diff --git a/extern/lang/code.js b/extern/lang/code.js
index 6a7bec2bc3..816cbac1ae 100644
--- a/extern/lang/code.js
+++ b/extern/lang/code.js
@@ -1299,6 +1299,9 @@ Lang.Blocks = {
"robotis_common_play_motion": "실행",
"robotis_common_motion": "모션",
"robotis_common_index_number": "번",
+ "robotis_common_left": "왼쪽",
+ "robotis_common_right": "오른쪽",
+ "robotis_common_minute": "분",
"robotis_cm_custom": "직접입력 주소",
"robotis_cm_spring_left": "왼쪽 접촉 센서",
"robotis_cm_spring_right": "오른쪽 접촉 센서",
@@ -5426,12 +5429,16 @@ Lang.Helper = {
"robotis_openCM70_cm_sound_detected_clear": "최종 소리 감지횟 수를 0 으로 초기화 합니다.",
"robotis_openCM70_cm_led": "제어기의 빨간색, 녹색, 파란색 LED 를 켜거나 끕니다.",
"robotis_openCM70_cm_motion": "제어기에 다운로드 되어있는 모션을 실행합니다.",
- "robotis_openCM70_aux_motor_speed": "감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.",
+ "robotis_openCM70_cm_autodrive_motor": "자율주행 자동차의 모터 포트를 지정합니다.",
+ "robotis_openCM70_cm_autodrive_ir": "자율주행 자동차의 적외선 센서 포트를 지정합니다.",
+ "robotis_openCM70_cm_autodrive_speed": "차로를 따라 지정한 속도로 자율주행을 수행합니다.",
+ "robotis_openCM70_aux_motor_speed": "감속모터 속도를 0 ~ 100% 의 값(으)로 정합니다.",
"robotis_openCM70_aux_servo_mode": "서보모터를 회전모드 또는 관절모드로 정합니다.
한번 설정된 모드는 계속 적용됩니다.
회전모드는 서보모터 속도를 지정하여 서보모터를 회전 시킵니다.
관절모드는 지정한 서보모터 속도로 서보모터 위치를 이동 시킵니다.",
- "robotis_openCM70_aux_servo_speed": "서보모터 속도를 0 ~ 1023 의 값(으)로 정합니다.",
- "robotis_openCM70_aux_servo_position": "서보모터 위치를 0 ~ 1023 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.",
+ "robotis_openCM70_aux_servo_speed": "서보모터 속도를 0 ~ 100% 의 값(으)로 정합니다.",
+ "robotis_openCM70_aux_servo_position": "서보모터 위치를 -150도 ~ 150도 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.",
"robotis_openCM70_aux_led_module": "LED 모듈의 LED 를 켜거나 끕니다.",
"robotis_openCM70_aux_custom": "사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
+ "robotis_openCM70_cm_poweroff_timer": "제어기의 자동꺼짐 타이머를 설정합니다.
설정된 만큼의 시간동안 통신이 진행되지 않으면 제어기는 자동으로 꺼집니다.",
"robotis_openCM70_cm_custom_value": "컨트롤 테이블 주소를 직접 입력하여 값을 확인 합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
"robotis_openCM70_cm_custom": "컨트롤 테이블 주소를 직접 입력하여 값을 정합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
"show_variable": "선택한 변수의 '변수 창'을 실행화면에 보이게 합니다.",
@@ -6336,12 +6343,16 @@ Lang.template = {
"robotis_openCM70_cm_sound_detected_clear": "최종소리감지횟수 초기화 %1",
"robotis_openCM70_cm_led": "제어기 %1 LED %2 %3",
"robotis_openCM70_cm_motion": "모션 %1 번 실행 %2",
- "robotis_openCM70_aux_motor_speed": "%1 감속모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4",
+ "robotis_openCM70_cm_autodrive_motor": "자율주행 자동차 %1모터를 %2 에 연결 %3",
+ "robotis_openCM70_cm_autodrive_ir": "자율주행 자동차 %1적외선센서를 %2 에 연결 %3",
+ "robotis_openCM70_cm_autodrive_speed": "차로를 따라 %1의 속도로 자율주행 %2",
+ "robotis_openCM70_aux_motor_speed": "%1 감속모터 속도를 %2, 출력값을 %3%로 정하기 %4",
"robotis_openCM70_aux_servo_mode": "%1 서보모터 모드를 %2 (으)로 정하기 %3",
- "robotis_openCM70_aux_servo_speed": "%1 서보모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4",
- "robotis_openCM70_aux_servo_position": "%1 서보모터 위치를 %2 (으)로 정하기 %3",
+ "robotis_openCM70_aux_servo_speed": "%1 서보모터 속도를 %2, 출력값을 %3%로 정하기 %4",
+ "robotis_openCM70_aux_servo_position": "%1 서보모터 위치를 %2도로 정하기 %3",
"robotis_openCM70_aux_led_module": "%1 LED 모듈을 %2 (으)로 정하기 %3",
"robotis_openCM70_aux_custom": "%1 사용자 장치를 %2 (으)로 정하기 %3",
+ "robotis_openCM70_cm_poweroff_timer": "제어기 자동꺼짐 타이머 %1 %2",
"robotis_openCM70_cm_custom": "직접입력 주소 ( %1 ) (을)를 %2 (으)로 정하기 %3",
"robotis_carCont_sensor_value": "%1 값",
"robotis_carCont_cm_led": "4번 LED %1 , 1번 LED %2 %3",
diff --git a/extern/lang/ebs.js b/extern/lang/ebs.js
index 1609d88d39..4ddba3d41f 100644
--- a/extern/lang/ebs.js
+++ b/extern/lang/ebs.js
@@ -1304,6 +1304,9 @@ Lang.Blocks = {
"robotis_common_play_motion": "실행",
"robotis_common_motion": "모션",
"robotis_common_index_number": "번",
+ "robotis_common_left": "왼쪽",
+ "robotis_common_right": "오른쪽",
+ "robotis_common_minute": "분",
"robotis_cm_custom": "직접입력 주소",
"robotis_cm_spring_left": "왼쪽 접촉 센서",
"robotis_cm_spring_right": "오른쪽 접촉 센서",
@@ -5438,12 +5441,17 @@ Lang.Helper = {
"robotis_openCM70_cm_sound_detected_clear": "최종 소리 감지횟 수를 0 으로 초기화 합니다.",
"robotis_openCM70_cm_led": "제어기의 빨간색, 녹색, 파란색 LED 를 켜거나 끕니다.",
"robotis_openCM70_cm_motion": "제어기에 다운로드 되어있는 모션을 실행합니다.",
- "robotis_openCM70_aux_motor_speed": "감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.",
+ "robotis_openCM70_cm_autodrive_motor": "자율주행 자동차의 모터 포트를 지정합니다.",
+ "robotis_openCM70_cm_autodrive_ir": "자율주행 자동차의 적외선 센서 포트를 지정합니다.",
+ "robotis_openCM70_cm_autodrive_speed": "지정한 속도로 자율주행을 수행합니다.",
+ "robotis_openCM70_aux_car_move": "로봇을 지정한 속도와 방향으로 움직이도록 합니다.",
+ "robotis_openCM70_aux_motor_speed": "감속모터 속도를 0 ~ 100% 의 값으로 정합니다.",
"robotis_openCM70_aux_servo_mode": "서보모터를 회전모드 또는 관절모드로 정합니다.
한번 설정된 모드는 계속 적용됩니다.
회전모드는 서보모터 속도를 지정하여 서보모터를 회전 시킵니다.
관절모드는 지정한 서보모터 속도로 서보모터 위치를 이동 시킵니다.",
- "robotis_openCM70_aux_servo_speed": "서보모터 속도를 0 ~ 1023 의 값(으)로 정합니다.",
- "robotis_openCM70_aux_servo_position": "서보모터 위치를 0 ~ 1023 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.",
+ "robotis_openCM70_aux_servo_speed": "서보모터 속도를 0 ~ 100% 의 값으로 정합니다.",
+ "robotis_openCM70_aux_servo_position": "서보모터 위치를 -150도 ~ 150도 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.",
"robotis_openCM70_aux_led_module": "LED 모듈의 LED 를 켜거나 끕니다.",
"robotis_openCM70_aux_custom": "사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
+ "robotis_openCM70_cm_poweroff_timer": "제어기의 자동꺼짐 타이머를 설정합니다.
