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17 Commits
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|---|---|---|---|
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| 342d6e69f2 | |||
| f48b595b14 | |||
| 0f53337ed7 | |||
| 871d99ab35 | |||
| d21a52d6b2 | |||
| 2bb5001fe4 | |||
| e28fe4928a | |||
| d6f4e775b2 | |||
| 89f1d579b3 | |||
| 21db36369b | |||
| fd33225d2d | |||
| a16edd7f20 | |||
| 22f78c4bad | |||
| afaba02132 | |||
| 2cb7977856 | |||
| 84f01d277b |
60
examples/BasicMoves/BasicMoves.ino
Normal file
60
examples/BasicMoves/BasicMoves.ino
Normal file
@ -0,0 +1,60 @@
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||||
// Example of the LARS Movement library
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||||
#include <LARS.h>
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||||
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LARS robot;
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||||
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||||
boolean walk_forward = false;
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||||
boolean walk_backward = false;
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boolean hello = false;
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||||
boolean turn_left = false;
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||||
boolean turn_right = false;
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||||
boolean moonwalk = false;
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||||
boolean audience = false;
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||||
boolean omni = false;
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||||
boolean omni_left = false;
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boolean dance = false;
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boolean upDown = false;
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boolean PushUp = false;
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||||
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void setup() {
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Serial.begin(115200);
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/*
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||||
How to wire:
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||||
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||||
init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)
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Leg Hip Face Hip Leg
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__________ __________ _________________
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|(FLL)_____)(FLH) (FRH)(______(FRL)|
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|__| |left FRONT right| |__|
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||||
| |
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||||
| |
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||||
| |
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_________ | | __________
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|(BLL)_____)(BLH)______(BRH)(______(BRL)|
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|__| |__|
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*/
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robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
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delay(500);
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}
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void loop() {
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if (walk_forward) robot.walk(0);
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else if (walk_backward) robot.walk();
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else if (hello) robot.hello();
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else if (turn_left) robot.turnL(1, 550);
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else if (turn_right) robot.turnR(1, 550);
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else if (moonwalk) robot.moonwalk(1, 5000);
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else if (audience) robot.wave(1);
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else if (dance) robot.dance(1, 600);
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else if (omni) robot.omniWalk(1, 600, true, 1);
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else if (omni_left) robot.omniWalk(1, 600, false, 1);
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else if (PushUp) robot.pushUp(1, 600);
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else if (upDown) robot.upDown(1, 5000);
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else robot.home();
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}
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267
examples/WebInterface/WebInterface.ino
Normal file
267
examples/WebInterface/WebInterface.ino
Normal file
@ -0,0 +1,267 @@
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// Example of the LARS Movement library using the ESPUI Webinferface and the SimleExpressions Library by Lukas Bachschwell
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#include <SimpleExpressions.h>
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#include <WiFi.h>
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#include <ESPUI.h>
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#include <LARS.h>
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#define ledDataPin 2
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#define beeperPin 4
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#define echoPin 18
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#define triggerPin 19
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#define checkTime 500
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#define warningDistance 20
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long oldTime = 0;
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bool warning = false;
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const char* ssid = "Lars";
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LARS robot;
