/**
* @license Licensed under the Apache License, Version 2.0 (the "License"):
* http://www.apache.org/licenses/LICENSE-2.0
*/
/**
* @fileoverview Arduino code generator for the Servo library blocks.
* The Arduino Servo library docs: http://arduino.cc/en/reference/servo
*
* TODO: If angle selector added to blocks edit code here.
*/
'use strict';
goog.provide('Blockly.Python.servo');
goog.require('Blockly.Python');
/**
* Code generator to setup a servo.
* Arduino code: #include <Servo.h>
* Servo myServoX;
* @param {!Blockly.Block} block Block to generate the code from.
* @return {string} Completed code.
*/
Blockly.Python['servo_setup'] = function(block) {
//var pinKey = block.getFieldValue('SERVO_PIN');
//var servoName = 'myServo' + pinKey;
Blockly.Python.addInclude('servo', '#include <Servo.h>');
//Blockly.Python.addDeclaration('servo_' + pinKey, 'Servo ' + servoName + ';');
var code = '';
return code;
};
/**
* Code generator to set an angle (Y) value to a servo pin (X).
* Arduino code: #include <Servo.h>
* Servo myServoX;
* setup { myServoX.attach(X); }
* loop { myServoX.write(Y); }
* @param {!Blockly.Block} block Block to generate the code from.
* @return {string} Completed code.
*/
Blockly.Python['servo_write'] = function(block) {
var pinKey = block.getFieldValue('SERVO_PIN');
var servoAngle = Blockly.Python.valueToCode(
block, 'SERVO_ANGLE', Blockly.Python.ORDER_ATOMIC) || '90';
var servoName = 'myServo' + pinKey;
Blockly.Python.reservePin(
block, pinKey, Blockly.Python.PinTypes.SERVO, 'Servo Write');
Blockly.Python.addDeclaration('servo_' + pinKey, 'Servo ' + servoName + ';');
var setupCode = servoName + '.attach(' + pinKey + ');';
Blockly.Python.addSetup('servo_' + pinKey, setupCode, true);
var code = servoName + '.write(' + servoAngle + ')\n';
return code;
};
/**
* Code generator to read an angle value from a servo pin (X).
* Arduino code: #include <Servo.h>
* Servo myServoX;
* setup { myServoX.attach(X); }
* loop { myServoX.read(); }
* @param {!Blockly.Block} block Block to generate the code from.
* @return {array} Completed code with order of operation.
*/
Blockly.Python['servo_read'] = function(block) {
var pinKey = block.getFieldValue('SERVO_PIN');
var servoName = 'myServo' + pinKey;
Blockly.Python.reservePin(
block, pinKey, Blockly.Python.PinTypes.SERVO, 'Servo Read');
Blockly.Python.addDeclaration('servo_' + pinKey, 'Servo ' + servoName + ';');
var setupCode = servoName + '.attach(' + pinKey + ');';
Blockly.Python.addSetup('servo_' + pinKey, setupCode, true);
var code = servoName + '.read()';
return [code, Blockly.Python.ORDER_ATOMIC];
};
Blockly.Python['robot_setup'] = function(block) {
var YR_pin = block.getFieldValue('YR_PIN');
var YL_pin = block.getFieldValue('YL_PIN');
var RR_pin = block.getFieldValue('RR_PIN');
var RL_pin = block.getFieldValue('RL_PIN');
Blockly.Python.reservePin(
block, YR_pin, Blockly.Python.PinTypes.OUTPUT, 'YR_pin');
Blockly.Python.reservePin(
block, YL_pin, Blockly.Python.PinTypes.OUTPUT, 'YL_pin');
Blockly.Python.reservePin(
block, RR_pin, Blockly.Python.PinTypes.OUTPUT, 'RR_pin');
Blockly.Python.reservePin(
block, RL_pin, Blockly.Python.PinTypes.OUTPUT, 'RL_pin');
Blockly.Python.addInclude('servo', '#include <Servo.h>');
Blockly.Python.addInclude('oscillator', '#include <Oscillator.h>');
Blockly.Python.addInclude('EEPROM', '#include <EEPROM.h>');
Blockly.Python.addInclude('SERVO_QUANT_AMOUNTS', '#define N_SERVOS 4');
Blockly.Python.addInclude('EEPROM_TRIM', '#define EEPROM_TRIM false');
Blockly.Python.addInclude('SERVO_TRIMRR', '#define TRIM_RR 7');
Blockly.Python.addInclude('SERVO_TRIMRL', '#define TRIM_RL 4');