설정된 만큼의 시간동안 통신이 진행되지 않으면 제어기는 자동으로 꺼집니다.",
"robotis_openCM70_cm_custom_value": "컨트롤 테이블 주소를 직접 입력하여 값을 확인 합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
"robotis_openCM70_cm_custom": "컨트롤 테이블 주소를 직접 입력하여 값을 정합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
"show_variable": "선택한 변수의 '변수 창'을 실행화면에 보이게 합니다.",
@@ -6352,12 +6360,17 @@ Lang.template = {
"robotis_openCM70_cm_sound_detected_clear": "최종소리감지횟수 초기화 %1",
"robotis_openCM70_cm_led": "제어기 %1 LED %2 %3",
"robotis_openCM70_cm_motion": "모션 %1 번 실행 %2",
- "robotis_openCM70_aux_motor_speed": "%1 감속모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4",
+ "robotis_openCM70_cm_autodrive_motor": "자율주행 자동차 %1 모터를 %2 에 연결 %3",
+ "robotis_openCM70_cm_autodrive_ir": "자율주행 자동차 %1 적외선센서를 %2 에 연결 %3",
+ "robotis_openCM70_cm_autodrive_speed": "차로를 따라 %1의 속도로 자율주행 %2",
+ "robotis_openCM70_aux_car_move": "로봇을 %1% 의 속도로 %2 %3",
+ "robotis_openCM70_aux_motor_speed": "%1 감속모터 속도를 %2 , 출력값을 %3%로 정하기 %4",
"robotis_openCM70_aux_servo_mode": "%1 서보모터 모드를 %2 (으)로 정하기 %3",
- "robotis_openCM70_aux_servo_speed": "%1 서보모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4",
- "robotis_openCM70_aux_servo_position": "%1 서보모터 위치를 %2 (으)로 정하기 %3",
+ "robotis_openCM70_aux_servo_speed": "%1 서보모터 속도를 %2 , 출력값을 %3%로 정하기 %4",
+ "robotis_openCM70_aux_servo_position": "%1 서보모터 위치를 %2도로 정하기 %3",
"robotis_openCM70_aux_led_module": "%1 LED 모듈을 %2 (으)로 정하기 %3",
"robotis_openCM70_aux_custom": "%1 사용자 장치를 %2 (으)로 정하기 %3",
+ "robotis_openCM70_cm_poweroff_timer": "제어기 자동꺼짐 타이머 %1 %2",
"robotis_openCM70_cm_custom": "직접입력 주소 ( %1 ) (을)를 %2 (으)로 정하기 %3",
"robotis_carCont_sensor_value": "%1 값",
"robotis_carCont_cm_led": "4번 LED %1 , 1번 LED %2 %3",
diff --git a/extern/lang/en.js b/extern/lang/en.js
index 9887c9cec7..3b99b5641d 100644
--- a/extern/lang/en.js
+++ b/extern/lang/en.js
@@ -498,6 +498,9 @@ Lang.Blocks = {
"robotis_common_play_motion": "Play",
"robotis_common_motion": "Motion",
"robotis_common_index_number": "Number",
+ "robotis_common_left": "Left",
+ "robotis_common_right": "Right",
+ "robotis_common_minute": "minute(s)",
"robotis_cm_custom": "Custom address",
"robotis_cm_spring_left": "Left contact sensor",
"robotis_cm_spring_right": "Right contact sensor",
@@ -4645,12 +4648,17 @@ Lang.Helper = {
"robotis_openCM70_cm_sound_detected_clear": "Final number of sound detection ",
"robotis_openCM70_cm_led": "Turns the red, green, blue LED of the device on or off.",
"robotis_openCM70_cm_motion": "Executes the motion downloaded on the device.",
- "robotis_openCM70_aux_motor_speed": "Sets the speed of decelerating motor to the value of 0 - 1023.",
+ "robotis_openCM70_cm_autodrive_motor": "Specifies the motor port of the autonomous driving car.",
+ "robotis_openCM70_cm_autodrive_ir": "Specifies the IR sensor port of the autonomous driving car.",
+ "robotis_openCM70_cm_autodrive_speed": "Perform autonomous driving at the specified speed along the lane.",
+ "robotis_openCM70_aux_car_move": "Make the robot move at the specified speed and direction.",
+ "robotis_openCM70_aux_motor_speed": "Sets the speed of decelerating motor to the value of 0 - 100%.",
"robotis_openCM70_aux_servo_mode": "Sets the servo motor as wheel mode or joint mode.
The same mode continues to apply once it's set.
Wheel mode designates the servo motor's speed, and spins the servo motor.
Joint mode moves the servo motor's position with the set servo motor speed.",
"robotis_openCM70_aux_servo_speed": "Sets servo motor's speed to the value of 0 - 1023.",
- "robotis_openCM70_aux_servo_position": "Sets servo motor's position to the value of 0-1023.
Use as servo motor speed",
+ "robotis_openCM70_aux_servo_position": "Sets servo motor's position to the value of -150 - 150 degree.
Use as servo motor speed",
"robotis_openCM70_aux_led_module": "Turns the LED of LED module on or off.",
"robotis_openCM70_aux_custom": "Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation of user sensor production.",
+ "robotis_openCM70_cm_poweroff_timer": "Set the controller's auto-off timer.
If there is no communication for the set amount of time, the controller will automatically turn off.",
"robotis_openCM70_cm_custom_value": "Checks the value by directly inputting the control table address.
Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation about control table.",
"robotis_openCM70_cm_custom": "Checks the value by directly inputting the control table address.
Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation about control table.",
"show_variable": "Shows the value of the selected variable on the stage.",
@@ -5562,12 +5570,17 @@ Lang.template = {
"robotis_openCM70_cm_sound_detected_clear": "Initialize the final number of sound detection %1",
"robotis_openCM70_cm_led": "Controller %1 LED %2 %3",
"robotis_openCM70_cm_motion": "Play the motion %1 times",
- "robotis_openCM70_aux_motor_speed": "Set the speed of decelerating motor of %1 to %2 , and the output value to %3 %4",
+ "robotis_openCM70_cm_autodrive_motor": "Autonomous driving car %1 motor uses %2 %3",
+ "robotis_openCM70_cm_autodrive_ir": "Autonomous driving car %1 IR sensor uses %2 %3",
+ "robotis_openCM70_cm_autodrive_speed": "Perform autonomous driving at the speed of %1 %2",
+ "robotis_openCM70_aux_car_move": "Make the robot %2 at a speed of %1% %3",
+ "robotis_openCM70_aux_motor_speed": "Set the speed of decelerating motor of %1 to %2 , and the output value to %3% %4",
"robotis_openCM70_aux_servo_mode": "Set the mode of %1 servo motor to %2 %3",
- "robotis_openCM70_aux_servo_speed": "Set the speed of servo motor of %1 to %2 , and the output value to %3 %4",
- "robotis_openCM70_aux_servo_position": "Set the position of %1 servo motor to %2 %3",
+ "robotis_openCM70_aux_servo_speed": "Set the speed of servo motor of %1 to %2 , and the output value to %3% %4",
+ "robotis_openCM70_aux_servo_position": "Set the position of %1 servo motor to %2 degree %3",
"robotis_openCM70_aux_led_module": "Set the LED module of %1 as %2 %3",
"robotis_openCM70_aux_custom": "Set the user device of %1 as %2 %3",
+ "robotis_openCM70_cm_poweroff_timer": "Set auto-off timer as %1 %2",
"robotis_openCM70_cm_custom": "Set the custom address ( %1 ) as %2 %3",
"robotis_carCont_sensor_value": "Value %1",
"robotis_carCont_cm_led": "%1 LED 4, %2 LED %3",
diff --git a/extern/lang/jp.js b/extern/lang/jp.js
index 276e6c6079..21dfd4f196 100644
--- a/extern/lang/jp.js
+++ b/extern/lang/jp.js
@@ -1295,6 +1295,9 @@ Lang.Blocks = {
"robotis_common_play_motion": "実行",
"robotis_common_motion": "モーション",
"robotis_common_index_number": "回",
+ "robotis_common_left": "左",
+ "robotis_common_right": "右",
+ "robotis_common_minute": "分",
"robotis_cm_custom": "直接入力アドレス",
"robotis_cm_spring_left": "左側接触センサー",
"robotis_cm_spring_right": "右側接触センサー",
@@ -5430,12 +5433,17 @@ Lang.Helper = {
"robotis_openCM70_cm_sound_detected_clear": "최종 소리 감지횟 수를 0 으로 초기화 합니다.",
"robotis_openCM70_cm_led": "제어기의 빨간색, 녹색, 파란색 LED 를 켜거나 끕니다.",
"robotis_openCM70_cm_motion": "제어기에 다운로드 되어있는 모션을 실행합니다.",
- "robotis_openCM70_aux_motor_speed": "감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.",
+ "robotis_openCM70_cm_autodrive_motor": "자율주행 자동차의 모터 포트를 지정합니다.",
+ "robotis_openCM70_cm_autodrive_ir": "자율주행 자동차의 적외선 센서 포트를 지정합니다.",
+ "robotis_openCM70_cm_autodrive_speed": "지정한 속도로 자율주행을 수행합니다.",
+ "robotis_openCM70_aux_car_move": "로봇을 지정한 속도와 방향으로 움직이도록 합니다.",
+ "robotis_openCM70_aux_motor_speed": "감속모터 속도를 0 ~ 100% 의 값으로 정합니다.",
"robotis_openCM70_aux_servo_mode": "서보모터를 회전모드 또는 관절모드로 정합니다.