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boolean walk_forward = false;
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boolean walk_backward = false;
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boolean hello = false;
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boolean turn_left = false;
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boolean turn_right = false;
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boolean moonwalk = false;
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boolean audience = false;
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boolean omni = false;
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boolean omni_left = false;
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boolean dance = false;
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boolean upDown = false;
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boolean PushUp = false;
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void setup() {
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Serial.begin(115200);
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WiFi.mode(WIFI_AP);
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WiFi.setHostname(ssid);
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WiFi.softAP(ssid);
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Serial.println("");
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Serial.print("IP address: ");
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Serial.println(WiFi.softAPIP());
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ESPUI.pad("Walking Control", true, &walkingPad, COLOR_CARROT);
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ESPUI.pad("Wave some legs", false, &wavePad, COLOR_CARROT);
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ESPUI.button("Wave Button", &audienceWaveButton, COLOR_PETERRIVER);
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ESPUI.button("MoonWalk Button", &moonWalkButton, COLOR_PETERRIVER);
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ESPUI.button("Dance Button", &danceButton, COLOR_PETERRIVER);
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ESPUI.button("PushUp Button", &pushUpButton, COLOR_PETERRIVER);
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ESPUI.button("upDown Button", &upDownButton, COLOR_PETERRIVER);
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ESPUI.button("Slow Turn Right", &slowTurnRight, COLOR_PETERRIVER);
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ESPUI.button("Slow Turn left", &slowTurnLeft, COLOR_PETERRIVER);
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||||
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ESPUI.begin("Crabby Control");
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SimpleExpressions.init(ledDataPin, beeperPin);
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SimpleExpressions.clearMouth();
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SimpleExpressions.writeMouth("happySmall", 0, 0, 80);
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SimpleExpressions.playSound(S_SUPER_HAPPY);
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SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
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||||
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||||
|
||||
|
||||
/*
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||||
How to wire:
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||||
|
||||
init(FRH, FLH, BRH, BLH, FRL, FLL, BRL, BLL)
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||||
|
||||
Leg Hip Face Hip Leg
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||||
__________ __________ _________________
|
||||
|(FLL)_____)(FLH) (FRH)(______(FRL)|
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||||
|__| |left FRONT right| |__|
|
||||
| |
|
||||
| |
|
||||
| |
|
||||
_________ | | __________
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||||
|(BLL)_____)(BLH)______(BRH)(______(BRL)|
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||||
|__| |__|
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||||
|
||||
*/
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||||
|
||||
robot.init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
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||||
delay(1000);
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||||
}
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||||
|
||||
void loop() {
|
||||
if (millis() - oldTime > checkTime) {
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||||
checkDistance();
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||||
oldTime = millis();
|
||||
}
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||||
|
||||
if (walk_forward) robot.walk(0);
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||||
else if (walk_backward) robot.walk();
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||||
else if (hello) robot.hello();
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||||
else if (turn_left) robot.turnL(1, 550);
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||||
else if (turn_right) robot.turnR(1, 550);
|
||||
else if (moonwalk) robot.moonwalk(1, 5000);
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||||
else if (audience) robot.wave(1);
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||||
else if (dance) robot.dance(1, 600);
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||||
else if (omni) robot.omniWalk(1, 600, true, 1);
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||||
else if (omni_left) robot.omniWalk(1, 600, false, 1);
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||||
else if (PushUp) robot.pushUp(1, 600);
|
||||
else if (upDown) robot.upDown(1, 5000);
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||||
else robot.home();
|
||||
|
||||
}
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||||
|
||||
// UI Callbacks
|
||||
|
||||
void audienceWaveButton(Control c, int type) {
|
||||
if (type == B_DOWN) {
|
||||
audience = true;
|
||||
} else {
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||||
