-

Author: previ

coderbot.cfg

@@ -1 +1 @@
-{"move_tr_speed": "75", "move_fw_elapse": "1.5", "ctrl_move_motion": "yes", "show_page_program": "true", "load_at_start": "", "move_tr_elapse": "1", "sound_start": "$startup.mp3", "sound_stop": "$shutdown.mp3", "camera_exposure_mode": "auto", "prog_video_rec": "true", "show_control_move_commands": "true", "prog_level": "basic_move", "prog_scrollbars": "true", "ctrl_fw_speed": "100", "move_fw_speed": "100", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "prog_maxblocks": "-1", "ctrl_hud_image": "coderbot_hud_2.png", "move_motor_mode": "dc", "ctrl_fw_elapse": "20", "ctrl_tr_elapse": "90", "show_page_control": "true", "ctrl_tr_speed": "80"}
+{"move_tr_speed": "75", "move_fw_elapse": "1.5", "show_page_program": "true", "load_at_start": "", "move_tr_elapse": "1", "sound_start": "$startup.mp3", "sound_stop": "$shutdown.mp3", "camera_exposure_mode": "auto", "prog_video_rec": "true", "show_control_move_commands": "true", "prog_level": "basic_move", "prog_scrollbars": "true", "ctrl_fw_speed": "100", "move_fw_speed": "100", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "prog_maxblocks": "-1", "ctrl_hud_image": "coderbot_hud_2.png", "move_motor_mode": "dc", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "show_page_control": "true", "ctrl_tr_speed": "80"}

static/js/blockly/blocks.js

@@ -109,7 +109,12 @@ Blockly.JavaScript['coderbot_moveForward'] = function(block) {
 
 Blockly.Python['coderbot_moveForward'] = function(block) {
   // Generate Python for moving forward.
-  return 'get_bot().forward(speed=' + CODERBOT_MOV_FW_DEF_SPEED + ', elapse=' + CODERBOT_MOV_FW_DEF_ELAPSE + ')\n';
+  if(CODERBOT_PROG_MOVE_MOTION) {
+    return 'get_motion().move(dist=' + CODERBOT_MOV_FW_DEF_ELAPSE + ')\n';
+
+  } else {
+    return 'get_bot().forward(speed=' + CODERBOT_MOV_FW_DEF_SPEED + ', elapse=' + CODERBOT_MOV_FW_DEF_ELAPSE + ')\n';
+  }
 };
 
 Blockly.Blocks['coderbot_moveBackward'] = {
@@ -136,7 +141,12 @@ Blockly.JavaScript['coderbot_moveBackward'] = function(block) {
 
 Blockly.Python['coderbot_moveBackward'] = function(block) {
   // Generate Python for moving forward.
-  return 'get_bot().backward(speed=' + CODERBOT_MOV_FW_DEF_SPEED + ', elapse=' + CODERBOT_MOV_FW_DEF_ELAPSE + ')\n';
+  if(CODERBOT_PROG_MOVE_MOTION) {    
+    return 'get_motion().move(dist=' + (-CODERBOT_MOV_FW_DEF_ELAPSE) + ')\n';
+    
+  } else {
+    return 'get_bot().backward(speed=' + CODERBOT_MOV_FW_DEF_SPEED + ', elapse=' + CODERBOT_MOV_FW_DEF_ELAPSE + ')\n';
+  }
 };
 
 Blockly.Blocks['coderbot_turnLeft'] = {
@@ -163,7 +173,12 @@ Blockly.JavaScript['coderbot_turnLeft'] = function(block) {
 
 Blockly.Python['coderbot_turnLeft'] = function(block) {
   // Generate Python for turning left.
-  return 'get_bot().left(speed=' + CODERBOT_MOV_TR_DEF_SPEED + ', elapse=' + CODERBOT_MOV_TR_DEF_ELAPSE + ')\n';
+  if(CODERBOT_PROG_MOVE_MOTION) {
+    return 'get_motion().turn(angle=' + (-CODERBOT_MOV_TR_DEF_ELAPSE) + ')\n';
+
+  } else {
+    return 'get_bot().left(speed=' + CODERBOT_MOV_TR_DEF_SPEED + ', elapse=' + CODERBOT_MOV_TR_DEF_ELAPSE + ')\n';
+  }
 };
 
 Blockly.Blocks['coderbot_turnRight'] = {
@@ -190,7 +205,12 @@ Blockly.JavaScript['coderbot_turnRight'] = function(block) {
 
 Blockly.Python['coderbot_turnRight'] = function(block) {
   // Generate Python for turning left or right.
-  return 'get_bot().right(speed=' + CODERBOT_MOV_TR_DEF_SPEED + ', elapse=' + CODERBOT_MOV_TR_DEF_ELAPSE + ')\n';
+  if(CODERBOT_PROG_MOVE_MOTION) {
+    return 'get_motion().turn(angle=' + CODERBOT_MOV_TR_DEF_ELAPSE + ')\n';
+
+  } else {
+    return 'get_bot().right(speed=' + CODERBOT_MOV_TR_DEF_SPEED + ', elapse=' + CODERBOT_MOV_TR_DEF_ELAPSE + ')\n';
+  } 
 };
 
 Blockly.Blocks['coderbot_say'] = {

templates/config.html

@@ -87,6 +87,10 @@ <h1>CoderBot</h1>
     <div id="t_movement" class="ui-body-d ui-content">
      <label for="i_move_motor_mode">{% trans %}Motor control mode{% endtrans %}</label>
      <input type="text" id="i_move_motor_mode" name="move_motor_mode" value="{{config.move_motor_mode}}">
+     <div class="ui-field-contain">
+      <label for="i_prog_move_mode">{% trans %}Movement assisted by vision{% endtrans %}</label>
+      <input type="checkbox" data-role="flipswitch" id="i_prog_move_mode" name="prog_move_motion" value="yes"{%if config.prog_move_motion%} checked{%endif%}>
+     </div>
      <label for="i_move_fw_speed">{% trans %}Forward speed{% endtrans %}</label>
      <input type="text" id="i_move_fw_speed" name="move_fw_speed" value="{{config.move_fw_speed}}">
      <label for="i_move_fw_elapse">{% trans %}Forward elapse{% endtrans %}</label>

templates/config_params.html

@@ -3,6 +3,7 @@
 var CODERBOT_MOV_FW_DEF_ELAPSE={{config.move_fw_elapse}};
 var CODERBOT_MOV_TR_DEF_SPEED={{config.move_tr_speed}};
 var CODERBOT_MOV_TR_DEF_ELAPSE={{config.move_tr_elapse}};
+var CODERBOT_PROG_MOVE_MOTION="{{config.prog_move_motion}}"=="yes";
 var CODERBOT_STREAM_URL="http://{{host}}:{{stream_port}}/stream"
 var CODERBOT_PROG_LEVEL="{{config.prog_level}}";
 var CODERBOT_PROG_SCROLLBARS="{{config.prog_scrollbars}}"=="true";