한번 설정된 모드는 계속 적용됩니다.
회전모드는 서보모터 속도를 지정하여 서보모터를 회전 시킵니다.
관절모드는 지정한 서보모터 속도로 서보모터 위치를 이동 시킵니다.",
- "robotis_openCM70_aux_servo_speed": "서보모터 속도를 0 ~ 1023 의 값(으)로 정합니다.",
- "robotis_openCM70_aux_servo_position": "서보모터 위치를 0 ~ 1023 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.",
+ "robotis_openCM70_aux_servo_speed": "서보모터 속도를 0 ~ 100% 의 값으로 정합니다.",
+ "robotis_openCM70_aux_servo_position": "서보모터 위치를 -150도 ~ 150도 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.",
"robotis_openCM70_aux_led_module": "LED 모듈의 LED 를 켜거나 끕니다.",
"robotis_openCM70_aux_custom": "사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
+ "robotis_openCM70_cm_poweroff_timer": "제어기의 자동꺼짐 타이머를 설정합니다.
설정된 만큼의 시간동안 통신이 진행되지 않으면 제어기는 자동으로 꺼집니다.",
"robotis_openCM70_cm_custom_value": "컨트롤 테이블 주소를 직접 입력하여 값을 확인 합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
"robotis_openCM70_cm_custom": "컨트롤 테이블 주소를 직접 입력하여 값을 정합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.",
"show_variable": "選択した変数ウィンドウを実行画面に表示します。",
@@ -6342,12 +6350,17 @@ Lang.template = {
"robotis_openCM70_cm_sound_detected_clear": "Initialize the final number of sound detection %1",
"robotis_openCM70_cm_led": "Controller %1 LED %2 %3",
"robotis_openCM70_cm_motion": "Play the motion %1 times",
- "robotis_openCM70_aux_motor_speed": "Set the speed of decelerating motor of %1 to %2 , and the output value to %3 %4",
+ "robotis_openCM70_cm_autodrive_motor": "Autonomous driving car %1 motor uses %2 %3",
+ "robotis_openCM70_cm_autodrive_ir": "Autonomous driving car %1 IR sensor uses %2 %3",
+ "robotis_openCM70_cm_autodrive_speed": "Perform autonomous driving at the speed of %1 %2",
+ "robotis_openCM70_aux_car_move": "Make the robot %2 at a speed of %1% %3",
+ "robotis_openCM70_aux_motor_speed": "Set the speed of decelerating motor of %1 to %2 , and the output value to %3% %4",
"robotis_openCM70_aux_servo_mode": "Set the mode of %1 servo motor to %2 %3",
- "robotis_openCM70_aux_servo_speed": "Set the speed of servo motor of %1 to %2 , and the output value to %3 %4",
- "robotis_openCM70_aux_servo_position": "Set the position of %1 servo motor to %2 %3",
+ "robotis_openCM70_aux_servo_speed": "Set the speed of servo motor of %1 to %2 , and the output value to %3% %4",
+ "robotis_openCM70_aux_servo_position": "Set the position of %1 servo motor to %2 degree %3",
"robotis_openCM70_aux_led_module": "Set the LED module of %1 as %2 %3",
"robotis_openCM70_aux_custom": "Set the user device of %1 as %2 %3",
+ "robotis_openCM70_cm_poweroff_timer": "Set auto-off timer as %1 %2",
"robotis_openCM70_cm_custom": "Set the custom address ( %1 ) as %2 %3",
"robotis_carCont_sensor_value": "Value %1",
"robotis_carCont_cm_led": "%1 LED 4, %2 LED %3",
diff --git a/extern/lang/ko.js b/extern/lang/ko.js
index b2b4bdfb0b..0973142cb0 100644
--- a/extern/lang/ko.js
+++ b/extern/lang/ko.js
@@ -1320,6 +1320,9 @@ Lang.Blocks = {
robotis_common_play_motion: '실행',
robotis_common_motion: '모션',
robotis_common_index_number: '번',
+ robotis_common_left: '왼쪽',
+ robotis_common_right: '오른쪽',
+ robotis_common_minute: '분',
robotis_cm_custom: '직접입력 주소',
robotis_cm_spring_left: '왼쪽 접촉 센서',
robotis_cm_spring_right: '오른쪽 접촉 센서',
@@ -5989,15 +5992,21 @@ Lang.Helper = {
robotis_openCM70_cm_sound_detected_clear: '최종 소리 감지횟 수를 0 으로 초기화 합니다.',
robotis_openCM70_cm_led: '제어기의 빨간색, 녹색, 파란색 LED 를 켜거나 끕니다.',
robotis_openCM70_cm_motion: '제어기에 다운로드 되어있는 모션을 실행합니다.',
- robotis_openCM70_aux_motor_speed: '감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.',
+ robotis_openCM70_cm_autodrive_motor: '자율주행 자동차의 모터 포트를 지정합니다.',
+ robotis_openCM70_cm_autodrive_ir: '자율주행 자동차의 적외선 센서 포트를 지정합니다.',
+ robotis_openCM70_cm_autodrive_speed: '지정한 속도로 자율주행을 수행합니다.',
+ robotis_openCM70_aux_car_move: '로봇을 지정한 속도와 방향으로 움직이도록 합니다.',
+ robotis_openCM70_aux_motor_speed: '감속모터 속도를 0 ~ 100% 의 값으로 정합니다.',
robotis_openCM70_aux_servo_mode:
'서보모터를 회전모드 또는 관절모드로 정합니다.
한번 설정된 모드는 계속 적용됩니다.
회전모드는 서보모터 속도를 지정하여 서보모터를 회전 시킵니다.
관절모드는 지정한 서보모터 속도로 서보모터 위치를 이동 시킵니다.',
- robotis_openCM70_aux_servo_speed: '서보모터 속도를 0 ~ 1023 의 값(으)로 정합니다.',
+ robotis_openCM70_aux_servo_speed: '서보모터 속도를 0 ~ 100% 의 값으로 정합니다.',
robotis_openCM70_aux_servo_position:
- '서보모터 위치를 0 ~ 1023 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.',
+ '서보모터 위치를 -150도 ~ 150도 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.',
robotis_openCM70_aux_led_module: 'LED 모듈의 LED 를 켜거나 끕니다.',
robotis_openCM70_aux_custom:
'사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
+ robotis_openCM70_cm_poweroff_timer:
+ '제어기의 자동꺼짐 타이머를 설정합니다.