Blockly.Python.addInclude('SERVO_TRIMYR', '#define TRIM_YR 4');
Blockly.Python.addInclude('SERVO_TRIMYL', '#define TRIM_YL 7\n');
var robot_def = '#define PIN_YR ' + YR_pin + '\n' +
'#define PIN_YL ' + YL_pin + '\n' +
'#define PIN_RR ' + RR_pin + '\n' +
'#define PIN_RL ' + RL_pin + '\n' +
'#define INTERVALTIME 10.0\n\n' +
'Oscillator servo[N_SERVOS]\n\n' +
'void goingUp(int tempo)\n' +
'void drunk (int tempo)\n' +
'void noGravity(int tempo)\n' +
'void kickLeft(int tempo)\n' +
'void kickRight(int tempo)\n' +
'void run(int steps, int T = 500)\n' +
'void walk(int steps, int T = 1000)\n' +
'void backyard(int steps, int T = 3000)\n' +
'void backyardSlow(int steps, int T = 5000)\n' +
'void turnLeft(int steps, int T = 3000)\n' +
'void turnRight(int steps, int T = 3000)\n' +
'void moonWalkLeft(int steps, int T = 1000)\n' +
'void moonWalkRight(int steps, int T = 1000)\n' +
'void crusaito(int steps, int T = 1000)\n' +
'void swing(int steps, int T = 1000)\n' +
'void upDown(int steps, int T = 1000)\n' +
'void flapping(int steps, int T = 1000)\n';
Blockly.Python.addDeclaration('robot_def', robot_def);
var servo_setup = 'servo[0].attach(PIN_RR)\n' +
' servo[1].attach(PIN_RL)\n' +
' servo[2].attach(PIN_YR)\n' +
' servo[3].attach(PIN_YL);';
var trim_setup = 'int trim;';
var eeprom_setup = 'if (EEPROM_TRIM) {\n' +
' for (int x = 0; x < 4; x++) {\n' +
' trim = EEPROM.read(x)\n' +
' if (trim > 128)trim = trim - 256\n' +
' Serial.print("TRIM ")\n' +
' Serial.print(x)\n' +
' Serial.print(" en ")\n' +
' Serial.println(trim)\n' +
' servo[x].SetTrim(trim)\n }\n }\n' +
' else {\n' +
' servo[0].SetTrim(TRIM_RR)\n' +
' servo[1].SetTrim(TRIM_RL)\n' +
' servo[2].SetTrim(TRIM_YR)\n' +
' servo[3].SetTrim(TRIM_YL)\n }';
Blockly.Python.addSetup('servo_setup', servo_setup);
Blockly.Python.addSetup('trim_setup', trim_setup);
Blockly.Python.addSetup('eeprom_setup', eeprom_setup);
var dance = 'void dance() {' +
'\n for ( int i = 0; i < 4; i++ ) {' +
'\n servo[i].SetPosition(90)\n }' +
'\n primera_parte();' +
'\n segunda_parte();' +
'\n moonWalkLeft(4, t * 2);' +
'\n moonWalkRight(4, t * 2);' +
'\n moonWalkLeft(4, t * 2);' +
'\n moonWalkRight(4, t * 2);' +
'\n primera_parte();' +
'\n crusaito(1, t * 8);' +
'\n crusaito(1, t * 7);' +
'\n for (int i = 0; i < 16; i++) {' +
'\n flapping(1, t / 4);' +
'\n delay(3 * t / 4)\n }' +
'\n moonWalkRight(4, t * 2);' +
'\n moonWalkLeft(4, t * 2);' +
'\n moonWalkRight(4, t * 2);' +
'\n moonWalkLeft(4, t * 2);' +
'\n drunk(t * 4);' +
'\n drunk(t * 4);' +
'\n kickLeft(t);' +
'\n kickRight(t);' +
'\n delay(t * 4);' +
'\n drunk(t / 2);' +
'\n delay(t * 4);' +
'\n walk(2, t * 2);' +
'\n backyard(2, t * 2);' +
'\n goingUp(t * 2);' +
'\n goingUp(t * 1);' +
'\n noGravity(t * 2);' +
'\n crusaito(1, t * 2);' +
'\n crusaito(1, t * 8);' +
'\n crusaito(1, t * 2);' +
'\n crusaito(1, t * 8);' +
'\n crusaito(1, t * 2);' +
'\n crusaito(1, t * 3);' +
'\n delay(t);' +
'\n primera_parte();' +
'\n for (int i = 0; i < 32; i++) {' +
'\n flapping(1, t / 2);' +
'\n delay(t / 2)\n }' +
'\n for ( int i = 0; i < 4; i++ ) {' +
'\n servo[i].SetPosition(90)\n }\n}\n';
Blockly.Python.addFunction('dance', dance);
var oscillate = 'void oscillate(int A[N_SERVOS], int O[N_SERVOS], int T, double phase_diff[N_SERVOS]) {' +
'\n for (int i = 0; i < 4; i++) {' +
'\n servo[i].SetO(O[i]);' +
'\n servo[i].SetA(A[i]);' +
'\n servo[i].SetT(T);' +
'\n servo[i].SetPh(phase_diff[i])\n }' +
'\n double ref = millis();' +
'\n for (double x = ref; x < T + ref; x = millis()) {' +
'\n for (int i = 0; i < 4; i++) {' +
'\n servo[i].refresh();' +
'\n }' +
'\n }\n}';