audience = false;
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||||
}
|
||||
}
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||||
|
||||
void moonWalkButton(Control c, int type) {
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||||
if (type == B_DOWN) {
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||||
moonwalk = true;
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||||
} else {
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||||
moonwalk = false;
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||||
}
|
||||
}
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||||
|
||||
void danceButton(Control c, int type) {
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if (type == B_DOWN) {
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dance = true;
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||||
} else {
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||||
dance = false;
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||||
}
|
||||
}
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||||
|
||||
void pushUpButton(Control c, int type) {
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||||
if (type == B_DOWN) {
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||||
PushUp = true;
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||||
} else {
|
||||
PushUp = false;
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||||
}
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||||
}
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||||
|
||||
void upDownButton(Control c, int type) {
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||||
if (type == B_DOWN) {
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||||
upDown = true;
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||||
} else {
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||||
upDown = false;
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||||
}
|
||||
}
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||||
|
||||
void slowTurnRight(Control c, int type) {
|
||||
if (type == B_DOWN) {
|
||||
omni = true;
|
||||
} else {
|
||||
omni = false;
|
||||
}
|
||||
}
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||||
|
||||
void slowTurnLeft(Control c, int type) {
|
||||
if (type == B_DOWN) {
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||||
omni_left = true;
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||||
} else {
|
||||
omni_left = false;
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||||
}
|
||||
}
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||||
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||||
void walkingPad(Control c, int value) {
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switch (value) {
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||||
case P_LEFT_DOWN:
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||||
turn_left = true;
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||||
break;
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||||
case P_LEFT_UP:
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||||
turn_left = false;
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||||
break;
|
||||
case P_RIGHT_DOWN:
|
||||
turn_right = true;
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||||
break;
|
||||
case P_RIGHT_UP:
|
||||
turn_right = false;
|
||||
break;
|
||||
case P_FOR_DOWN:
|
||||
walk_forward = true;
|
||||
break;
|
||||
case P_FOR_UP:
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||||
walk_forward = false;
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||||
break;
|
||||
case P_BACK_DOWN:
|
||||
walk_backward = true;
|
||||
break;
|
||||
case P_BACK_UP:
|
||||
walk_backward = false;
|
||||
break;
|
||||
case P_CENTER_DOWN:
|
||||
hello = true;
|
||||
break;
|
||||
case P_CENTER_UP:
|
||||
hello = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void wavePad(Control c, int value) {
|
||||
switch (value) {
|
||||
case P_LEFT_DOWN:
|
||||
robot.wave(1);
|
||||
break;
|
||||
case P_RIGHT_DOWN:
|
||||
robot.wave(2);
|
||||
break;
|
||||
case P_FOR_DOWN:
|
||||
robot.wave(3);
|
||||
break;
|
||||
case P_BACK_DOWN:
|
||||
robot.wave(4);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// Ultrasonic Sensor
|
||||
|
||||
void checkDistance() {
|
||||
int d = distance(triggerPin, echoPin);
|
||||
ESPUI.print("Distance", String(d));
|
||||
if (d < warningDistance) {
|
||||
delay(100);
|
||||
d = distance(triggerPin, echoPin);
|
||||
if (d < warningDistance) {
|
||||
if(!warning) {
|
||||
SimpleExpressions.writeMouth("sadFull", 100, 0, 0);
|
||||
SimpleExpressions.writeMouth("sadFull", 100, 0, 0); // only twice please
|
||||
}
|
||||
SimpleExpressions.playSound(S_CONFUSED);
|
||||
warning = true;
|
||||
}
|
||||
} else {
|
||||
if (warning) {
|
||||
SimpleExpressions.writeMouth("happyFull", 0, 60, 100);
|
||||
SimpleExpressions.writeMouth("happyFull", 0, 60, 100); // only twice please
|
||||
warning = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
long US_init(int trigger_pin, int echo_pin)
|
||||
{
|
||||
digitalWrite(trigger_pin, LOW);
|
||||
delayMicroseconds(2);
|
||||
digitalWrite(trigger_pin, HIGH);
|
||||
delayMicroseconds(10);
|
||||
digitalWrite(trigger_pin, LOW);
|
||||
|
||||
return pulseIn(echo_pin, HIGH, 100000);
|
||||
}
|
||||
|
||||
long distance(int trigger_pin, int echo_pin)
|
||||
{
|
||||
long microseconds = US_init(trigger_pin, echo_pin);
|
||||
long distance;
|
||||
distance = microseconds / 29 / 2;
|
||||
if (distance == 0) {
|
||||
distance = 999;
|
||||
}
|
||||
return distance;
|
||||
}
|
||||
65
img/blocks/LARS.svg
Normal file
65
img/blocks/LARS.svg
Normal file
@ -0,0 +1,65 @@
|
||||
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71
img/blocks/LARS_BLH.svg
Normal file
71
img/blocks/LARS_BLH.svg
Normal file
@ -0,0 +1,71 @@
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"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"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
566
lars_blocks.js
566
lars_blocks.js
@ -1,349 +1,225 @@
|
||||
/*
|
||||
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'),
|
||||