설정된 만큼의 시간동안 통신이 진행되지 않으면 제어기는 자동으로 꺼집니다.',
robotis_openCM70_cm_custom_value:
'컨트롤 테이블 주소를 직접 입력하여 값을 확인 합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
robotis_openCM70_cm_custom:
@@ -7359,11 +7368,16 @@ Lang.template = {
robotis_openCM70_cm_sound_detected_clear: '최종소리감지횟수 초기화 %1',
robotis_openCM70_cm_led: '제어기 %1 LED %2 %3',
robotis_openCM70_cm_motion: '모션 %1 번 실행 %2',
- robotis_openCM70_aux_motor_speed: '%1 감속모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4',
+ robotis_openCM70_cm_autodrive_motor: '자율주행 자동차 %1 모터를 %2 에 연결 %3',
+ robotis_openCM70_cm_autodrive_ir: '자율주행 자동차 %1 적외선센서를 %2 에 연결 %3',
+ robotis_openCM70_cm_autodrive_speed: '차로를 따라 %1의 속도로 자율주행 %2',
+ robotis_openCM70_aux_car_move: '로봇을 %1% 의 속도로 %2 %3',
+ robotis_openCM70_aux_motor_speed: '%1 감속모터 속도를 %2 , 출력값을 %3%로 정하기 %4',
robotis_openCM70_aux_servo_mode: '%1 서보모터 모드를 %2 (으)로 정하기 %3',
- robotis_openCM70_aux_servo_speed: '%1 서보모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4',
- robotis_openCM70_aux_servo_position: '%1 서보모터 위치를 %2 (으)로 정하기 %3',
+ robotis_openCM70_aux_servo_speed: '%1 서보모터 속도를 %2 , 출력값을 %3%로 정하기 %4',
+ robotis_openCM70_aux_servo_position: '%1 서보모터 위치를 %2도로 정하기 %3',
robotis_openCM70_aux_led_module: '%1 LED 모듈을 %2 (으)로 정하기 %3',
+ robotis_openCM70_cm_poweroff_timer: '제어기 자동꺼짐 타이머 %1 %2',
robotis_openCM70_aux_custom: '%1 사용자 장치를 %2 (으)로 정하기 %3',
robotis_openCM70_cm_custom: '직접입력 주소 ( %1 ) (을)를 %2 (으)로 정하기 %3',
robotis_carCont_sensor_value: '%1 값',
diff --git a/extern/lang/vn.js b/extern/lang/vn.js
index 2986523405..d003ae00a1 100644
--- a/extern/lang/vn.js
+++ b/extern/lang/vn.js
@@ -1294,6 +1294,9 @@ Lang.Blocks = {
"robotis_common_play_motion": "thực hiện",
"robotis_common_motion": "chuyển động ",
"robotis_common_index_number": "số",
+ "robotis_common_left": "Bên trái",
+ "robotis_common_right": "Phải",
+ "robotis_common_minute": "phút",
"robotis_cm_custom": "nhập địa chỉ",
"robotis_cm_spring_left": "cảm biến tiếp xúc trái",
"robotis_cm_spring_right": "cảm biến tiếp xúc phải",
@@ -5429,12 +5432,17 @@ Lang.Helper = {
"robotis_openCM70_cm_sound_detected_clear": "Số cuối cùng phát hiện âm thanh ",
"robotis_openCM70_cm_led": "Bật hoặc tắt đèn LED màu đỏ, màu xanh lá cây, màu xanh dương của thiết bị.",
"robotis_openCM70_cm_motion": "Thực hiện chuyển động tải về thiết bị. ",
- "robotis_openCM70_aux_motor_speed": "Thiết lập tốc độ của động cơ giảm tốc với giá trị 0-1023.",
+ "robotis_openCM70_cm_autodrive_motor": "Chỉ định cổng động cơ của ô tô lái tự động.",
+ "robotis_openCM70_cm_autodrive_ir": "Chỉ định cổng cảm biến hồng ngoại của xe lái tự động.",
+ "robotis_openCM70_cm_autodrive_speed": "Lái xe tự động được thực hiện ở tốc độ quy định dọc theo làn đường.",
+ "robotis_openCM70_aux_car_move": "Làm cho robot di chuyển với tốc độ và hướng xác định.",
+ "robotis_openCM70_aux_motor_speed": "Thiết lập tốc độ của động cơ giảm tốc với giá trị 0-100%.",
"robotis_openCM70_aux_servo_mode": "Thiết lập động cơ servo như chế độ bánh xe hoặc chế độ chung.
Các chế độ tương tự vẫn tiếp tục áp dụng một khi đã cài đặt.
Chế độ bánh xe chỉ định tốc độ động cơ servo, và quay động cơ servo.
Chọn chế độ di chuyển vị trí của động cơ servo và tốc độ động cơ servo.",
- "robotis_openCM70_aux_servo_speed": "Cài đặt tốc độ của động cơ servo với giá trị từ 0 - 1023. ",
- "robotis_openCM70_aux_servo_position": "Cài đặt vị trí của động cơ servo với giá trị từ 0 - 1023.
Sử dụng như tốc độ động cơ servo",
+ "robotis_openCM70_aux_servo_speed": "Cài đặt tốc độ của động cơ servo với giá trị từ 0 - 100%. ",
+ "robotis_openCM70_aux_servo_position": "Cài đặt vị trí của động cơ servo với giá trị từ -150 - 150 độ.
Sử dụng như tốc độ động cơ servo",
"robotis_openCM70_aux_led_module": "Bật hoặc tắt các mô-đun LED của LED.",
"robotis_openCM70_aux_custom": "Vui lòng tham khảo ROBOTIS e-manual (http://support.robotis.com/ko/) để được giải thích về người sử dụng cảm biến sản xuất.",
+ "robotis_openCM70_cm_poweroff_timer": "Đặt bộ hẹn giờ tự động tắt của bộ điều khiển.
Nếu giao tiếp không diễn ra trong khoảng thời gian đã đặt, bộ điều khiển sẽ tự động tắt.",
"robotis_openCM70_cm_custom_value": "Kiểm tra các giá trị bằng cách nhập trực tiếp địa chỉ bảng điều khiển.
Vui lòng tham khảo ROBOTIS e-manual (http://support.robotis.com/ko/)để được giải thích về bảng điều khiển.",
"robotis_openCM70_cm_custom": "Kiểm tra các giá trị bằng cách nhập trực tiếp địa chỉ bảng điều khiển.
Vui lòng tham khảo ROBOTIS e-manual (http://support.robotis.com/ko/)để được giải thích về bảng điều khiển.",
"show_variable": "Hiển thị giá trị của biến đã chọn trên màn hình.",
@@ -6339,12 +6347,17 @@ Lang.template = {
"robotis_openCM70_cm_sound_detected_clear": "phát bộ điều khiển giai điệu %1 lần %2",
"robotis_openCM70_cm_led": "bộ điều khiển %1 LED %2 %3",
"robotis_openCM70_cm_motion": "mở chuyển động %1 lần",
- "robotis_openCM70_aux_motor_speed": "Thiết lập tốc độ giảm tốc động cơ của %1 tới %2 , và giá trị đầu ra đến %3 %4",
+ "robotis_openCM70_cm_autodrive_motor": "Ô tô lái tự động %1 sử dụng động cơ %2 %3",
+ "robotis_openCM70_cm_autodrive_ir": "Ô tô tự lái %1 sử dụng cảm biến hồng ngoại %2 %3",
+ "robotis_openCM70_cm_autodrive_speed": "Thực hiện lái xe tự trị ở tốc độ %1 %2",
+ "robotis_openCM70_aux_car_move": "Làm cho robot đi %2 với tốc độ %1% %3",
+ "robotis_openCM70_aux_motor_speed": "Thiết lập tốc độ giảm tốc động cơ của %1 tới %2 , và giá trị đầu ra đến %3% %4",
"robotis_openCM70_aux_servo_mode": "Thiết lập chế độ của %1 động cơ servo bằng %2 %3",
- "robotis_openCM70_aux_servo_speed": "Thiết lập tốc độ tốc động cơ servo của %1 tới %2, và giá trị đầu ra đến %3 %4",
- "robotis_openCM70_aux_servo_position": "Thiết lập vị trí của %1 động cơ servo bằng %2 %3",
+ "robotis_openCM70_aux_servo_speed": "Thiết lập tốc độ tốc động cơ servo của %1 tới %2, và giá trị đầu ra đến %3% %4",
+ "robotis_openCM70_aux_servo_position": "Thiết lập vị trí của %1 động cơ servo bằng %2 độ %3",
"robotis_openCM70_aux_led_module": "thiết lập %1 mô-đun LED như %2 %3",
"robotis_openCM70_aux_custom": "thiết lập %1 thiết bị người dùng như %2 %3",
+ "robotis_openCM70_cm_poweroff_timer": "Bộ hẹn giờ tự động tắt bộ điều khiển %1 %2",
"robotis_openCM70_cm_custom": "thiết lập địa chỉ tùy chỉnh ( %1 ) như %2 %3",
"robotis_carCont_sensor_value": "giá trị %1",
"robotis_carCont_cm_led": "%1 LED 4, %2 LED %3",
diff --git a/src/playground/blocks/hardware/block_robotis.js b/src/playground/blocks/hardware/block_robotis.js
index 31a2c7352d..863bb96ee8 100644
--- a/src/playground/blocks/hardware/block_robotis.js
+++ b/src/playground/blocks/hardware/block_robotis.js
@@ -1,6581 +1,7511 @@
-'use strict';
-
-Entry.Robotis_carCont = {
- INSTRUCTION: {
- NONE: 0,
- WRITE: 3,
- READ: 2,
- },
- CONTROL_TABLE: {
- // [default address, default length, address (when reads together), length (when reads together)]
- CM_LED: [67, 1],
- CM_SPRING_RIGHT: [69, 1, 69, 2],
- CM_SPRING_LEFT: [70, 1, 69, 2],
- CM_SWITCH: [71, 1],
- CM_SOUND_DETECTED: [86, 1],
- CM_SOUND_DETECTING: [87, 1],
- CM_IR_LEFT: [91, 2, 91, 4],
- CM_IR_RIGHT: [93, 2, 91, 4],
- CM_CALIBRATION_LEFT: [95, 2],
- CM_CALIBRATION_RIGHT: [97, 2],
-