Blockly.Python.addFunction('oscillate', oscillate);
var moveNServos = 'unsigned long final_time;' +
'\nunsigned long interval_time;' +
'\nint oneTime;' +
'\nint iteration;' +
'\nfloat increment[N_SERVOS];' +
'\nint oldPosition[] = {90, 90, 90, 90}\n\n' +
'void moveNServos(int time, int newPosition[]) {' +
'\n for (int i = 0; i < N_SERVOS; i++) increment[i] = ((newPosition[i]) - oldPosition[i]) / (time / INTERVALTIME);' +
'\n final_time = millis() + time;' +
'\n iteration = 1;' +
'\n while (millis() < final_time) { //Javi del futuro cambia esto' +
'\n interval_time = millis() + INTERVALTIME;' +
'\n oneTime = 0;' +
'\n while (millis() < interval_time) {' +
'\n if (oneTime < 1) {' +
'\n for (int i = 0; i < N_SERVOS; i++) {' +
'\n servo[i].SetPosition(oldPosition[i] + (iteration * increment[i]));' +
'\n }' +
'\n iteration++;' +
'\n oneTime++;' +
'\n }' +
'\n }' +
'\n }' +
'\n for (int i = 0; i < N_SERVOS; i++) {' +
'\n oldPosition[i] = newPosition[i];' +
'\n }\n}';
Blockly.Python.addFunction('moveNServos', moveNServos);
var goingUp = 'void goingUp(int tempo) {' +
'\n pause = millis();' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(80);' +
'\n servo[1].SetPosition(100);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(70);' +
'\n servo[1].SetPosition(110);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(60);' +
'\n servo[1].SetPosition(120);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(50);' +
'\n servo[1].SetPosition(130);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(40);' +
'\n servo[1].SetPosition(140);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(30);' +
'\n servo[1].SetPosition(150);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(20);' +
'\n servo[1].SetPosition(160);' +
'\n delay(tempo);' +
'\n while (millis() < pause + 8 * t)\n}';
Blockly.Python.addFunction('goingUp', goingUp);
var primera_parte = 'void primera_parte() {' +
'\n int move1[4] = {60, 120, 90, 90};' +
'\n int move2[4] = {90, 90, 90, 90};' +
'\n int move3[4] = {40, 140, 90, 90};' +
'\n for (int x = 0; x < 3; x++) {' +
'\n for (int i = 0; i < 3; i++) {' +
'\n lateral_fuerte(1, t / 2);' +
'\n lateral_fuerte(0, t / 4);' +
'\n lateral_fuerte(1, t / 4);' +
'\n delay(t)\n }' +
'\n pause = millis();' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n moveNServos(t * 0.4, move1);' +
'\n moveNServos(t * 0.4, move2);' +
'\n while (millis() < (pause + t * 2))\n }' +
'\n for (int i = 0; i < 2; i++) {' +
'\n lateral_fuerte(1, t / 2);' +
'\n lateral_fuerte(0, t / 4);' +
'\n lateral_fuerte(1, t / 4);' +
'\n delay(t)\n }' +
'\n pause = millis();' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n crusaito(1, t * 1.4);' +
'\n moveNServos(t * 1, move3);' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n while (millis() < (pause + t * 4))\n}';
Blockly.Python.addFunction('primera_parte', primera_parte);
var segunda_parte = 'void segunda_parte() {' +
'\n int move1[4] = {90, 90, 80, 100};' +
'\n int move2[4] = {90, 90, 100, 80};' +
'\n int move3[4] = {90, 90, 80, 100};' +
'\n int move4[4] = {90, 90, 100, 80};' +
'\n int move5[4] = {40, 140, 80, 100};' +
'\n int move6[4] = {40, 140, 100, 80};' +
'\n int move7[4] = {90, 90, 80, 100};' +
'\n int move8[4] = {90, 90, 100, 80};' +
'\n int move9[4] = {40, 140, 80, 100};' +
'\n int move10[4] = {40, 140, 100, 80};' +
'\n int move11[4] = {90, 90, 80, 100};' +
'\n int move12[4] = {90, 90, 100, 80};' +
'\n for (int x = 0; x < 7; x++) {' +
'\n for (int i = 0; i < 3; i++) {' +
'\n pause = millis();' +
'\n moveNServos(t * 0.15, move1);' +
'\n moveNServos(t * 0.15, move2);' +
'\n moveNServos(t * 0.15, move3);' +
