.h b/src/LARS.h
index bc1341f..1e97efc 100644
--- a/src/LARS.h
+++ b/src/LARS.h
@@ -20,6 +20,7 @@ class LARS {
public:
LARS();
void init();
+ void init(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL);
void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
void omniWalk(float steps, float T, bool side, float turn_factor);
void turnL(float steps, float period);