cocorobolx/blockly/generators/arduino/motor.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.motor');
goog.require('Blockly.Python');

// Blockly.Python['ultrasonicavoidingrobot'] = function(block) {
//   var text_uarechopin = block.getFieldValue('uarEchoPin');
//   var text_uartrigpin = block.getFieldValue('uarTrigPin');
//   var number_uarspeed = block.getFieldValue('uarSpeed');
//   var number_uardistance = block.getFieldValue('uarDistance');
//   var uarMovementEntity;

//   var uarDeclaration =  '#include <NewPing.h>\n' +
//                         '#define stA ' + text_uartrigpin + '\n' +
//                         '#define seA ' + text_uarechopin + '\n' +
//                         '#define MAX_DISTANCE  100\n' +
//                         'int PWMA = 5;\n' + //speed control
//                         'int PWMB = 6;\n' + 
//                         'int AIN2 = 10;\n' + //direction
//                         'int AIN1 = 9;\n' +
//                         'int BIN1 = 4;\n' + //direction
//                         'int BIN2 = 8;\n' + 
//                         'int RA = 0;\n' + //init rate
//                         'int RB = 0;\n' +
//                         'int STBY = A5;\n' + //stand-by
//                         'int carSpeedSonar;\n' +
//                         'volatile int state = LOW;\n' +
//                         'NewPing sonarHead(stA, seA, MAX_DISTANCE);\n';

//   var uarSetup = 'pinMode(STBY, OUTPUT);\n' +
//                  'pinMode(PWMA, OUTPUT);\n' +
//                  'pinMode(AIN1, OUTPUT);\n' +
//                  'pinMode(AIN2, OUTPUT);\n' +
//                  'pinMode(PWMB, OUTPUT);\n' +
//                  'pinMode(BIN1, OUTPUT);\n' +
//                  'pinMode(BIN2, OUTPUT);\n' +
//                  'Serial.begin(115200);\n';

//   var uarStop = 'void Stop() {\n' +
//                 'move(1, 0, 2); //motor 1, full speed, left\n' +
//                 'move(2, 0, 2); //motor 2, full speed, left\n' +
//                 '}\n';

//   var uarMove = 'void move(int motor, int speed, int direction)\n' +
//                 '{\n' +
//                 '  digitalWrite(STBY, HIGH); //disable standby\n' +
//                 '\n' +
//                 '  boolean inPin1 = LOW;\n' +
//                 '  boolean inPin2 = HIGH;\n' +
//                 '\n' +
//                 '  if (direction == 1) {\n' +
//                 '    inPin1 = HIGH;\n' +
//                 '    inPin2 = LOW;\n' +
//                 '  }\n' +
//                 '\n' +
//                 '  if (motor == 1) {\n' +
//                 '    digitalWrite(AIN1, inPin1);\n' +
//                 '    digitalWrite(AIN2, inPin2);\n' +
//                 '    analogWrite(PWMA, speed);\n' +
//                 '  } else {\n' +
//                 '    digitalWrite(BIN1, inPin1);\n' +
//                 '    digitalWrite(BIN2, inPin2);\n' +
//                 '    analogWrite(PWMB, speed);\n' +
//                 '  }\n' +
//                 '}\n';

//   Blockly.Python.addDeclaration('uarDeclaration', uarDeclaration);
//   Blockly.Python.addSetup('uarSetupn', uarSetup);
//   Blockly.Python.addFunction('uarStop', uarStop);
//   Blockly.Python.addFunction('uarMove', uarMove);

//   var code =  'int dist = sonarHead.ping_cm();\n' +
//               'int threshold = ' + number_uardistance + '; \n' +
//               '// adjustable\n' +
//               'carSpeedSonar = ' + number_uarspeed + '; \n' +
//               'move(1, carSpeedSonar, 0); //motor 1, full speed, left\n' +
//               'move(0, carSpeedSonar, 0); //motor 2, full speed, left\n' +
//               'if ( dist < threshold && dist > 0 ) {\n';



//   return code;
// };

// Blockly.Python['uardirectionforward'] = function(block) {
//   var number_uardirduration = block.getFieldValue('uarDirDuration');
//   var uarDurationSec = number_uardirduration * 1000;
//   // TODO: Assemble JavaScript into code variable.
//   var code = 'move(1, carSpeedSonar, 0); //motor 1, full speed, left\n' +
//              'move(0, carSpeedSonar, 0); //motor 2, full speed, left\n' +
//              'delay(' + uarDurationSec + ');\n';
//   return code;
// };

// Blockly.Python['uardirectionbackward'] = function(block) {
//   var number_uardirduration = block.getFieldValue('uarDirDuration');
//   var uarDurationSec = number_uardirduration * 1000;
//   // TODO: Assemble JavaScript into code variable.
//   var code = 'move(1, carSpeedSonar, 1); //motor 1, full speed, left\n' +
//              'move(0, carSpeedSonar, 1); //motor 2, full speed, left\n' +
//              'delay(' + uarDurationSec + ');\n';
//   return code;
// };

// Blockly.Python['uardirectionleft'] = function(block) {
//   var number_uardirduration = block.getFieldValue('uarDirDuration');
//   var uarDurationSec = number_uardirduration * 1000;
//   // TODO: Assemble JavaScript into code variable.
//   var code = 'move(1, carSpeedSonar, 1); //motor 1, full speed, left\n' +
//              'move(0, carSpeedSonar, 0); //motor 2, full speed, left\n' +
//              'delay(' + uarDurationSec + ');\n';
//   return code;
// };

// Blockly.Python['uardirectionright'] = function(block) {
//   var number_uardirduration = block.getFieldValue('uarDirDuration');
//   var uarDurationSec = number_uardirduration * 1000;
//   // TODO: Assemble JavaScript into code variable.
//   var code = 'move(1, carSpeedSonar, 0); //motor 1, full speed, left\n' +
//              'move(0, carSpeedSonar, 1); //motor 2, full speed, left\n' +
//              'delay(' + uarDurationSec + ');\n';
//   return code;
// };

// Blockly.Python['uarfinishsetup'] = function(block) {
//   // TODO: Assemble JavaScript into code variable.
//   var code = '}\n';
//   return code;
// };