'\n moveNServos(t * 0.15, move4);' +
'\n while (millis() < (pause + t))\n }' +
'\n pause = millis();' +
'\n moveNServos(t * 0.15, move5);' +
'\n moveNServos(t * 0.15, move6);' +
'\n moveNServos(t * 0.15, move7);' +
'\n moveNServos(t * 0.15, move8);' +
'\n while (millis() < (pause + t))\n }' +
'\n for (int i = 0; i < 3; i++) {' +
'\n pause = millis();' +
'\n moveNServos(t * 0.15, move9);' +
'\n moveNServos(t * 0.15, move10);' +
'\n moveNServos(t * 0.15, move11);' +
'\n moveNServos(t * 0.15, move12);' +
'\n while (millis() < (pause + t));' +
'\n }\n}';
Blockly.Python.addFunction('segunda_parte', segunda_parte);
var lateral_fuerte = 'void lateral_fuerte(boolean side, int tempo) {' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n if (side) servo[0].SetPosition(40);' +
'\n else servo[1].SetPosition(140);' +
'\n delay(tempo / 2);' +
'\n servo[0].SetPosition(90);' +
'\n servo[1].SetPosition(90);' +
'\n delay(tempo / 2)\n}';
Blockly.Python.addFunction('lateral_fuerte', lateral_fuerte);
var drunk = 'void drunk (int tempo) {' +
'\n pause = millis();' +
'\n int move1[] = {60, 70, 90, 90};' +
'\n int move2[] = {110, 120, 90, 90};' +
'\n int move3[] = {60, 70, 90, 90};' +
'\n int move4[] = {110, 120, 90, 90};' +
'\n moveNServos(tempo * 0.235, move1);' +
'\n moveNServos(tempo * 0.235, move2);' +
'\n moveNServos(tempo * 0.235, move3);' +
'\n moveNServos(tempo * 0.235, move4);' +
'\n while (millis() < (pause + tempo))\n}';
Blockly.Python.addFunction('drunk', drunk);
var noGravity = 'void noGravity(int tempo) {' +
'\n int move1[4] = {120, 140, 90, 90};' +
'\n int move2[4] = {140, 140, 90, 90};' +
'\n int move3[4] = {120, 140, 90, 90};' +
'\n int move4[4] = {90, 90, 90, 90};' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n for (int i = 0; i < N_SERVOS; i++) oldPosition[i] = 90;' +
'\n moveNServos(tempo * 2, move1);' +
'\n moveNServos(tempo * 2, move2);' +
'\n delay(tempo * 2);' +
'\n moveNServos(tempo * 2, move3);' +
'\n moveNServos(tempo * 2, move4)\n}';
Blockly.Python.addFunction('noGravity', noGravity);
var kickLeft = 'void kickLeft(int tempo) {' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(50);' +
'\n servo[1].SetPosition(70);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(80);' +
'\n servo[1].SetPosition(70);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(30);' +
'\n servo[1].SetPosition(70);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(80);' +
'\n servo[1].SetPosition(70);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(30);' +
'\n servo[1].SetPosition(70);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(80);' +
'\n servo[1].SetPosition(70);' +
'\n delay(tempo)\n}';
Blockly.Python.addFunction('kickLeft', kickLeft);
var kickRight = 'void kickRight(int tempo) {' +
'\n for (int i = 0; i < 4; i++) servo[i].SetPosition(90);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(110);' +
'\n servo[1].SetPosition(130);' +
'\n delay(tempo);' +
'\n servo[0].SetPosition(110);' +
'\n servo[1].SetPosition(100);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(110);' +
'\n servo[1].SetPosition(150);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(110);' +
'\n servo[1].SetPosition(80);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(110);' +
'\n servo[1].SetPosition(150);' +
'\n delay(tempo / 4);' +
'\n servo[0].SetPosition(110);' +
'\n servo[1].SetPosition(100);' +
'\n delay(tempo)\n}';
Blockly.Python.addFunction('kickRight', kickRight);
var walk = 'void walk(int steps, int T) {' +
'\n int A[4] = {15, 15, 30, 30};' +
'\n int O[4] = {0, 0, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('walk', walk);