- AUX_MOTOR_SPEED_LEFT: [152, 2], // car_cont
- AUX_MOTOR_SPEED_RIGHT: [154, 2],
- },
- setZero: function() {
- // instruction / address / length / value / default length
- Entry.hw.sendQueue['setZero'] = [1];
- this.update();
- this.setRobotisData(null);
- Entry.hw.sendQueue['setZero'] = null;
- this.update();
- this.setRobotisData([
- [Entry.Robotis_carCont.INSTRUCTION.WRITE, 152, 2, 0],
- [Entry.Robotis_carCont.INSTRUCTION.WRITE, 154, 2, 0],
- ]);
-
- this.update();
- },
- id: '7.1',
- name: 'robotis_carCont',
- url: 'http://www.robotis.com/index/product.php?cate_code=111310',
- imageName: 'robotis_carCont.png',
- title: {
- ko: '로보티즈 로봇자동차',
- en: 'Robotis Robot car',
- },
- delay: 40,
- postCallReturn: function(script, data, ms) {
- if (ms <= 0) {
- this.setRobotisData(data);
- this.update();
- return script.callReturn();
- }
-
- Entry.hw.portData = {};
- setTimeout(function() {
- Entry.hw.sendQueue = {}
- // Entry.hw.portData = {};
- }, ms - 100);
-
- setTimeout(function() {
- Entry.hw.sendQueue = {}
- //Entry.hw.portData = {};
- }, ms);
-
- setTimeout(function() {
- Entry.hw.sendQueue = {}
- //Entry.hw.portData = {};
- }, ms + 100);
-
- setTimeout(function() {
- Entry.hw.sendQueue = {}
- // Entry.hw.portData = {};
- }, ms + 200);
-
- if (!script.isStart) {
- script.isStart = true;
- script.timeFlag = 1;
- //data setting
- this.setRobotisData(data);
- this.update();
-
- //delay xx ms
- setTimeout(function() {
- script.timeFlag = 0;
-
- }, ms);
-
- return script;
- } else if (script.timeFlag == 1) {
- this.setRobotisData(null);
- this.update();
- return script;
- } else {
- delete script.timeFlag;
- delete script.isStart;
- Entry.engine.isContinue = false;
- this.update();
- return script.callReturn();
- }
- },
- wait: function(sq, ms) {
- Entry.hw.socket.send(JSON.stringify(sq));
-
- var start = new Date().getTime();
- var end = start;
- while (end < start + ms) {
- //wait XX ms
- end = new Date().getTime();
- }
- },
- update: function() {
- Entry.hw.update();
- var ROBOTIS_DATA = Entry.hw.sendQueue['ROBOTIS_DATA'];
- if (ROBOTIS_DATA) {
- ROBOTIS_DATA.forEach(function(data) {
- data['send'] = true;
- });
- }
- this.setRobotisData(null);
- },
- filterSendData: function() {
- var ROBOTIS_DATA = Entry.hw.sendQueue['ROBOTIS_DATA'];
- if (ROBOTIS_DATA) {
- return ROBOTIS_DATA.filter(function(data) {
- return data.send !== true;
- });
- } else {
- return null;
- }
- },
- setRobotisData: function(data) {
- var filterData = this.filterSendData();
- if (data == null) {
- Entry.hw.sendQueue['ROBOTIS_DATA'] = filterData;
- } else {
- Entry.hw.sendQueue['ROBOTIS_DATA'] = filterData ? filterData.concat(data) : data;
- }
- },
-};
-
-Entry.Robotis_openCM70 = {
- hasPracticalCourse: true,
- INSTRUCTION: {
- NONE: 0,
- WRITE: 3,
- READ: 2,
- },
- CONTROL_TABLE: {
- // [default address, default length, address (when reads together), length (when reads together)]
- CM_LED_R: [79, 1],
- CM_LED_G: [80, 1],
- CM_LED_B: [81, 1],
- CM_BUZZER_INDEX: [84, 1],
- CM_BUZZER_TIME: [85, 1],
- CM_SOUND_DETECTED: [86, 1],
- CM_SOUND_DETECTING: [87, 1],
- CM_USER_BUTTON: [26, 1],
- CM_MOTION: [66, 1],
-
- AUX_SERVO_POSITION: [152, 2],
- AUX_IR: [168, 2],
- AUX_TOUCH: [202, 1],
- AUX_TEMPERATURE: [234, 1],
- AUX_ULTRASONIC: [242, 1],
- AUX_MAGNETIC: [250, 1],
- AUX_MOTION_DETECTION: [258, 1],
- AUX_COLOR: [266, 1],
- AUX_CUSTOM: [216, 2],
- AUX_BRIGHTNESS: [288, 2],
- AUX_HYDRO_THEMO_HUMIDITY: [274, 1],
- AUX_HYDRO_THEMO_TEMPER: [282, 1],
-
- AUX_SERVO_MODE: [126, 1],
- AUX_SERVO_SPEED: [136, 2],
- AUX_MOTOR_SPEED: [136, 2],
- AUX_LED_MODULE: [210, 1],
- },
- IRS_MODULEWRITE: {
- PORT3: false,
- PORT4: false,
- PORT5: false,
- PORT6: false,
- },
- SERVO_MODULEWRITE: {
- PORT3: false,
- PORT4: false,
- PORT5: false,
- PORT6: false,
- },
- setZero: function() {
- // instruction / address / length / value / default length
- Entry.hw.sendQueue['setZero'] = [1];
- Entry.Robotis_carCont.update();
- Entry.Robotis_carCont.setRobotisData(null);
- Entry.hw.sendQueue['setZero'] = null;
- Entry.Robotis_carCont.update();
- Entry.Robotis_carCont.setRobotisData([
- /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 136, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 138, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 140, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 142, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 144, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 146, 2, 0],*/
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 136, 12, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 3, 0],
- /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 1, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 80, 1, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 81, 1, 0],*/
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 86, 1, 0], // 최종 소리 // add by kjs start 170605
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 108, 4, 0],
- /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 108, 1, 0], // port 3
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 109, 1, 0], // port 4
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 110, 1, 0], // port 5
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 111, 1, 0] // port 6 // add by kjs end 170605*/
- ]);
-
- Entry.Robotis_carCont.update();
-
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = false;
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = false;
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = false;
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = false;
-
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 = false;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 = false;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 = false;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 = false;
- /*
- Entry.hw.sendQueue['temp'] = [0];
- Entry.Robotis_carCont.update();
- Entry.hw.sendQueue['temp'] = null;*/
- //Entry.Robotis_carCont.update();
- },
- id: '7.2',
- name: 'robotis_openCM70',
- url: 'http://www.robotis.com/index/product.php?cate_code=111310',
- imageName: 'robotis_openCM70.png',
- title: {
- ko: '로보티즈 IoT',
- en: 'Robotis Open CM70',
- },
- delay: 15,
- readDelay: 30
-};
-
-Entry.Robotis_openCM70EDU = {
- hasPracticalCourse: true,
- INSTRUCTION: {
- NONE: 0,
- WRITE: 3,
- READ: 2,
- },
- CONTROL_TABLE: {
- // [default address, default length, address (when reads together), length (when reads together)]
- CM_LED_R: [79, 1],
- CM_LED_G: [80, 1],
- CM_LED_B: [81, 1],
- CM_BUZZER_INDEX: [84, 1],
- CM_BUZZER_TIME: [85, 1],
- CM_SOUND_DETECTED: [86, 1],
- CM_SOUND_DETECTING: [87, 1],
- CM_USER_BUTTON: [26, 1],
- CM_MOTION: [66, 1],
-
- AUX_SERVO_POSITION: [152, 2],
- AUX_IR: [168, 2],
- AUX_TOUCH: [202, 1],
- AUX_TEMPERATURE: [234, 1],
- AUX_ULTRASONIC: [242, 1],
- AUX_MAGNETIC: [250, 1],
- AUX_MOTION_DETECTION: [258, 1],
- AUX_COLOR: [266, 1],
- AUX_CUSTOM: [216, 2],
- AUX_BRIGHTNESS: [288, 2],
- AUX_HYDRO_THEMO_HUMIDITY: [274, 1],
- AUX_HYDRO_THEMO_TEMPER: [282, 1],
-
- AUX_SERVO_MODE: [126, 1],
- AUX_SERVO_SPEED: [136, 2],
- AUX_MOTOR_SPEED: [136, 2],
- AUX_LED_MODULE: [210, 1],
- },