// Blockly.Python['motor_setup'] = function(block) {                       
//   var motor_LT_decl =  '#define SWITCHA                 12\n' +
//                        '#define SWITCHB                 13\n' +
//                        'int  LightAnalogValue_A, LightAnalogValue_B;\n';
//   Blockly.Python.addDeclaration('motor_LT_decl', motor_LT_decl);
  
//   //motor A & B setup
//   var motor_AB_decl = 'int PWMA = 5;\n' + //speed control
//                        'int PWMB = 6;\n' + 
//                        'int AIN2 = 10;\n' + //direction
//                        'int AIN1 = 9;\n' +
//                        'int BIN1 = 4;\n' + //direction
//                        'int BIN2 = 8;\n' + 
//                        'int RA = 0;\n' + //init rate
//                        'int RB = 0;\n' +
//                        'int STBY = A5;\n' + //stand-by
//                        'volatile int state = LOW;\n' +
//                        'int threshold  = 500;\n' + //speed control
//                        'int carSpeed = 100, speedLeft = 100, speedRight = 100;';
//   Blockly.Python.addDeclaration('motor_AB_decl', motor_AB_decl);                       
 
//   var motor_AB_setup = 'pinMode(STBY, OUTPUT);\n' +
//                        'pinMode(PWMA, OUTPUT);\n' +
//                        'pinMode(AIN1, OUTPUT);\n' +
//                        'pinMode(AIN2, OUTPUT);\n' +
//                        'pinMode(PWMB, OUTPUT);\n' +
//                        'pinMode(BIN1, OUTPUT);\n' +
//                        'pinMode(BIN2, OUTPUT);\n' +
//                        'pinMode(A3, INPUT);\n' +
//                        'pinMode(SWITCHA, INPUT);\n' +
//                        'pinMode(3, INPUT);\n' +
//                        'Serial.begin(9600);\n';
//   Blockly.Python.addSetup('motor_AB_setup', motor_AB_setup);
                       
//   var motor_setup = 'gotOne = false;\ngotNew = false;\n' +
//                     'codeProtocol = UNKNOWN;\n' +
//                     'codeValue = 0;\n' +
//                     'Serial.begin(9600);\n' +
//                     'delay(2000);\n' +
//                     'myReceiver.enableIRIn();\n'; //Start the receiver
//   // Blockly.Python.addSetup('motor_setup', motor_setup);
//   var motor_stop = 'void Stop() {\n' +
//                     '  move(1, 0, 2); //motor 1, full speed, left\n' +
//                     '  move(2, 0, 2); //motor 2, full speed, left\n' +
//                     '  // delay(200);\n' +
//                     '}\n';
//   Blockly.Python.addFunction('motor_stop', motor_stop);
//   var motor_move_code = 'void move(int motor, int speed, int direction)\n' +
//                         '{\n' +
//                         '  digitalWrite(STBY, HIGH); //disable standby\n' +
//                         '\n' +
//                         '  boolean inPin1 = LOW;\n' +
//                         '  boolean inPin2 = HIGH;\n' +
//                         '\n' +
//                         '  if (direction == 1) {\n' +
//                         '    inPin1 = HIGH;\n' +
//                         '    inPin2 = LOW;\n' +
//                         '  }\n' +
//                         '\n' +
//                         '  if (motor == 1) {\n' +
//                         '    digitalWrite(AIN1, inPin1);\n' +
//                         '    digitalWrite(AIN2, inPin2);\n' +
//                         '    analogWrite(PWMA, speed);\n' +
//                         '  } else {\n' +
//                         '    digitalWrite(BIN1, inPin1);\n' +
//                         '    digitalWrite(BIN2, inPin2);\n' +
//                         '    analogWrite(PWMB, speed);\n' +
//                         '  }\n' +
//                         '}\n';
//   Blockly.Python.addFunction('motor_move_code', motor_move_code);
//   var motor_adjustLeft = 'void adjustLeft() {\n' +
//                           '  move(2, speedLeft, 2); \n' +
//                           '  move(1, speedRight, 1); \n' +
//                           '  // delay(100);\n' +
//                           '}\n';
//   var motor_adjustRight = 'void adjustRight() {\n' +
//                           '  move(1, speedLeft, 2); \n' +
//                           '  move(2, speedRight, 1);\n' +
//                           '  // delay(100);\n' +
//                           '}\n';
//   var motor_goStraight = 'void goStraight() {\n' +
//                           '  move(1, speedLeft, 2); //motor 1, full speed, left\n' +
//                           '  move(2, speedRight, 2); //motor 2, full speed, left\n' +
//                           '  // delay(200);\n' +
//                           '}\n';
//   var motor_reverse = 'void reverse() {\n' +
//                       '  move(1, speedLeft, 1);\n' +
//                       '  move(2, speedRight, 1);\n' +
//                       '}\n';
//   Blockly.Python.addFunction('motor_adjustLeft', motor_adjustLeft);
//   Blockly.Python.addFunction('motor_adjustRight', motor_adjustRight);
//   Blockly.Python.addFunction('motor_goStraight', motor_goStraight);
//   Blockly.Python.addFunction('motor_reverse', motor_reverse);
//   return '';
// };

Blockly.Python['motor_setup'] = function() {
  var stby_def = 'int STBY = A5;';
  var motor_A_def = '// Motor A Definition\n' +
                    'int PWMA = 5;  // Speed control\n' +
                    'int AIN1 = 9;  // Direction\n' +
                    'int AIN2 = 10;  // Direction';
  var motor_B_def = '// Motor B Definition\n' +
                    'int PWMB = 6;  // Speed control\n' +
                    'int BIN1 = 4;  // Direction\n' +
                    'int BIN2 = 8;  // Direction\n';
  Blockly.Python.addDeclaration('STBY_define', stby_def);
  Blockly.Python.addDeclaration('motor_A_define', motor_A_def);
  Blockly.Python.addDeclaration('motor_B_define', motor_B_def);

  var stby_setup = 'pinMode(STBY, OUTPUT);';
  var motor_A_setup = '// Motor A Setup\n' +
                      '  pinMode(PWMA, OUTPUT);\n' +
                      '  pinMode(AIN1, OUTPUT);\n' +
                      '  pinMode(AIN2, OUTPUT);';
  var motor_B_setup = '// Motor B Setup\n' +
                      '  pinMode(PWMB, OUTPUT);\n' +
                      '  pinMode(BIN1, OUTPUT);\n' +
                      '  pinMode(BIN2, OUTPUT);';
  Blockly.Python.addSetup('stby_setup', stby_setup);
  Blockly.Python.addSetup('motor_A_setup', motor_A_setup);
  Blockly.Python.addSetup('motor_B_setup', motor_B_setup);