category_colour: Facilino.LANG_COLOUR_MOVEMENT,
|
||||
colour: Facilino.LANG_COLOUR_MOVEMENT_WALK,
|
||||
helpUrl: Facilino.getHelpUrl('LARS_init'),
|
||||
tags: [],
|
||||
examples: [],
|
||||
init: function () {
|
||||
this.appendDummyInput('').appendField(new Blockly.FieldImage('img/blocks/LARS.svg', 32*options.zoom, 32*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_ROBOT'));
|
||||
this.appendValueInput('FRH').appendField(new Blockly.FieldImage('img/blocks/LARS_FRH.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_FRH')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('BRH').appendField(new Blockly.FieldImage('img/blocks/LARS_BRH.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_BRH')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('BLH').appendField(new Blockly.FieldImage('img/blocks/LARS_BLH.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_BLH')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('FLH').appendField(new Blockly.FieldImage('img/blocks/LARS_FLH.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_FLH')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('FRL').appendField(new Blockly.FieldImage('img/blocks/LARS_FRL.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_FRL')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('BRL').appendField(new Blockly.FieldImage('img/blocks/LARS_BRL.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_BRL')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('BLL').appendField(new Blockly.FieldImage('img/blocks/LARS_BLL.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_BLL')).appendField(new Blockly.FieldImage('img/blocks/pwm_signal.svg', 24*options.zoom, 24*options.zoom)).setAlign(Blockly.ALIGN_RIGHT);
|
||||
this.appendValueInput('FLL').appendField(new Blockly.FieldImage('img/blocks/LARS_FLL.svg', 24*options.zoom, 24*options.zoom)).appendField(Facilino.locales.getKey('LANG_MOVEMENT_LARS_FLL')).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_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_init'] = function(block) {
|
||||
var code='';
|
||||
var input_FRH = Blockly.Arduino.valueToCode(this,'FRH',Blockly.Arduino.ORDER_ATOMIC) || '26';
|
||||
var input_FLH = Blockly.Arduino.valueToCode(this,'FLH',Blockly.Arduino.ORDER_ATOMIC) || '25';
|
||||
var input_BRH = Blockly.Arduino.valueToCode(this,'BRH',Blockly.Arduino.ORDER_ATOMIC) || '17';
|
||||
var input_BLH = Blockly.Arduino.valueToCode(this,'BLH',Blockly.Arduino.ORDER_ATOMIC) || '16';
|
||||
var input_FRL = Blockly.Arduino.valueToCode(this,'FRL',Blockly.Arduino.ORDER_ATOMIC) || '27';
|
||||
var input_FLL = Blockly.Arduino.valueToCode(this,'FLL',Blockly.Arduino.ORDER_ATOMIC) || '5';
|
||||
var input_BRL = Blockly.Arduino.valueToCode(this,'BRL',Blockly.Arduino.ORDER_ATOMIC) || '23';
|
||||
var input_BLL = Blockly.Arduino.valueToCode(this,'BLL',Blockly.Arduino.ORDER_ATOMIC) || '13';
|
||||
Blockly.Arduino.definitions_['define_lars_h'] = '#include <LARS.h>';
|
||||
Blockly.Arduino.definitions_['declare_var_define_lars']='LARS lars;\n';
|
||||
Blockly.Arduino.setups_['setup_lars_init'] = 'lars.init('+input_FRH+','+input_FLH+','+input_BRH+','+input_BLH+','+input_FRL+','+input_FLL+','+input_BRL+','+input_BLL+');\n';
|
||||
return code;
|
||||
};
|
||||
|
||||
}
|
||||
};
|
||||
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 <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;
|
||||
};
|
||||
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([[Facilino.locales.getKey('LANG_LARS_MOVEMENT_FORWARD'),'0'],[Facilino.locales.getKey('LANG_LARS_MOVEMENT_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([[Facilino.locales.getKey('LANG_LARS_MOVEMENT_YES'),'true'],[Facilino.locales.getKey('LANG_LARS_MOVEMENT_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');
|
||||
}
|
||||
}
|
||||
};
|
||||
@ -6,4 +6,4 @@ sentence=ESP32 Movement library for a simple 4 leg 8 servo crab like robot Libra
|
||||
paragraph=A library that creates simple commands for complex robotic movements of a 4 leg 8 servo crab when using the ESP32
|
||||
category=Signal Input/Output
|
||||
url=https://github.com/s00500/LARS
|
||||
architectures=ESP32
|
||||
architectures=*
|
||||
|
||||
43
src/LARS.cpp
43
src/LARS.cpp
@ -17,39 +17,22 @@
|
||||
|
||||
|
||||
LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
|
||||
board_pins[FRONT_RIGHT_HIP] = 26; // front right inner
|
||||
board_pins[FRONT_LEFT_HIP] = 25; // front left inner
|
||||
board_pins[BACK_RIGHT_HIP] = 17; // back right inner
|
||||
board_pins[BACK_LEFT_HIP] = 16; // back left inner
|
||||
board_pins[FRONT_RIGHT_LEG] = 27; // front right outer
|
||||
board_pins[FRONT_LEFT_LEG] = 5; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
|
||||
board_pins[BACK_RIGHT_LEG] = 23; // back right outer
|
||||
board_pins[BACK_LEFT_LEG] = 13; // back left outer
|
||||
}
|
||||
|
||||
void LARS::init() {
|
||||
/*
|
||||
trim[] for calibrating servo deviation,
|
||||
initial posture (home) should like below
|
||||
in symmetric
|
||||
\ /
|
||||
\_____/
|
||||
| |
|
||||
|_____|
|
||||
/ \
|
||||
/ \
|
||||
*/
|
||||
/*
|
||||
trim[FRONT_LEFT_HIP] = 0;
|
||||
trim[FRONT_RIGHT_HIP] = -8;
|
||||
trim[BACK_LEFT_HIP] = 8;
|
||||
trim[BACK_RIGHT_HIP] = 5;
|
||||
void LARS::init(){
|
||||
init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
|
||||
}
|
||||
|
||||
trim[FRONT_LEFT_LEG] = 2;
|
||||
trim[FRONT_RIGHT_LEG] = -6;
|
||||
trim[BACK_LEFT_LEG] = 6;
|
||||
trim[BACK_RIGHT_LEG] = 5;
|
||||
*/
|
||||
void LARS::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
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
oscillator[i].start();
|
||||
|
||||
@ -1,6 +1,12 @@
|
||||
#ifndef LARS_h
|
||||
#define LARS_h
|
||||
#include <ESP32_Servo.h>
|
||||
|
||||
#if defined(ESP32)
|
||||
#include <ESP32_Servo.h>
|
||||
#else
|
||||
#include <Servo.h>
|
||||
#endif
|
||||
|
||||
#include "Octosnake.h"
|
||||
|
||||
// servo index to board_pins
|
||||
@ -20,6 +26,7 @@ class LARS {
|
||||
public:
|
||||
LARS();
|
||||
void init();
|
||||
void init(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
|
||||
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);
|
||||
|
||||
Reference in New Issue
Block a user