cocorobolx/blockly/generators/arduino/motion_old.js

/**
 * @license Licensed under the Apache License, Version 2.0 (the "License"):
 *          http://www.apache.org/licenses/LICENSE-2.0
 */

/**
 * @fileoverview Code generator for the test 2 blocks.
 */
/*
'use strict';

goog.provide('Blockly.Python.motion');
goog.require('Blockly.Python');


Blockly.Python['motion_setup'] = function() {
    var motion_include ='  #include <RobotIRremote.h>\n' +
                        '  #include <RobotIRremoteInt.h>\n' +
                        '  #include <RobotIRremoteTools.h>\n\n' +
                        '  #include <RobotIRremote.h>\n' +
                        '  #include <RobotIRremoteInt.h>\n' + 
                        '  #include <RobotIRremoteTools.h>\n\n' +
                        '  #include "I2Cdev.h"\n' +
                        '  #include "MPU6050_6Axis_MotionApps20.h"\n' +
                        '  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE\n' +
                        '  #include "Wire.h"\n' +
                        '  #endif\n\n';
    Blockly.Python.addInclude('motion_include',motion_include);

    var motion_declaration_A ='  MPU6050 mpu;\n' +
                              '  #define OUTPUT_READABLE_QUATERNION\n\n' +
                              '  #define OUTPUT_READABLE_WORLDACCEL\n' +
                              '  #define OUTPUT_READABLE_REALACCEL\n' +
                              '  '
                              '  bool dmpReady = false;  // set true if DMP init was successful\n' +
                              '  uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU\n' +
                              '  uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)\n' +
                              '  uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)\n'+
                              '  uint16_t fifoCount;     // count of all bytes currently in FIFO\n' +
                              '  uint8_t fifoBuffer[64]; // FIFO storage buffer\n\n' +
                              '  Quaternion q;           // [w, x, y, z]         quaternion container\n' +
                              '  VectorInt16 aa;         // [x, y, z]            accel sensor measurements\n' +
                              '  VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements\n'+
                              '  VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements\n'+
                              '  VectorFloat gravity;    // [x, y, z]            gravity vector\n' +
                              '  float euler[3];         // [psi, theta, phi]    Euler angle container\n' +
                              '  float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector\n\n'+
                              '  volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high\n';
    Blockly.Python.addDeclaration('motion_declaration_A', motion_declaration_A);

    //var motion_declaration_B = '  const int MPU_addr=0x68;  // I2C address of the MPU-6050\n' +
    //                           '  int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;\n';
    //Blockly.Python.addDeclaration('motion_declaration_B', motion_declaration_B);


    var dmpDataReady = ' void dmpDataReady() {\n' +
                       '   mpuInterrupt = true;\n' +
                       ' }\n';
    Blockly.Python.addFunction('motion_dmpDateReady_function', dmpDataReady);

    var motion_setup =' #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE\n' +
                      '  Wire.begin();\n' +
                      '  TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)\n' +
                      ' #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE\n' +
                      '  Fastwire::setup(400, true);\n' +
                      ' #endif\n' +
                      ' mpu.initialize();\n' +
                      ' devStatus = mpu.dmpInitialize();\n' + 
                      ' mpu.setXGyroOffset(220);\n' +
                      ' mpu.setYGyroOffset(76);\n' +
                      ' mpu.setZGyroOffset(-85);\n' +
                      ' mpu.setZAccelOffset(1788);\n' +
                      ' if (devStatus == 0) {\n' +
                      '   mpu.setDMPEnabled(true);\n'+
                      '   attachInterrupt(0, dmpDataReady, RISING);\n' +
                      '   mpuIntStatus = mpu.getIntStatus();\n' +
                      '   dmpReady = true;\n' +
                      '   packetSize = mpu.dmpGetFIFOPacketSize();\n' +
                      ' } else {\n' +
                      ' }\n';
    Blockly.Python.addSetup('motion_setup',motion_setup);

    var motion_code = 'if (!dmpReady) return;\n' +
                      'if (mpu.getFIFOCount() >= packetSize) {\n' +
                      'mpu.getFIFOBytes(fifoBuffer, packetSize);\n' +
                      'mpu.dmpGetQuaternion(&q, fifoBuffer);\n' +
                      'mpu.dmpGetEuler(euler, &q);\n' +
                      '}\n' +
                      'mpuInterrupt = false;\n' +
                      'mpuIntStatus = mpu.getIntStatus();\n' +
                      'fifoCount = mpu.getFIFOCount();\n' +
                      'if ((mpuIntStatus & 0x10) || fifoCount == 1024) {\n' +
          // reset so we can continue cleanly
                      '  mpu.resetFIFO();\n' +
                      '} else if (mpuIntStatus & 0x02) {\n' +
                      '  while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();\n' +
                      '  mpu.getFIFOBytes(fifoBuffer, packetSize);\n' +
                      '  fifoCount -= packetSize;\n' +
                    // display quaternion values in easy matrix form: w x y z      
                      '  mpu.dmpGetQuaternion(&q, fifoBuffer);\n' +
                      '  mpu.dmpGetAccel(&aa, fifoBuffer);\n' +
                      '  mpu.dmpGetGravity(&gravity, &q);\n' +
                      '  mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);\n' +
                      '  mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);\n'+
                      '}\n';
    return motion_code;

    
};

Blockly.Python['motion_getRawData'] = function() {
    var dropdown_rawdatatype = block.getFieldValue('rawdatatype');
    var dropdown_rawdatalocate = block.getFieldValue('rawdatalocate');
    var code ='';
    if (dropdown_rawdatatype == 'motion_rawdata_accelerate') {
        code = 'aa';
    } else if (dropdown_rawdatatype == 'motion_rawdata_gyroscope') {
        code = '';
    }
    if (dropdown_rawdatalocate == 'motion_rawdata_x') {
       code +='.x\n';
    } else if (dropdown_rawdatalocate == 'motion_rawdata_y') {
       code +='.y\n';
    } else if (dropdown_rawdatalocate == 'motion_rawdata_z') {
       code +='.z\n';
    }
    return [code,Blockly.Python.ORDER_ATOMIC];
};
*/