  var move_func = 'void move(int motor, int speed, int direction) {\n' +
                  '  //Move specific motor at speed and direction\n' +
                  '  //motor: 0 for B 1 for A\n' +
                  '  //speed: 0 is off, and 255 is full speed\n' +
                  '  //direction: 0 clockwise, 1 counter-clockwise\n' +
                  '  digitalWrite(STBY, HIGH);  //disable standby\n' +
                  '  boolean inPin1 = LOW;\n' +
                  '  boolean inPin2 = HIGH;\n' +
                  '  if (direction == 1) {\n' +
                  '    inPin1 = HIGH;\n' +
                  '    inPin2 = LOW;\n  }\n' +
                  '  if (motor == 1) {\n' +
                  '    digitalWrite(AIN1, inPin1);\n' +
                  '    digitalWrite(AIN2, inPin2);\n' +
                  '    analogWrite(PWMA, speed);\n' +
                  '  } else {\n' +
                  '    digitalWrite(BIN1, inPin1);\n' +
                  '    digitalWrite(BIN2, inPin2);\n' +
                  '    analogWrite(PWMB, speed);\n  }\n}';
  Blockly.Python.addFunction('motor_move_function', move_func);

  var stop_func = 'void stop() {\n' +
                  '  //enable standby\n' +
                  '  digitalWrite(STBY, LOW);\n' +
                  '}';
  Blockly.Python.addFunction('motor_stop_function', stop_func);

  return '';
}

Blockly.Python['motor_speed'] = function(block) {
  var number_speed = block.getFieldValue('SPEED');
  var code = number_speed;
  return [code, Blockly.Python.ORDER_NONE];
}

Blockly.Python['motorA_move_clockwise'] = function(block) {
  var dropdown_motor = block.getFieldValue('MOTOR');
  var value_speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_ATOMIC);
  var dropdown_direction = block.getFieldValue('DIRECTION');
  var code = 'move('+dropdown_motor+','+value_speed+','+dropdown_direction+');\n';
  return code;
}

Blockly.Python['motorA_move_anticlockwise'] = function(block) {
  var dropdown_motor = block.getFieldValue('MOTOR');
  var value_speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_ATOMIC);
  var dropdown_direction = block.getFieldValue('DIRECTION');
  var code = 'move('+dropdown_motor+','+value_speed+','+dropdown_direction+');\n';
  return code;
}

Blockly.Python['motorB_move_clockwise'] = function(block) {
  var dropdown_motor = block.getFieldValue('MOTOR');
  var value_speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_ATOMIC);
  var dropdown_direction = block.getFieldValue('DIRECTION');
  var code = 'move('+dropdown_motor+','+value_speed+','+dropdown_direction+');\n';
  return code;
}

Blockly.Python['motorB_move_anticlockwise'] = function(block) {
  var dropdown_motor = block.getFieldValue('MOTOR');
  var value_speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_ATOMIC);
  var dropdown_direction = block.getFieldValue('DIRECTION');
  var code = 'move('+dropdown_motor+','+value_speed+','+dropdown_direction+');\n';
  return code;
}

Blockly.Python['motor_stop'] = function(block) {
  var code = 'stop();\n';
  return code;
}

// //TODO: remote control button setup
// Blockly.Python['motor_remote_setup'] = function(block) {

//   //Blockly.Python.addDeclaration('remote_button_setup', remote_button_decl);
//   var dropdown_run = block.getFieldValue('run');
//   var dropdown_reverse = block.getFieldValue('reverse');
//   var dropdown_turn_left = block.getFieldValue('turn_left');
//   var dropdown_turn_right = block.getFieldValue('turn_right');
//   var dropdown_stop = block.getFieldValue('stop');
//   var dropdown_speed_0 = block.getFieldValue('speed_0');
//   var dropdown_speed_80 = block.getFieldValue('speed_80');
//   var dropdown_speed_100 = block.getFieldValue('speed_100');
//   var dropdown_speed_120 = block.getFieldValue('speed_120');

//   var button_setup = '#define FW    '+dropdown_run+'\n' +
//                              '#define BW    '+dropdown_reverse+'\n' +
//                              '#define LT    '+dropdown_turn_left+'\n' +
//                              '#define RT    '+dropdown_turn_right+'\n' +
//                              '#define ST    '+dropdown_stop+'\n' +
//                              '#define SPD0    '+dropdown_speed_0+'\n' +
//                              '#define SPD1    '+dropdown_speed_80+'\n' +
//                              '#define SPD2    '+dropdown_speed_100+'\n' +
//                              '#define SPD3    '+dropdown_speed_120+'\n';
//   Blockly.Python.addDeclaration('button_setup', button_setup);

