new file: img/blocks/LARS.svg
new file: img/blocks/LARS_BLH.svg new file: img/blocks/LARS_BLL.svg new file: img/blocks/LARS_BRH.svg new file: img/blocks/LARS_BRL.svg new file: img/blocks/LARS_FLH.svg new file: img/blocks/LARS_FLL.svg new file: img/blocks/LARS_FRH.svg new file: img/blocks/LARS_FRL.svg new file: img/blocks/acknowledgements.html new file: lang/LARS.json modified: lars_blocks.js modified: src/LARS.cpp modified: src/LARS.h
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roboticafacil
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id="g22" /><g
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id="g24" /><g
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id="g26" /><g
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id="g28" /><g
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id="g30" /><g
|
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id="g32" /><g
|
||||
id="g34" /><g
|
||||
id="g36" /><ellipse
|
||||
style="fill:#ff0000;fill-opacity:1;stroke:none;stroke-width:110.7085495;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:markers fill stroke"
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id="path4525"
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cx="57.751133"
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cy="31.295048"
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rx="7.3946142"
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ry="7.508378" /></svg>
|
||||
|
After Width: | Height: | Size: 3.3 KiB |
71
img/blocks/LARS_FRL.svg
Normal file
71
img/blocks/LARS_FRL.svg
Normal file
@ -0,0 +1,71 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
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<!-- Generator: Adobe Illustrator 16.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
|
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<svg
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xmlns:dc="http://purl.org/dc/elements/1.1/"
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xmlns:cc="http://creativecommons.org/ns#"
|
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xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
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xmlns="http://www.w3.org/2000/svg"
|
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xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
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xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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version="1.1"
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id="Capa_1"
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y="0px"
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width="75.938px"
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height="75.938px"
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viewBox="0 0 75.938 75.938"
|
||||
style="enable-background:new 0 0 75.938 75.938;"
|
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xml:space="preserve"
|
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sodipodi:docname="LARS_FRL.svg"
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inkscape:version="0.92.1 r15371"><metadata
|
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id="metadata43"><rdf:RDF><cc:Work
|
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rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title></dc:title></cc:Work></rdf:RDF></metadata><defs
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id="defs41" /><sodipodi:namedview
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pagecolor="#ffffff"
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bordercolor="#666666"
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borderopacity="1"
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objecttolerance="10"
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gridtolerance="10"
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guidetolerance="10"
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inkscape:pageopacity="0"
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inkscape:pageshadow="2"
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inkscape:window-width="1366"
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inkscape:window-height="705"
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id="namedview39"
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showgrid="false"
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inkscape:zoom="4.3950905"
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inkscape:cx="57.872316"
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inkscape:cy="52.258221"
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inkscape:window-x="-8"
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inkscape:window-y="-8"
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inkscape:window-maximized="1"
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inkscape:current-layer="Capa_1" /><path
