Merge pull request #13 from Open-STEM/r004

v0.0.4 Update

Author: phonymacoroni

app/src/ui/blocklyworkspace.js

@@ -51,7 +51,7 @@ workspace.addChangeListener(myUpdateFunction);
 /* Code Cleaning and Formatting */
 function processCode(code) {
     // console.log("Processing Code");
-    code = "from WPILib import *\n\n" + code
+    code = "from WPILib.WPILib import *\n\n" + code
     // if (code.includes('encoded_motor')) {
     //     // console.log("Found encoded_motor");
     // }

app/src/xrp_blocks.js

@@ -119,6 +119,25 @@ Blockly.Blocks['xrp_seteffort'] = {
   }
 };
 
+Blockly.Blocks['xrp_setencoderpos'] = {
+  init: function() {
+    this.appendDummyInput()
+        .appendField("Set Encoder Positions");
+    this.appendValueInput("LEFT")
+        .setCheck(null)
+        .appendField("L:");
+    this.appendValueInput("RIGHT")
+        .setCheck(null)
+        .appendField("R:");
+    this.setInputsInline(true);
+    this.setPreviousStatement(true, null);
+    this.setNextStatement(true, null);
+    this.setColour(60);
+ this.setTooltip("");
+ this.setHelpUrl("");
+  }
+};
+
 Blockly.Blocks['xrp_getsonardist'] = {
   init: function () {
     this.appendDummyInput()
@@ -130,6 +149,42 @@ Blockly.Blocks['xrp_getsonardist'] = {
   }
 };
 
+Blockly.Blocks['xrp_getrightencoder'] = {
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Right Encoder");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['xrp_getleftencoder'] = {
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Left Encoder");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['xrp_encoder_counts'] = {
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Set Encoder Tick Mode:")
+      .appendField(new Blockly.FieldDropdown([["Legacy", "drivetrain._LEGACY_TICKS_PER_REV"], ["New", "drivetrain._NEW_TICKS_PER_REV"]]), "TICKS")
+    this.setInputsInline(true);
+    this.setPreviousStatement(true, null);
+    this.setNextStatement(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
 Blockly.Blocks['xrp_sleep'] = {
   init: function () {
     this.appendDummyInput()

app/src/xrp_blocks_python.js

@@ -61,11 +61,34 @@ Blockly.Python['xrp_seteffort'] = function (block) {
   return code;
 };
 
+Blockly.Python['xrp_setencoderpos'] = function (block) {
+  var value_l = Blockly.Python.valueToCode(block, 'LEFT', Blockly.Python.ORDER_ATOMIC);
+  var value_r = Blockly.Python.valueToCode(block, 'RIGHT', Blockly.Python.ORDER_ATOMIC);
+  var code = `drivetrain.set_encoder_position(${value_l}, ${value_r})\n`;
+  return code;
+};
+
 Blockly.Python['xrp_getsonardist'] = function (block) {
   var code = `sonar.distance`;
   return [code, Blockly.Python.ORDER_NONE];
 };
 
+Blockly.Python['xrp_getrightencoder'] = function (block) {
+  var code = `drivetrain.get_right_encoder_position()`;
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['xrp_getleftencoder'] = function (block) {
+  var code = `drivetrain.get_left_encoder_position()`;
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['xrp_encoder_counts'] = function (block) {
+  var ticks = block.getFieldValue('TICKS');
+  var code = `drivetrain._set_encoder_ticks_per_rev(${ticks})\n`;
+  return code;
+};
+
 Blockly.Python['xrp_sleep'] = function (block) {
   var number_time = block.getFieldValue('TIME');
   // TODO: Assemble Python into code variable.

index.html

@@ -426,6 +426,23 @@
             <block type="xrp_l_refl"></block>
             <block type="xrp_r_refl"></block>
             <block type="xrp_getsonardist"></block>
+            <block type="xrp_setencoderpos">
+              <value name="LEFT">
+                <shadow type="math_number">
+                  <field name="NUM">0</field>
+                </shadow>
+              </value>
+              <value name="RIGHT">
+                <shadow type="math_number">
+                  <field name="NUM">0</field>
+                </shadow>
+              </value>
+            </block>
+            <block type="xrp_getleftencoder"></block>
+            <block type="xrp_getrightencoder"></block>
+            <block type="xrp_encoder_counts">
+              <field name="TICKS">drivetrain._LEGACY_TICKS_PER_REV</field>
+            </block>
           </category>
           <category name="Control Board" colour="#5C9AA6">
             <block type="xrp_led_br">
@@ -817,7 +834,7 @@
     <div class="row">
       <div class="col-8" id="blocklyArea">
         <div id="blocklyDiv"></div>
-        <p id="codeVersion">v0.0.3</p>
+        <p id="codeVersion">v0.0.4</p>
       </div>
       <div class="col-4">
         <div id="toggleOpen" class="toggleCode">

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "XRP-Blockly",
-  "version": "0.0.3",
+  "version": "0.0.4",
   "description": "XRP Blockly",
   "main": "app/electron/main.js",
   "scripts": {