- IRS_MODULEWRITE: {
- PORT3: false,
- PORT4: false,
- PORT5: false,
- PORT6: false,
- },
- SERVO_MODULEWRITE: {
- PORT3: false,
- PORT4: false,
- PORT5: false,
- PORT6: false,
- },
- setZero: function() {
- // instruction / address / length / value / default length
- Entry.hw.sendQueue['setZero'] = [1];
- Entry.Robotis_carCont.update();
- Entry.Robotis_carCont.setRobotisData(null);
- Entry.hw.sendQueue['setZero'] = null;
- Entry.Robotis_carCont.update();
- Entry.Robotis_carCont.setRobotisData([
- /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 136, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 138, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 140, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 142, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 144, 2, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 146, 2, 0],*/
- [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 136, 12, 0],
- [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 79, 3, 0],
- /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 1, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 80, 1, 0],
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 81, 1, 0],*/
- [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 86, 1, 0], // 최종 소리 // add by kjs start 170605
- [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 108, 4, 0],
- /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 108, 1, 0], // port 3
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 109, 1, 0], // port 4
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 110, 1, 0], // port 5
- [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 111, 1, 0] // port 6 // add by kjs end 170605*/
- ]);
-
- Entry.Robotis_carCont.update();
-
- Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT3 = false;
- Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT4 = false;
- Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT5 = false;
- Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT6 = false;
-
- Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT3 = false;
- Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT4 = false;
- Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT5 = false;
- Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT6 = false;
-
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = false;
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = false;
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = false;
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = false;
-
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 = false;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 = false;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 = false;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 = false;
- /*
- Entry.hw.sendQueue['temp'] = [0];
- Entry.Robotis_carCont.update();
- Entry.hw.sendQueue['temp'] = null;*/
- //Entry.Robotis_carCont.update();
- },
- monitorTemplate: {
- imgPath: 'hw/robotis_opencm70.png',
- width: 800,
- height: 800,
- listPorts: {
- DETECTEDSOUNDE: { name: '최종소리', type: 'input', pos: { x: 0, y: 0 } },
- DETECTINGSOUNDE1: { name: '실시간소리', type: 'input', pos: { x: 0, y: 0 } },
- //SND: { name: Lang.Hw.buzzer, type: 'output', pos: { x: 0, y: 0 } },
- //FND: { name: '전원', type: 'output', pos: { x: 0, y: 0 } },
- },
- ports: {
- USERBUTTONSTATE: { name: 'USERBUTTON', type: 'input', pos: { x: 565, y: 335 } },
- //'LEDR': { name: 'R', type: 'input', pos: { x: 140, y: 300 } },
- //'LEDG': { name: 'G', type: 'input', pos: { x: 170, y: 300 } },
- //'LEDB': { name: 'B', type: 'input', pos: { x: 200, y: 300 } },
- //'GM1': { name: 'GEARD1', type: 'input', pos: { x: 450, y: 300 } },
- //'GM2': { name: 'GEARD2', type: 'input', pos: { x: 450, y: 480 } },
- MONITORPORT0: { name: 'PORT3', type: 'input', pos: { x: 320, y: 320 } },
- MONITORPORT1: { name: 'PORT4', type: 'input', pos: { x: 330, y: 330 } },
- MONITORPORT2: { name: 'PORT5', type: 'input', pos: { x: 320, y: 440 } },
- MONITORPORT3: { name: 'PORT6', type: 'input', pos: { x: 330, y: 460 } },
- },
- mode: 'both',
- },
- id: '7.3',
- name: 'robotis_openCM70EDU',
- url: 'http://www.robotis.com/index/product.php?cate_code=111310',
- imageName: 'robotis_openCM70EDU.png',
- title: {
- ko: '로보티즈 실과',
- en: 'ROBOTIS InfoRobot',
- },
- delay: 15,
-};
-
-Entry.Robotis_carCont.blockMenuBlocks = [
- 'robotis_carCont_sensor_value',
- 'robotis_carCont_cm_led',
- 'robotis_carCont_cm_sound_detected_clear',
- 'robotis_carCont_aux_motor_speed',
- 'robotis_carCont_aux_motor_speed2',
- 'robotis_carCont_cm_calibration',
-];
-
-Entry.Robotis_carCont.setLanguage = function() {
- return {
- ko: {
- template: {
- robotis_carCont_sensor_value: '%1 값',
- robotis_carCont_cm_led: '4번 LED %1 , 1번 LED %2 %3',
- robotis_carCont_cm_sound_detected_clear: '최종소리감지횟수 초기화 %1',
- robotis_carCont_aux_motor_speed:
- '%1 감속모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4',
- robotis_carCont_cm_calibration:
- '%1 적외선 센서 캘리브레이션 값을 %2 (으)로 정하기 %3',
- robotis_openCM70_cm_custom_value: '직접입력 주소 ( %1 ) %2 값',
- robotis_openCM70_sensor_value: '제어기 %1 값',
- robotis_openCM70_aux_sensor_value: '%1 %2 값',
- robotis_openCM70_cm_buzzer_index: '제어기 음계값 %1 을(를) %2 초 동안 연주 %3',
- robotis_openCM70_cm_buzzer_melody: '제어기 멜로디 %1 번 연주 %2',
- robotis_openCM70_cm_sound_detected_clear: '최종소리감지횟수 초기화 %1',
- robotis_openCM70_cm_led: '제어기 %1 LED %2 %3',
- robotis_openCM70_cm_motion: '모션 %1 번 실행 %2',
- robotis_openCM70_aux_motor_speed:
- '%1 감속모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4',
- robotis_openCM70_aux_servo_mode: '%1 서보모터 모드를 %2 (으)로 정하기 %3',
- robotis_openCM70_aux_servo_speed:
- '%1 서보모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4',
- robotis_openCM70_aux_servo_position: '%1 서보모터 위치를 %2 (으)로 정하기 %3',
- robotis_openCM70_aux_led_module: '%1 LED 모듈을 %2 (으)로 정하기 %3',
- robotis_openCM70_aux_custom: '%1 사용자 장치를 %2 (으)로 정하기 %3',
- robotis_openCM70_cm_custom: '직접입력 주소 ( %1 ) (을)를 %2 (으)로 정하기 %3',
- },
- Helper: {
- robotis_carCont_sensor_value:
- '왼쪽 접속 센서 : 접촉(1), 비접촉(0) 값 입니다.
오른쪽 접촉 센서 : 접촉(1), 비접촉(0) 값 입니다.
선택 버튼 상태 : 접촉(1), 비접촉(0) 값 입니다.
최종 소리 감지 횟수 : 마지막 실시간 소리 감지 횟수 값 입니다.
실시간 소리 감지 횟수 : 약 1초 안에 다음 소리가 감지되면 1씩 증가합니다.
왼쪽 적외선 센서 : 물체와 가까울 수록 큰 값 입니다.
오른쪽 적외선 센서 : 물체와 가까울 수록 큰 값 값 입니다.
왼쪽 적외선 센서 캘리브레이션 값 : 적외선 센서의 캘리브레이션 값 입니다.
오른쪽 적외선 센서 캘리브레이션 값 : 적외선 센서의 캘리브레이션 값 입니다.
(*캘리브레이션 값 - 적외선센서 조정 값)',
- robotis_carCont_cm_led:
- '4개의 LED 중 1번 또는 4번 LED 를 켜거나 끕니다.
LED 2번과 3번은 동작 지원하지 않습니다.',
- robotis_carCont_cm_sound_detected_clear:
- '최종 소리 감지횟 수를 0 으로 초기화 합니다.',
- robotis_carCont_aux_motor_speed: '감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.',
- robotis_carCont_cm_calibration:
- '적외선센서 조정 값(http://support.robotis.com/ko/: 자동차로봇> 2. B. 적외선 값 조정)을 직접 정합니다.',
- robotis_openCM70_sensor_value:
- '최종 소리 감지 횟수 : 마지막 실시간 소리 감지 횟수 값 입니다.
실시간 소리 감지 횟수 : 약 1초 안에 다음 소리가 감지되면 1씩 증가합니다.
사용자 버튼 상태 : 접촉(1), 비접촉(0) 값 입니다.최종 소리 감지 횟수 : 마지막 실시간 소리 감지 횟수 값 입니다.
실시간 소리 감지 횟수 : 약 1초 안에 다음 소리가 감지되면 1씩 증가합니다.
사용자 버튼 상태 : 접촉(1), 비접촉(0) 값 입니다.',
- robotis_openCM70_aux_sensor_value:
- '서보모터 위치 : 0 ~ 1023, 중간 위치의 값은 512 입니다.
적외선센서 : 물체와 가까울 수록 큰 값 입니다.