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|
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id="path2"
|
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inkscape:connector-curvature="0"
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sodipodi:nodetypes="ccccccccccccccccccccccccccccccccccccc"
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|
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id="g8" /><g
|
||||
id="g10" /><g
|
||||
id="g12" /><g
|
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id="g14" /><g
|
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id="g16" /><g
|
||||
id="g18" /><g
|
||||
id="g20" /><g
|
||||
id="g22" /><g
|
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id="g24" /><g
|
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id="g26" /><g
|
||||
id="g28" /><g
|
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id="g30" /><g
|
||||
id="g32" /><g
|
||||
id="g34" /><g
|
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id="g36" /><rect
|
||||
style="fill:#ff0000;fill-opacity:1;stroke:none;stroke-width:7.77249622;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:markers fill stroke"
|
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id="rect4551"
|
||||
width="12.766368"
|
||||
height="14.32064"
|
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x="63.3797"
|
||||
y="-0.02453734" /></svg>
|
||||
|
After Width: | Height: | Size: 3.3 KiB |
1
img/blocks/acknowledgements.html
Normal file
1
img/blocks/acknowledgements.html
Normal file
@ -0,0 +1 @@
|
||||
<div>Icons made by <a href="http://www.freepik.com" title="Freepik">Freepik</a> from <a href="https://www.flaticon.com/" title="Flaticon">www.flaticon.com</a> is licensed by <a href="http://creativecommons.org/licenses/by/3.0/" title="Creative Commons BY 3.0" target="_blank">CC 3.0 BY</a></div>
|
||||
36
lang/LARS.json
Normal file
36
lang/LARS.json
Normal file
@ -0,0 +1,36 @@
|
||||
{
|
||||
"langs":
|
||||
{
|
||||
"en-GB":
|
||||
{
|
||||
"keys":
|
||||
{
|
||||
"LANG_LARS_INIT_TOOLTIP": "Defines the servo pins for a quadruped robot.",
|
||||
"LANG_LARS_MOVEMENT": "Move robot",
|
||||
"LANG_LARS_MOVEMENT_MOVEMENT": "Movement",
|
||||
"LANG_LARS_MOVEMENT_HOME": "Home",
|
||||
"LANG_LARS_MOVEMENT_WALK": "Walk",
|
||||
"LANG_LARS_MOVEMENT_OMNIWALK": "Omni walk",
|
||||
"LANG_LARS_MOVEMENT_TURN_LEFT": "Turn left",
|
||||
"LANG_LARS_MOVEMENT_TURN_RIGHT": "Turn right",
|
||||
"LANG_LARS_MOVEMENT_MOONWALK": "Moonwalk",
|
||||
"LANG_LARS_MOVEMENT_DANCE": "Dance",
|
||||
"LANG_LARS_MOVEMENT_UPDOWN": "Up-down",
|
||||
"LANG_LARS_MOVEMENT_PUSHUP": "Push-up",
|
||||
"LANG_LARS_MOVEMENT_HELLO": "Hello",
|
||||
"LANG_LARS_MOVEMENT_WAVE": "Wave",
|
||||
"LANG_LARS_MOVEMENT_LEG_NUMBER": "Leg number",
|
||||
"LANG_LARS_MOVEMENT_STEPS": "Steps",
|
||||
"LANG_LARS_MOVEMENT_PERIOD": "Period",
|
||||
"LANG_LARS_MOVEMENT_DIR": "Direction",
|
||||
"LANG_LARS_MOVEMENT_SIDE": "Side",
|
||||
"LANG_LARS_MOVEMENT_TURN_FACTOR": "Turn factor",
|
||||
"LANG_LARS_MOVEMENT_FORWARD": "Forward",
|
||||
"LANG_LARS_MOVEMENT_BACKWARD": "Backward",
|
||||
"LANG_LARS_MOVEMENT_YES": "Yes",
|
||||
"LANG_LARS_MOVEMENT_NO": "No",
|
||||
"LANG_LARS_MOVEMENT_TOOLTIP": "Generates movement primitives for a quadruped robot"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
541
lars_blocks.js
541
lars_blocks.js
@ -1,349 +1,200 @@
|
||||
/*
|
||||
Blockly.Blocks['espui_prepare_fs'] = {
|
||||
category: 'ESPUI',
|
||||
colour: '#3357c7',
|
||||
helpUrl: Facilino.getHelpUrl('espui'),
|
||||
tags: ['webinterface'],
|
||||
examples: ['lol.bly'],
|
||||
init: function() {
|
||||
var wifiOptions = [
|
||||
['No', false],
|
||||
['Yes', true]
|
||||
];
|
||||
this.appendDummyInput()
|
||||
.appendField('Prepare FileSystem (upload once without other in setup code, then omit)');
|
||||
}
|
||||
};
|
||||
Facilino.LANG_COLOUR_MOVEMENT = '#CECE42';
|
||||
Facilino.LANG_COLOUR_MOVEMENT_WALK = '#8D8D25';
|
||||
|
||||
Blockly.Arduino['espui_prepare_fs'] = function(block) {
|
||||
var wifi_option = block.getFieldValue('wifi_option');
|
||||
Blockly.Arduino.definitions_['define_espui_h'] = '#include <ESPUI.h>';
|
||||
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.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) {}
|
||||
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
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 <LARS.h>';
|
||||
Blockly.Arduino.definitions_['declare_var_define_robot']='LARS robot;';
|
||||
var code='';
|
||||
code+='robot.hello();\n';
|
||||
code+= '\n';
|
||||
return code;
|
||||
};
|
||||
}
|
||||
},
|
||||
onchange: function() {
|
||||
if (this.getFieldValue('MOVEMENT') !== this.last_movement) {
|
||||
this.checkMovement();
|
||||
this.last_movement = this.getFieldValue('MOVEMENT');
|
||||
}
|
||||
}
|
||||
};
|
||||
12
src/LARS.cpp
12
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;
|
||||
|
||||
@ -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);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user