var run = 'void run(int steps, int T) {' +
'\n int A[4] = {10, 10, 10, 10};' +
'\n int O[4] = {0, 0, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('run', run);
var backyard = 'void backyard(int steps, int T) {' +
'\n int A[4] = {15, 15, 30, 30};' +
'\n int O[4] = {0, 0, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('backyard', backyard);
var backyardSlow = 'void backyardSlow(int steps, int T) {' +
'\n int A[4] = {15, 15, 30, 30};' +
'\n int O[4] = {0, 0, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(-90), DEG2RAD(-90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('backyardSlow', backyardSlow);
var turnLeft = 'void turnLeft(int steps, int T) {' +
'\n int A[4] = {20, 20, 10, 30};' +
'\n int O[4] = {0, 0, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('turnLeft', turnLeft);
var turnRight = 'void turnRight(int steps, int T) {' +
'\n int A[4] = {20, 20, 30, 10};' +
'\n int O[4] = {0, 0, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('turnRight', turnRight);
var moonWalkRight = 'void moonWalkRight(int steps, int T) {' +
'\n int A[4] = {25, 25, 0, 0};' +
'\n int O[4] = { -15 , 15, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('turnRight', turnRight);
var moonWalkLeft = 'void moonWalkLeft(int steps, int T) {' +
'\n int A[4] = {25, 25, 0, 0};' +
'\n int O[4] = { -15, 15, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 - 120), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('turnRight', turnRight);
var crusaito = 'void crusaito(int steps, int T) {' +
'\n int A[4] = {25, 25, 30, 30};' +
'\n int O[4] = { - 15, 15, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180 + 120), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('crusaito', crusaito);
var swing = 'void swing(int steps, int T) {' +
'\n int A[4] = {25, 25, 0, 0};' +
'\n int O[4] = { -15, 15, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(0), DEG2RAD(90), DEG2RAD(90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('swing', swing);
var upDown = 'void upDown(int steps, int T) {' +
'\n int A[4] = {25, 25, 0, 0};' +
'\n int O[4] = { -15, 15, 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(180), DEG2RAD(0), DEG2RAD(270), DEG2RAD(270)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('upDown', upDown);
var flapping = 'void flapping(int steps, int T) {' +
'\n int A[4] = {15, 15, 8, 8};' +
'\n int O[4] = { -A[0], A[1], 0, 0};' +
'\n double phase_diff[4] = {DEG2RAD(0), DEG2RAD(180), DEG2RAD(90), DEG2RAD(-90)};' +
'\n for (int i = 0; i < steps; i++)oscillate(A, O, T, phase_diff)\n}';
Blockly.Python.addFunction('flapping', flapping);
}
Blockly.Python['robot_set_movement'] = function(block) {
var value_movement = Blockly.Python.valueToCode(block, 'MOVEMENT', Blockly.Python.ORDER_ATOMIC);
var value_tempo = Blockly.Python.valueToCode(block, 'TEMPO', Blockly.Python.ORDER_ATOMIC);
var robot_setmovement_def = 'int t = ' + value_tempo + '\n' +
'double pause = 0\n';
Blockly.Python.addDeclaration('robot_setmovement_def', robot_setmovement_def);
var steps = "";
switch (value_movement) {
case "goingUp":
case "drunk":
case "kickLeft":
case "kickRight":
steps = '(';
break;
default:
steps = '(1, ';
break;
}
var code = value_movement + steps + ' 2*t)\n';
return code;
};
Blockly.Python['robot_movement'] = function(block) {
var dropdown_movement = block.getFieldValue('MOVEMENT');
var code = dropdown_movement;
return [code, Blockly.Python.ORDER_ATOMIC];
};
Blockly.Python['robot_tempo'] = function(block) {
var number_tempo = block.getFieldValue('TEMPO');
var code = number_tempo;
return [code, Blockly.Python.ORDER_ATOMIC];
};