접촉센서 : 접촉(1), 비접촉(0) 값 입니다.
조도센서(CDS) : 0 ~ 1023, 밝을 수록 큰 값 입니다.
온습도센서(습도) : 0 ~ 100, 습할 수록 큰 값 입니다.
온습도센서(온도) : -20 ~ 100, 온도가 높을 수록 큰 값 입니다.
온도센서 : -20 ~ 100, 온도가 높을 수록 큰 값 입니다.
초음파센서 : -
자석센서 : 접촉(1), 비접촉(0) 값 입니다.
동작감지센서 : 동작 감지(1), 동작 미감지(0) 값 입니다.
컬러센서 : 알수없음(0), 흰색(1), 검은색(2), 빨간색(3), 녹색(4), 파란색(5), 노란색(6) 값 입니다.
사용자 장치 : 사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
- robotis_openCM70_cm_buzzer_index: '음계를 0.1 ~ 5 초 동안 연주 합니다.',
- robotis_openCM70_cm_buzzer_melody:
- "멜로디를 연주 합니다.
멜로디를 연속으로 재생하는 경우, 다음 소리가 재생되지 않으면 '흐름 > X 초 기다리기' 블록을 사용하여 기다린 후 실행합니다.",
- robotis_openCM70_cm_sound_detected_clear:
- '최종 소리 감지횟 수를 0 으로 초기화 합니다.',
- robotis_openCM70_cm_led: '제어기의 빨간색, 녹색, 파란색 LED 를 켜거나 끕니다.',
- robotis_openCM70_cm_motion: '제어기에 다운로드 되어있는 모션을 실행합니다.',
- robotis_openCM70_aux_motor_speed: '감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.',
- robotis_openCM70_aux_servo_mode:
- '서보모터를 회전모드 또는 관절모드로 정합니다.
한번 설정된 모드는 계속 적용됩니다.
회전모드는 서보모터 속도를 지정하여 서보모터를 회전 시킵니다.
관절모드는 지정한 서보모터 속도로 서보모터 위치를 이동 시킵니다.',
- robotis_openCM70_aux_servo_speed: '서보모터 속도를 0 ~ 1023 의 값(으)로 정합니다.',
- robotis_openCM70_aux_servo_position:
- '서보모터 위치를 0 ~ 1023 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.',
- robotis_openCM70_aux_led_module: 'LED 모듈의 LED 를 켜거나 끕니다.',
- robotis_openCM70_aux_custom:
- '사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
- robotis_openCM70_cm_custom_value:
- '컨트롤 테이블 주소를 직접 입력하여 값을 확인 합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
- robotis_openCM70_cm_custom:
- '컨트롤 테이블 주소를 직접 입력하여 값을 정합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
- },
- Blocks: {
- robotis_carCont_aux_motor_speed_1: '감속모터 속도를',
- robotis_carCont_aux_motor_speed_2: ', 출력값을',
- robotis_carCont_calibration_1: '적외선 센서 캘리브레이션 값을',
- robotis_common_case_01: '(을)를',
- robotis_common_set: '(으)로 정하기',
- robotis_common_value: '값',
- robotis_common_clockwhise: '시계방향',
- robotis_common_counter_clockwhise: '반시계방향',
- robotis_common_wheel_mode: '회전모드',
- robotis_common_joint_mode: '관절모드',
- robotis_common_red_color: '빨간색',
- robotis_common_green_color: '녹색',
- robotis_common_blue_color: '파란색',
- robotis_common_on: '켜기',
- robotis_common_off: '끄기',
- robotis_common_cm: '제어기',
- robotis_common_port_1: '포트 1',
- robotis_common_port_2: '포트 2',
- robotis_common_port_3: '포트 3',
- robotis_common_port_4: '포트 4',
- robotis_common_port_5: '포트 5',
- robotis_common_port_6: '포트 6',
- robotis_common_play_buzzer: '연주',
- robotis_common_play_motion: '실행',
- robotis_common_motion: '모션',
- robotis_common_index_number: '번',
- robotis_cm_custom: '직접입력 주소',
- robotis_cm_spring_left: '왼쪽 접촉 센서',
- robotis_cm_spring_right: '오른쪽 접촉 센서',
- robotis_cm_led_left: '왼쪽 LED',
- robotis_cm_led_right: '오른쪽 LED',
- robotis_cm_led_both: '양 쪽 LED',
- robotis_cm_switch: '선택 버튼 상태',
- robotis_cm_user_button: '사용자 버튼 상태',
- robotis_cm_sound_detected: '최종 소리 감지 횟수',
- robotis_cm_sound_detecting: '실시간 소리 감지 횟수',
- robotis_cm_ir_left: '왼쪽 적외선 센서',
- robotis_cm_ir_right: '오른쪽 적외선 센서',
- robotis_cm_calibration_left: '왼쪽 적외선 센서 캘리브레이션 값',
- robotis_cm_calibration_right: '오른쪽 적외선 센서 캘리브레이션 값',
- robotis_cm_clear_sound_detected: '최종소리감지횟수 초기화',
- robotis_cm_buzzer_index: '음계값',
- robotis_cm_buzzer_melody: '멜로디',
- robotis_cm_led_1: '1번 LED',
- robotis_cm_led_4: '4번 LED',
- robotis_aux_servo_position: '서보모터 위치',
- robotis_aux_ir: '적외선센서',
- robotis_aux_touch: '접촉센서',
- robotis_aux_brightness: '조도센서(CDS)',
- robotis_aux_hydro_themo_humidity: '온습도센서(습도)',
- robotis_aux_hydro_themo_temper: '온습도센서(온도)',
- robotis_aux_temperature: '온도센서',
- robotis_aux_ultrasonic: '초음파센서',
- robotis_aux_magnetic: '자석센서',
- robotis_aux_motion_detection: '동작감지센서',
- robotis_aux_color: '컬러센서',
- robotis_aux_custom: '사용자 장치',
- },
- },
- en: {
- template: {
- robotis_carCont_sensor_value: 'Value %1',
- robotis_carCont_cm_led: '%1 LED 4, %2 LED %3',
- robotis_carCont_cm_sound_detected_clear:
- 'Initialize the final number of sound detection %1',
- robotis_carCont_aux_motor_speed:
- 'Set the speed of decelerating motor of %1 to %2, and the output value to %3 %4',
- robotis_carCont_cm_calibration:
- 'Set %1 value of infrared sensor calibration to %2 %3',
- robotis_openCM70_cm_custom_value: 'Custom address ( %1 ) value %2',
- robotis_openCM70_sensor_value: 'Controller value %1',
- robotis_openCM70_aux_sensor_value: 'Value %1 %2',
- robotis_openCM70_cm_buzzer_index:
- 'Play %1 controller scale value for %2 seconds %3 ',
- robotis_openCM70_cm_buzzer_melody: 'Play controller melody %1 times %2',
- robotis_openCM70_cm_sound_detected_clear:
- 'Initialize the final number of sound detection %1',
- robotis_openCM70_cm_led: 'Controller %1 LED %2 %3',
- robotis_openCM70_cm_motion: 'Play the motion %1 times',
- robotis_openCM70_aux_motor_speed:
- 'Set the speed of decelerating motor of %1 to %2 , and the output value to %3 %4',
- robotis_openCM70_aux_servo_mode: 'Set the mode of %1 servo motor to %2 %3',
- robotis_openCM70_aux_servo_speed:
- 'Set the speed of servo motor of %1 to %2 , and the output value to %3 %4',
- robotis_openCM70_aux_servo_position: 'Set the position of %1 servo motor to %2 %3',
- robotis_openCM70_aux_led_module: 'Set the LED module of %1 as %2 %3',
- robotis_openCM70_aux_custom: 'Set the user device of %1 as %2 %3',
- robotis_openCM70_cm_custom: 'Set the custom address ( %1 ) as %2 %3',
- },
- Helper: {
- robotis_openCM70_sensor_value:
- 'Final number of sound detection : the value of the final detected sound times.
Number of live sound detection : increases by 1 when it detects the next sound within 1 second.
Status of user button: the value of contact (1), non-contact (0).Final number of sound detection : the value of the number of last live sound detection.
Number of live sound detection : increases by 1 when it detects the next sound within 1 second.
Status of user button : the value of contact (1), non-contact (0).',
- robotis_openCM70_aux_sensor_value:
- "Position of servo motor: 0-1023, the value of the middle is 512.
Infrared sensor : the value is larger when it's close to an object.
Contact sensor: the value of contact(1), non-contact(0).
CDS: 0-1023, the value is larger when it's brighter.
Temperature-humidity sensor (humidity) : 0-100, the value is larger when it's more humid.
