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LARS
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LARS/lars_blocks.js

225 lines
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JavaScript
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Facilino.LANG_COLOUR_MOVEMENT = '#CECE42';
Facilino.LANG_COLOUR_MOVEMENT_WALK = '#8D8D25';
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.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.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');
}
}
};
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