//   var ir_setup = 'int bufTime = 20;';
//   Blockly.Python.addDeclaration('ir_setup', ir_setup);
//   var sendCode = 'void sendCode(void) {\n' +
//               '  if ( !gotNew ) { //We have already sent this so handle toggle bits\n' +
//               '    if (codeProtocol == RC5) {\n' +
//               '      codeValue ^= 0x0800;\n' +
//               '    }\n' +
//               '    else if (codeProtocol == RC6) {\n' +
//               '      switch (codeBits) {\n' +
//               '        case 20: codeValue ^= 0x10000; break;\n' +
//               '        case 24: codeValue ^= 0x100000; break;\n' +
//               '        case 28: codeValue ^= 0x1000000; break;\n' +
//               '        case 32: codeValue ^= 0x8000; break;\n' +
//               '      }\n' +
//               '    }\n' +
//               '  }\n' +
//               '  gotNew = false;\n' +
//               '  if (codeProtocol == UNKNOWN) {\n' +
//               '    //The raw time values start in decodeBuffer[1] because\n' +
//               '    //the [0] entry is the gap between frames. The address\n' +
//               '    //is passed to the raw send routine.\n' +
//               '    // codeValue = (uint32_t) & (recvGlobal.decodeBuffer[1]);\n' +
//               '    //This is not really number of bits. It is the number of entries\n' +
//               '    //in the buffer.\n' +
//               '    codeBits = recvGlobal.decodeLength - 1;\n' +
//               '    Serial.println(F("Sent raw"));\n' +
//               '  }\n' +
//               '  mySender.send(codeProtocol, codeValue, codeBits);\n' +
//               '  if (codeProtocol == UNKNOWN) return;\n' +
//               '  Serial.print(F("Sent "));\n' +
//               '  Serial.print(Pnames(codeProtocol));\n' +
//               '  Serial.print(F(" Value:0x"));\n' +
//               '  Serial.println(codeValue, HEX);\n' +
//               '}\n' +
//               '\n';
//     Blockly.Python.addFunction('sendCode', sendCode);
//     var storeCode =  'void storeCode(void) {\n' +
//               '  gotNew = true;    gotOne = true;\n' +
//               '  codeProtocol = myDecoder.protocolNum;\n' +
//               '  Serial.print(F("Received "));\n' +
//               '  Serial.print(Pnames(codeProtocol));\n' +
//               '  if (codeProtocol == UNKNOWN) {\n' +
//               '    Serial.println(F(" saving raw data."));\n' +
//               '    // myDecoder.dumpResults();\n' +
//               '    // codeValue = myDecoder.value;\n' +
//               '  }\n' +
//               '  else {\n' +
//               '    if (myDecoder.value == REPEAT_CODE) {\n' +
//               '      // Do not record a NEC repeat value as that is useless.\n' +
//               '      Serial.println(F("repeat; ignoring."));\n' +
//               '    } else {\n' +
//               '      codeValue = myDecoder.value;\n' +
//               '      codeBits = myDecoder.bits;\n' +
//               '    }\n' +
//               '    Serial.print(F(" Value:0x"));\n' +
//               '    Serial.println(codeValue, HEX);\n' +
//               '  }\n' +
//               '}\n' +
//               '\n';
//     Blockly.Python.addFunction('storeCode', storeCode);
//     var speedProc = 'void speedProc() {\n' +
//               '  switch(myDecoder.value)\n' +
//               '  {\n' +
//               '    case SPD0:\n' +
//               '      stop();\n' +
//               '      delay(20);\n' +
//               '      carSpeed = 0;\n' +
//               '      break;\n' +
//               '    case SPD1:\n' +
//               '      stop();\n' +
//               '      delay(20);\n' +
//               '      carSpeed = 80;\n' +
//               '      break;\n' +
//               '    case SPD2:\n' +
//               '      stop();\n' +
//               '      delay(20);\n' +
//               '      carSpeed = 100;\n' +
//               '      break;\n' +
//               '    case SPD3:\n' +
//               '      stop();\n' +
//               '      delay(20);\n' +
//               '      carSpeed = 120;\n' +
//               '      break;\n' +
//               '  }\n' +
//               '}\n' +
//               '\n';
//     Blockly.Python.addFunction('speedProc', speedProc);

//     var carProc = 'void carProc() {\n' +
//               '  switch (myDecoder.value) {\n' +
//               '    case FW:\n' +
//               '      stop();\n' +
//               '      delay(bufTime);\n' +
//               '      move(1, carSpeed*2, 0);\n' +
//               '      move(2, carSpeed*2, 0);\n' +
//               '      delay(bufTime);\n' +
//               '      digitalWrite(0, HIGH);\n' +
//               '      break;\n' +
//               '    case BW:\n' +
//               '      stop();\n' +
//               '      delay(bufTime);\n' +
//               '      move(1, carSpeed*2, 1);\n' +
//               '      move(2, carSpeed*2, 1);\n' +
//               '      delay(bufTime);\n' +
//               '      digitalWrite(0, LOW);\n' +
//               '      break;\n' +
//               '    case LT:\n' +
//               '      stop();\n' +
//               '      delay(bufTime);\n' +
//               '      move(1, carSpeed, 0);\n' +
//               '      move(2, carSpeed*2, 0);\n' +
//               '      delay(bufTime);\n' +
//               '      digitalWrite(1, HIGH);\n' +
//               '      break;\n' +
//               '    case RT:\n' +
//               '      stop();\n' +
//               '      delay(bufTime);\n' +
//               '      move(1, carSpeed*2, 0);\n' +
//               '      move(2, carSpeed, 0);\n' +
//               '      digitalWrite(1, LOW);\n' +
//               '      delay(bufTime);\n' +
//               '      break;\n' +
//               '    case ST:\n' +
//               '      stop();\n' +
//               '      delay(bufTime);\n' +
//               '      break;\n' +
//               '  }\n' +
//               '}\n';
//     Blockly.Python.addFunction('carProc', carProc);
    
//     var stop = 'void stop() {\n' +
//               '  //enable standby\n' +
//               '  digitalWrite(STBY, LOW);\n' +
//               '}\n';
//     Blockly.Python.addFunction('stop', stop);
//     var code = 'speedProc();\n' +
//                 '  carProc();\n' +
//                 '  \n' +
//                 '  if (myReceiver.getResults()) {\n' +
//                 '    myDecoder.decode();\n' +
//                 '    storeCode();\n' +
//                 '    myReceiver.enableIRIn(); // Re-enable receiver\n' +
//                 '  }\n' +
//                 '  delay(100);\n';
//   return code;
// }

// Blockly.Python['motor_path_planning'] = function(block) {
//   var motor_IR_decl = '#include <IRLibDecodeBase.h>\n' +
//                            '#include <IRLibSendBase.h>\n' +
//                            '#include <IRLib_P01_NEC.h>\n' +
//                            '#include <IRLib_P02_Sony.h>\n' +
//                            '#include <IRLib_P03_RC5.h>\n' +
//                            '#include <IRLib_P04_RC6.h>\n' +
//                            '#include <IRLib_P05_Panasonic_Old.h>\n' +
//                            '#include <IRLib_P07_NECx.h>\n' +
//                            '#include <IRLib_HashRaw.h>\n' + //We need this for IRsendRaw
//                            '#include <IRLibCombo.h>\n' +
//                            'IRdecode myDecoder;\n' +
//                            'IRsend mySender;\n' +
//                            '#include <IRLibRecv.h>\n' +
//                            'IRrecv myReceiver(A2);\n' + //pin number for the receiver
//                            'int carSpeedIR = 100;\n' +
//                            'int bufTimeIR = 50;\n';
//   Blockly.Python.addDeclaration('motor_IR_decl', motor_IR_decl);
//   Blockly.Python.addDeclaration('line_tracking_init_B', 'uint8_t codeProtocol;\nuint32_t codeValue;\nuint8_t codeBits;\nbool gotOne, gotNew;\n');
//   // Blockly.Python.addSetup('path_planning_setup', Blockly.Python.statementToCode(block, 'motor_motion'));
//   return Blockly.Python.statementToCode(block, 'motor_motion');
// };

// Blockly.Python['motor_turn_left'] = function(block) {
//   var text_delay = block.getFieldValue('delay');
//   var code = "adjustLeft();\ndelay("+text_delay+");\n";
//   return code;
// };

// Blockly.Python['motor_turn_right'] = function(block) {
//   var text_delay = block.getFieldValue('delay');
//   var code = "adjustRight();\ndelay("+text_delay+");\n";
//   return code;
// };

// Blockly.Python['motor_go_forward'] = function(block) {
//   var text_delay = block.getFieldValue('delay');
//   var code = "goStraight();\ndelay("+text_delay+");\n";
//   return code;
// };

// Blockly.Python['motor_go_backward'] = function(block) {
//   var text_delay = block.getFieldValue('delay');
//   var code = "reverse();\ndelay("+text_delay+");\n";
//   return code;
// };



// Blockly.Python['motor_line_tracking'] = function(block) {
//   var text_pin_0 = block.getFieldValue('pin_0');
//   var text_pin_1 = block.getFieldValue('pin_1');
//   var text_speed = block.getFieldValue('speed');
//   var LT_decl = '#define ANALOG_SENSOR_PIN_A     '+text_pin_0+'\n' +
//                 '#define ANALOG_SENSOR_PIN_B     '+text_pin_1+'\n';
//   Blockly.Python.addDeclaration('LT_decl',LT_decl);
//   var line_tracking_carLineTracking = 'void carLineTracking() {\n' +
//                                       '  LightAnalogValue_A = analogRead(ANALOG_SENSOR_PIN_A);  //Read the voltage from sensor\n' +
//                                       '  LightAnalogValue_B = analogRead(ANALOG_SENSOR_PIN_B);\n' +
//                                       '  \n' +
//                                       //'  carSpeed = analogRead(A3);\n' +
//                                       '  carSpeed = '+text_speed+';\n'+
//                                       '  speedLeft  = carSpeed;\n' +
//                                       '  speedRight = carSpeed;\n' +
//                                       '  /* Serial.println(LightAnalogValue_A);\n' +
//                                       '  Serial.println(LightAnalogValue_B);\n' +
//                                       '  Serial.println("---"); */\n' +
//                                       '  \n' +
//                                       '  if ( LightAnalogValue_A < threshold && LightAnalogValue_B < threshold )\n' +
//                                       '  { \n' +
//                                       '    goStraight();\n' +
//                                       '    Serial.println("Straight");\n' +
//                                       '    Serial.println(LightAnalogValue_A);\n' +
//                                       '    Serial.println(LightAnalogValue_B);\n' +
//                                       '    //digitalWrite(3, HIGH);\n' +
//                                       '    //digitalWrite(6, HIGH);\n' +
//                                       '    Serial.println("---");\n' +
//                                       '  } else if ( LightAnalogValue_A > threshold && LightAnalogValue_B < threshold )\n' +
//                                       '  {\n' +
//                                       '    adjustLeft();\n' +
//                                       '    Serial.println("Left");\n' +
//                                       '    Serial.println(LightAnalogValue_A);\n' +
//                                       '    Serial.println(LightAnalogValue_B);\n' +
//                                       '    //digitalWrite(6, HIGH);\n' +
//                                       '    Serial.println("---");\n' +
//                                       '  } else if ( LightAnalogValue_A < threshold && LightAnalogValue_B > threshold )\n' +
//                                       '  {\n' +
//                                       '    adjustRight();\n' +
//                                       '    Serial.println("Right");\n' +
//                                       '    Serial.println(LightAnalogValue_A);\n' +
//                                       '    Serial.println(LightAnalogValue_B);\n' +
//                                       '    //digitalWrite(3, HIGH);\n' +
//                                       '    Serial.println("---");\n' +
//                                       '  } else\n' +
//                                       '  {\n' +
//                                       '    Stop();\n' +
//                                       '    Serial.println("Stopped");\n' +
//                                       '    Serial.println(LightAnalogValue_A);\n' +
//                                       '    Serial.println(LightAnalogValue_B);\n' +
//                                       '    Serial.println("---");\n' +
//                                       '  }\n' +
//                                       '  delay(10);\n' +
//                                       '}\n';
//   Blockly.Python.addFunction('line_tracking_carLineTracking', line_tracking_carLineTracking);
//   var line_tracking_speedProc = 'void speedProc() {\n' +
//                                 '  switch(myDecoder.value)\n' +
//                                 '  {\n' +
//                                 '    case SPD0:\n' +
//                                 '      Stop();\n' +
//                                 '      delay(20);\n' +
//                                 '      carSpeedIR = 0;\n' +
//                                 '      break;\n' +
//                                 '    case SPD1:\n' +
//                                 '      Stop();\n' +
//                                 '      delay(20);\n' +
//                                 '      carSpeedIR = 80;\n' +
//                                 '      break;\n' +
//                                 '    case SPD2:\n' +
//                                 '      Stop();\n' +
//                                 '      delay(20);\n' +
//                                 '      carSpeedIR = 100;\n' +
//                                 '      break;\n' +
//                                 '    case SPD3:\n' +
//                                 '      Stop();\n' +
//                                 '      delay(20);\n' +
//                                 '      carSpeedIR = 120;\n' +
//                                 '      break;\n' +
//                                 '  }\n' +
//                                 '}\n';
//   //Blockly.Python.addFunction('line_tracking_speedProc', line_tracking_speedProc); 
//   var line_tracking_carProc = 'void carProc() {\n' +
//                               '  switch (myDecoder.value) {\n' +
//                               '    case FW:\n' +
//                               '      Stop();\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      move(1, carSpeedIR*2, 0);\n' +
//                               '      move(2, carSpeedIR*2, 0);\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      digitalWrite(0, HIGH);\n' +
//                               '      break;\n' +
//                               '    case BW:\n' +
//                               '      Stop();\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      move(1, carSpeedIR*2, 1);\n' +
//                               '      move(2, carSpeedIR*2, 1);\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      digitalWrite(0, LOW);\n' +
//                               '      break;\n' +
//                               '    case LT:\n' +
//                               '      Stop();\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      move(1, carSpeedIR, 0);\n' +
//                               '      move(2, carSpeedIR*2, 0);\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      digitalWrite(1, HIGH);\n' +
//                               '      break;\n' +
//                               '    case RT:\n' +
//                               '      Stop();\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      move(1, carSpeedIR*2, 0);\n' +
//                               '      move(2, carSpeedIR, 0);\n' +
//                               '      digitalWrite(1, LOW);\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      break;\n' +
//                               '    case ST:\n' +
//                               '      Stop();\n' +
//                               '      delay(bufTimeIR);\n' +
//                               '      break;\n' +
//                               '  }\n' +
//                               '}\n';   
//   //Blockly.Python.addFunction('line_tracking_carProc', line_tracking_carProc);                          
//   var code = 'carLineTracking();\n';
//   return code;
// };



// Blockly.Python['motor_ultrasonic_pin'] = function(block) {
//   var text_pin_var0 = block.getFieldValue('pin_var0');
//   var text_pin_0 = block.getFieldValue('pin_0');
//   var text_pin_var1 = block.getFieldValue('pin_var1');
//   var text_pin_1 = block.getFieldValue('pin_1');
//   var text_pin_var2 = block.getFieldValue('pin_var2');
//   var text_pin_2 = block.getFieldValue('pin_2');
//   var text_pin_var3 = block.getFieldValue('pin_var3');
//   var text_pin_3 = block.getFieldValue('pin_3');
//   var text_pin_var4 = block.getFieldValue('pin_var4');
//   var text_pin_4 = block.getFieldValue('pin_4');
//   var text_pin_var5 = block.getFieldValue('pin_var5');
//   var text_pin_5 = block.getFieldValue('pin_5');
//   var text_max_distance_var = block.getFieldValue('max_distance_var');
//   var text_max_distance = block.getFieldValue('max_distance');
//   var text_real_time_distance_var = block.getFieldValue('real_time_distance_var');
//   var text_real_time_distance = block.getFieldValue('real_time_distance');
//   var motor_ultrasonic_decl = '#include <NewPing.h>\n' +
//                               '#define TRIGGER_PIN  1\n' + 
//                               '#define ECHO_PIN     0\n' +
//                               '#define ' + text_pin_var0 + ' '+text_pin_0+'\n' +
//                               '#define ' + text_pin_var1 + ' '+text_pin_1+'\n' +
//                               '#define ' + text_pin_var2 + ' '+text_pin_2+'\n' +
//                               '#define ' + text_pin_var3 + ' '+text_pin_3+'\n' +
//                               '#define ' + text_pin_var4 + ' '+text_pin_4+'\n' +
//                               '#define ' + text_pin_var5 + ' '+text_pin_5+'\n' +
//                               '#define ' + text_max_distance_var + ' ' + text_max_distance + '\n' + // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
//                               '#define ' + text_real_time_distance_var + ' ' + text_real_time_distance + '\n' +
//                               'NewPing sonar(TRIGGER_PIN, ECHO_PIN, '+text_max_distance_var+');\n' +
//                               'int carSpeedSonar;\n' + 
//                               '#define POT   A3\n' +
//                               'NewPing sonarHead('+text_pin_var0+', '+text_pin_var1 +', '+text_max_distance_var+');\n' +
//                               'NewPing sonarLeft('+text_pin_var2+', '+text_pin_var3+','+text_max_distance_var+');\n' +
//                               'NewPing sonarRigt('+text_pin_var4+', '+text_pin_var5+', '+text_max_distance_var+');\n';
//   Blockly.Python.addDeclaration('motor_ultrasonic_decl', motor_ultrasonic_decl);
//   var ultrasonic_loop_code = 'delay(10);                     // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.\n' +
//                             '  // Left:    1, 0\n' +
//                             '  // Right:   0, 1\n' +
//                             '  // Forward: 1, 1\n' +
//                             '  int distHead = sonarHead.ping_cm();\n' +
//                             '  int distLeft = sonarLeft.ping_cm();\n' +
//                             '  int distRigt = sonarRigt.ping_cm();\n' +
//                             '  // carSpeedSonar = analogRead(A3);\n' +
//                             '  carSpeedSonar = 180;\n' +
//                             '  move(0, carSpeedSonar - 20, 1);\n' +
//                             '  move(1, carSpeedSonar - 20, 1);\n' +
//                             '  if ( distHead < '+text_real_time_distance_var+' && distHead != 0 ) {\n' +
//                             '    move(0, carSpeedSonar, 0);\n' +
//                             '    move(1, carSpeedSonar, 0);\n' +
//                             '    delay(100);\n' +
//                             '    move(0, carSpeedSonar, 1);\n' +
//                             '    move(1, carSpeedSonar, 0);\n' +
//                             '    delay(100);\n' +
//                             '    if ( distLeft > distRigt ) {\n' +
//                             '      move(0, carSpeedSonar, 1);\n' +
//                             '      move(1, carSpeedSonar, 0);\n' +
//                             '      delay(50);\n' +
//                             '    } else if (distLeft < distRigt) {\n' +
//                             '      move(0, carSpeedSonar, 0);\n' +
//                             '      move(1, carSpeedSonar, 1);\n' +
//                             '      delay(150);\n' +
//                             '    }\n' +
//                             '  } else if ( distLeft < '+text_real_time_distance_var+' && distRigt < '+text_real_time_distance_var+' ) {\n' +
//                             '    if ( distLeft > distRigt ) {\n' +
//                             '      move(0, carSpeedSonar*1.2, 1);\n' +
//                             '      move(1, carSpeedSonar, 0);\n' +
//                             '      delay(80);\n' +
//                             '    } else if (distLeft < distRigt) {\n' +
//                             '      move(0, carSpeedSonar, 0);\n' +
//                             '      move(1, carSpeedSonar*1.2, 1);\n' +
//                             '      delay(80);\n' +
//                             '    }\n' +
//                             '  }\n' +
//                             '  Serial.print("Left detect:\t");\n' +
//                             '  Serial.print(sonarLeft.ping_cm()); // Send ping, get distance in cm and print result (0 = outside set distance range)\n' +
//                             '  Serial.print("cm");\n' +
//                             '  Serial.print("\t");\n' +
//                             '  Serial.print("Head detect:\t");\n' +
//                             '  Serial.print(sonarHead.ping_cm()); // Send ping, get distance in cm and print result (0 = outside set distance range)\n' +
//                             '  Serial.print("cm");\n' +
//                             '  Serial.print("\t");\n' +
//                             '  Serial.print("Right detect:\t");\n' +
//                             '  Serial.print(sonarRigt.ping_cm()); // Send ping, get distance in cm and print result (0 = outside set distance range)\n' +
//                             '  Serial.println("cm");\n';
//   return ultrasonic_loop_code;
// };

// var count = 0;
// Blockly.Python['motor_ultrasonic_custom_pin'] = function(block) {
//   var text_custom_pin_var0 = block.getFieldValue('custom_pin_var0');
//   var text_custom_pin_0 = block.getFieldValue('custom_pin_0');
//   var text_custom_pin_var1 = block.getFieldValue('custom_pin_var1');
//   var text_custom_pin_1 = block.getFieldValue('custom_pin_1');
//   var text_custom_max_distance_var = block.getFieldValue('custom_max_distance_var');
//   var text_custom_max_distance = block.getFieldValue('custom_max_distance');
//   var text_custom_real_time_distance_var = block.getFieldValue('custom_real_time_distance_var');
//   var text_custom_real_time_distance = block.getFieldValue('custom_real_time_distance');
//   var custom_decl = '#define ' + text_custom_pin_var0 + ' '+text_custom_pin_0+'\n' +
//                       '#define ' + text_custom_pin_var1 + ' '+text_custom_pin_1+'\n' +
//                       '// Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.\n' + 
//                       '#define ' + text_custom_max_distance_var + ' ' + text_custom_max_distance + '\n' +
//                       '#define ' + text_custom_real_time_distance_var + ' '+text_custom_real_time_distance+'\n';
//   Blockly.Python.addDeclaration('custom_decl' + count, custom_decl, false);
//   count += 1;
//   return '';
// };

// Blockly.Python['motor_controller'] = function(block) {
//   var text_motor_name = block.getFieldValue('motor_name');
//   var number_motor_speed = block.getFieldValue('motor_speed');
//   var dropdown_motor_direction = block.getFieldValue('motor_direction');
//   // TODO: Assemble JavaScript into code variable.
//   var code = 'move('+text_motor_name+','+number_motor_speed+','+dropdown_motor_direction+');\n';
//   return code;
// };

// Blockly.Python['motor_stop'] = function(block) {
//   var code = "while(true) {\n" +
//               "Stop();\n" +
//               "}\n";
 
//   return code;
// };

// Blockly.Python['motor_pause'] = function(block) {
//   var text_delay = block.getFieldValue('delay');
//   var code = "Stop();\ndelay("+text_delay+");\n";
//   return code;
// };

// Blockly.Python['robotcar3in1'] = function(block) {
//   var declarationUltra =    '#include <NewPing.h>\n' +
//                             '#define TRIGGER_PIN  A6\n' +
//                             '#define ECHO_PIN     A7\n' +
//                             '#define MAX_DISTANCE 50\n' +
//                             'NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);\n' +
// 'int carSpeedSonar;\n' +
// '#include <IRLibDecodeBase.h>\n' +
// '#include <IRLibSendBase.h>\n' +
// '#include <IRLib_P01_NEC.h>\n' +
// '#include <IRLib_P02_Sony.h>\n' +
// '#include <IRLib_P03_RC5.h>\n' +
// '#include <IRLib_P04_RC6.h>\n' +
// '#include <IRLib_P05_Panasonic_Old.h>\n' +
// '#include <IRLib_P07_NECx.h>\n' +
// '#include <IRLib_HashRaw.h>\n' +
// '#include <IRLibCombo.h>\n' +
// 'IRdecode myDecoder;\n' +
// 'IRsend mySender;\n' +
// '#include <IRLibRecv.h>\n' +
// 'IRrecv myReceiver(A2);\n' +
// 'uint8_t codeProtocol;\n' +
// 'uint32_t codeValue;\n' +
// 'uint8_t codeBits;\n' +
// 'bool gotOne, gotNew;\n' +
// '#define FW    0xFF18E7\n' +
// '#define BW    0xFF4AB5\n' +
// '#define LT    0xFF10EF\n' +
// '#define RT    0xFF5AA5\n' +
// '#define ST    0xFF38C7\n' +
// '#define SPD0    0xFF9867\n' +
// '#define SPD1    0xFFA25D\n' +
// '#define SPD2    0xFF629D\n' +
// '#define SPD3    0xFFE21D\n' +
// 'int carSpeedIR = 60;\n' +
// 'int bufTimeIR = 50;\n' +
// '#define ANALOG_SENSOR_PIN_A     A4\n' +
// '#define ANALOG_SENSOR_PIN_B     A0\n' +
// '#define SWITCHA                 12\n' +
// '#define SWITCHB                 13\n' +
// 'int  LightAnalogValue_A, LightAnalogValue_B;\n' +
// 'int PWMA = 5;\n' +
// 'int AIN2 = 10;\n' +
// 'int AIN1 = 9;\n' +
// 'int PWMB = 6;\n' +
// 'int BIN1 = 4;\n' +
// 'int BIN2 = 8;\n' +
// 'int RA = 0;\n' +
// 'int RB = 0;\n' +
// 'int STBY = A5;\n' +
// 'volatile int state = LOW;\n' +
// 'int threshold  = 500;\n' +
// 'int carSpeed, speedLeft, speedRight;\n';
//   var setupUltra = 'pinMode(STBY, OUTPUT); pinMode(PWMA, OUTPUT); pinMode(AIN1, OUTPUT); pinMode(AIN2, OUTPUT); pinMode(PWMB, OUTPUT); pinMode(BIN1, OUTPUT); pinMode(BIN2, OUTPUT); pinMode(A3, INPUT); pinMode(SWITCHA, INPUT); pinMode(3, INPUT); gotOne = false; gotNew = false; codeProtocol = UNKNOWN; codeValue = 0; myReceiver.enableIRIn();';
//   var functionUltra = 'void storeCode(void) { gotNew = true; gotOne = true; codeProtocol = myDecoder.protocolNum; Serial.print(F("Received ")); Serial.print(Pnames(codeProtocol)); if (codeProtocol == UNKNOWN) { Serial.println(F(" saving raw data.")); } else { if (myDecoder.value == REPEAT_CODE) { Serial.println(F("repeat; ignoring.")); } else { codeValue = myDecoder.value; codeBits = myDecoder.bits; } Serial.print(F(" Value:0x")); Serial.println(codeValue, HEX); }}void sendCode(void) { if ( !gotNew ) { if (codeProtocol == RC5) { codeValue ^= 0x0800; } else if (codeProtocol == RC6) { switch (codeBits) { case 20: codeValue ^= 0x10000; break; case 24: codeValue ^= 0x100000; break; case 28: codeValue ^= 0x1000000; break; case 32: codeValue ^= 0x8000; break; } } } gotNew = false; if (codeProtocol == UNKNOWN) { codeBits = recvGlobal.decodeLength - 1; Serial.println(F("Sent raw")); } mySender.send(codeProtocol, codeValue, codeBits); if (codeProtocol == UNKNOWN) return; Serial.print(F("Sent ")); Serial.print(Pnames(codeProtocol)); Serial.print(F(" Value:0x")); Serial.println(codeValue, HEX);}void adjustLeft() { move(1, speedLeft, 1); move(2, speedRight, 2); delay(100);}void adjustRight() { move(1, speedLeft, 2); move(2, speedRight, 1); delay(100);}void goStraight() { move(1, speedLeft, 2); move(2, speedRight, 2); delay(200);}void Stop() { move(1, 0, 2); move(2, 0, 2); delay(200);}void move(int motor, int speed, int direction){ digitalWrite(STBY, HIGH); boolean inPin1 = LOW; boolean inPin2 = HIGH; if (direction == 1) { inPin1 = HIGH; inPin2 = LOW; } if (motor == 1) { digitalWrite(AIN1, inPin1); digitalWrite(AIN2, inPin2); analogWrite(PWMA, speed); } else { digitalWrite(BIN1, inPin1); digitalWrite(BIN2, inPin2); analogWrite(PWMB, speed); }}void carLineTracking() { LightAnalogValue_A = analogRead(ANALOG_SENSOR_PIN_A); LightAnalogValue_B = analogRead(ANALOG_SENSOR_PIN_B); carSpeed = analogRead(A3); speedLeft = carSpeed/6; speedRight = carSpeed/6; if ( LightAnalogValue_A < threshold && LightAnalogValue_B < threshold ) { goStraight(); Serial.println("Straight"); Serial.println(LightAnalogValue_A); Serial.println(LightAnalogValue_B); Serial.println("---"); } else if ( LightAnalogValue_A > threshold && LightAnalogValue_B < threshold ) { adjustRight(); Serial.println("Left"); Serial.println(LightAnalogValue_A); Serial.println(LightAnalogValue_B); Serial.println("---"); } else if ( LightAnalogValue_A < threshold && LightAnalogValue_B > threshold ) { adjustLeft(); Serial.println("Right"); Serial.println(LightAnalogValue_A); Serial.println(LightAnalogValue_B); Serial.println("---"); } else { Stop(); Serial.println("Stopped"); Serial.println(LightAnalogValue_A); Serial.println(LightAnalogValue_B); Serial.println("---"); } delay(10);}void speedProc() { switch(myDecoder.value) { case SPD0: Stop(); delay(20); carSpeedIR = 0; break; case SPD1: Stop(); delay(20); carSpeedIR = 80; break; case SPD2: Stop(); delay(20); carSpeedIR = 100; break; case SPD3: Stop(); delay(20); carSpeedIR = 225; break; }}void carProc() { switch (myDecoder.value) { case FW: Stop(); delay(bufTimeIR); move(1, carSpeedIR*2, 0); move(2, carSpeedIR*2, 0); delay(bufTimeIR); digitalWrite(0, HIGH); break; case BW: Stop(); delay(bufTimeIR); move(1, carSpeedIR*2, 1); move(2, carSpeedIR*2, 1); delay(bufTimeIR); digitalWrite(0, LOW); break; case LT: Stop(); delay(bufTimeIR); move(1, carSpeedIR, 0); move(2, carSpeedIR*2, 0); delay(bufTimeIR); digitalWrite(1, HIGH); break; case RT: Stop(); delay(bufTimeIR); move(1, carSpeedIR*2, 0); move(2, carSpeedIR, 0); digitalWrite(1, LOW); delay(bufTimeIR); break; case ST: Stop(); delay(bufTimeIR); break; }}void carUltraSonar() { int dist = sonar.ping_cm(); int threshold = 20; carSpeedSonar = analogRead(A3); move(1, carSpeedSonar/5, 2); move(2, carSpeedSonar/5, 2); delay(50); if (dist < threshold && dist > 0) { move(1, carSpeedSonar/5, 0); move(2, carSpeedSonar/5, 1); delay(200); dist = 15; } Serial.print("Ping: "); Serial.print(sonar.ping_cm()); Serial.println("cm"); }';

//   Blockly.Python.addDeclaration('declarationUltra', declarationUltra);
//   Blockly.Python.addSetup('setupUltra', setupUltra);
//   Blockly.Python.addFunction('functionUltra', functionUltra)
  
//   var code =  'int switchVal = digitalRead(SWITCHA); int switchValB = digitalRead(SWITCHB); int switchNum; if (switchValB == HIGH) { if (switchVal == HIGH) { switchNum = 0; } else if (switchVal == LOW) { switchNum = 1; } } else if (switchValB == LOW) { switchNum = 2; } switch (switchNum) { case 0: carLineTracking(); Stop(); delay(0); break; case 1: digitalWrite(3, HIGH); speedProc(); carProc(); if (myReceiver.getResults()) { myDecoder.decode(); storeCode(); myReceiver.enableIRIn(); } delay(100); break; case 2: delay(10); carUltraSonar(); Stop(); delay(0); break; } ';
//   return code;
// };