Temperature-humidity sensor (temperature) : -20 - 100, the value is larger when it's higher in temperature.
Temperature sensor : -20 - 100, the value is larger when it's higher in temperature.
Ultrasound sensor: -
Magnetic sensor : the value of contact(1), non-contact(0).
Motion detector: the value of detected motion(1), non-detected motion(0).
Color sensor: the value of unknown(0), white(1), black(2), red(3), green(4), blue(5), yellow(6).
User device: please refer to ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation on user sensor production.",
- robotis_openCM70_cm_buzzer_index: 'Plays the scale for 0.1 to 5 seconds.',
- robotis_openCM70_cm_buzzer_melody:
- "Plays melody.
If the following sound doesn't play when repeatedly playing melodies, use the block 'flow > wait for X seconds' and execute it again.",
- robotis_openCM70_cm_sound_detected_clear: 'Final number of sound detection ',
- robotis_openCM70_cm_led: 'Turns the red, green, blue LED of the device on or off.',
- robotis_openCM70_cm_motion: 'Executes the motion downloaded on the device.',
- robotis_openCM70_aux_motor_speed:
- 'Sets the speed of decelerating motor to the value of 0 - 1023.',
- robotis_openCM70_aux_servo_mode:
- "Sets the servo motor as wheel mode or joint mode.
The same mode continues to apply once it's set.
Wheel mode designates the servo motor's speed, and spins the servo motor.
Joint mode moves the servo motor's position with the set servo motor speed.",
- robotis_openCM70_aux_servo_speed:
- "Sets servo motor's speed to the value of 0 - 1023.",
- robotis_openCM70_aux_servo_position:
- "Sets servo motor's position to the value of 0-1023.
Use as servo motor speed",
- robotis_openCM70_aux_led_module: 'Turns the LED of LED module on or off.',
- robotis_openCM70_aux_custom:
- 'Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation of user sensor production.',
- robotis_openCM70_cm_custom_value:
- 'Checks the value by directly inputting the control table address.
Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation about control table.',
- robotis_openCM70_cm_custom:
- 'Checks the value by directly inputting the control table address.
Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation about control table.',
- robotis_carCont_sensor_value:
- "Left connected sensor : the value of contact (1), non-contact (0).
Right contact sensor: the value of contact (1), non-contact (0).
Final number of sound detection : the value of the number of last live sound detection.
Number of live sound detection : increases by 1 when it detects the next sound within 1 second.
Right infrared sensor: the value is larger when it's closer to an object.
Value of left infrared sensor calibration : the calibration value of the infrared sensor.
Value of right infrared sensor calibration : the calibration value of the infrared sensor.
(*Calibration value - control value of infrared sensor)",
- robotis_carCont_cm_led:
- 'Turns LED 1 or LED 4 among the 4 LEDs on or off.
Not applicable to LED 2 and LED 3.',
- robotis_carCont_cm_sound_detected_clear:
- 'Initializes the final amount of detected sound to 0.',
- robotis_carCont_aux_motor_speed:
- 'Sets the speed of decelerating motor to the value of 0-1023.',
- robotis_carCont_cm_calibration:
- 'Sets the controlling value of infrared sensor (http://support.robotis.com/ko/: automobile robot> 2. B. control infrared value).',
- },
- Blocks: {
- robotis_carCont_aux_motor_speed_1: 'Speed of decelerating motor',
- robotis_carCont_aux_motor_speed_2: ', the output value',
- robotis_carCont_calibration_1: 'Value of the infrared sensor calibration ',
- robotis_common_case_01: '(을)를',
- robotis_common_set: 'the output value',
- robotis_common_value: 'Value',
- robotis_common_clockwhise: 'Clockwise',
- robotis_common_counter_clockwhise: 'Counterclockwise',
- robotis_common_wheel_mode: 'Wheel mode',
- robotis_common_joint_mode: 'Joint mode',
- robotis_common_red_color: 'Red',
- robotis_common_green_color: 'Green',
- robotis_common_blue_color: 'Blue',
- robotis_common_on: 'Turn on',
- robotis_common_off: 'Turn off',
- robotis_common_cm: 'Controller',
- robotis_common_port_1: 'Port 1',
- robotis_common_port_2: 'Port 2',
- robotis_common_port_3: 'Port 3',
- robotis_common_port_4: 'Port 4',
- robotis_common_port_5: 'Port 5',
- robotis_common_port_6: 'Port 6',
- robotis_common_play_buzzer: 'Play',
- robotis_common_play_motion: 'Play',
- robotis_common_motion: 'Motion',
- robotis_common_index_number: 'Number',
- robotis_cm_custom: 'Custom address',
- robotis_cm_spring_left: 'Left contact sensor',
- robotis_cm_spring_right: 'Right contact sensor',
- robotis_cm_led_left: 'Left LED',
- robotis_cm_led_right: 'Right LED',
- robotis_cm_led_both: 'Both LED',
- robotis_cm_switch: 'Status of the switch',
- robotis_cm_user_button: 'Status of user button',
- robotis_cm_sound_detected: 'Final number of sound detection ',
- robotis_cm_sound_detecting: 'Number of live sound detection ',
- robotis_cm_ir_left: 'Left infrared sensor',
- robotis_cm_ir_right: 'Right infrared sensor',
- robotis_cm_calibration_left: 'Value of the left infrared sensor calibration ',
- robotis_cm_calibration_right: 'Value of the right infrared sensor calibration ',
- robotis_cm_clear_sound_detected: 'Initialize the final number of sound detection',
- robotis_cm_buzzer_index: 'Scale index',
- robotis_cm_buzzer_melody: 'Melody',
- robotis_cm_led_1: 'LED 1',
- robotis_cm_led_4: 'LED 4',
- robotis_aux_servo_position: 'Position of servo motor',
- robotis_aux_ir: 'Infrared sensor',
- robotis_aux_touch: 'Contact sensor',
- robotis_aux_brightness: 'CDS',
- robotis_aux_hydro_themo_humidity: 'Temperature-humidity sensor (humidity)',
- robotis_aux_hydro_themo_temper: 'Temperature-humidity sensor (temperature)',
- robotis_aux_temperature: 'Temperature sensor',
- robotis_aux_ultrasonic: 'Ultrasonic sensor',
- robotis_aux_magnetic: 'Magnetic sensor',
- robotis_aux_motion_detection: 'Motion detector',
- robotis_aux_color: 'Color sensor',
- robotis_aux_custom: 'User device',
- },
- },
- };
-};
-
-Entry.Robotis_carCont.getBlocks = function() {
- return {
- //region robotis 로보티즈 carCont
- robotis_carCont_sensor_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_cm_spring_left, 'CM_SPRING_LEFT'],
- [Lang.Blocks.robotis_cm_spring_right, 'CM_SPRING_RIGHT'],
- [Lang.Blocks.robotis_cm_switch, 'CM_SWITCH'],
- [Lang.Blocks.robotis_cm_sound_detected, 'CM_SOUND_DETECTED'],
- [Lang.Blocks.robotis_cm_sound_detecting, 'CM_SOUND_DETECTING'],
- [Lang.Blocks.robotis_cm_ir_left, 'CM_IR_LEFT'],
- [Lang.Blocks.robotis_cm_ir_right, 'CM_IR_RIGHT'],
- [Lang.Blocks.robotis_cm_calibration_left, 'CM_CALIBRATION_LEFT'],
- [Lang.Blocks.robotis_cm_calibration_right, 'CM_CALIBRATION_RIGHT'],
- ],
- value: 'CM_SPRING_LEFT',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_carCont_sensor_value',
- },
- paramsKeyMap: {
- SENSOR: 0,
- },
- class: 'robotis_carCont_cm',
- isNotFor: ['robotis_carCont'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_carCont.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var sensor = script.getStringField('SENSOR');
-
- if (sensor == 'CM_SPRING_LEFT') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[2];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[3];
- } else if (sensor == 'CM_SPRING_RIGHT') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[2];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[3];
- } else if (sensor == 'CM_SWITCH') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[1];
- } else if (sensor == 'CM_SOUND_DETECTED') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- } else if (sensor == 'CM_SOUND_DETECTING') {
- data_default_address =
- Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[1];
- } else if (sensor == 'CM_IR_LEFT') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[2];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[3];
- } else if (sensor == 'CM_IR_RIGHT') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[2];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[3];
- } else if (sensor == 'CM_CALIBRATION_LEFT') {
- data_default_address =
- Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[0];
- data_default_length =
- Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[1];
- } else if (sensor == 'CM_CALIBRATION_RIGHT') {
- data_default_address =
- Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[0];
- data_default_length =
- Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[1];
- } else if (sensor == 'CM_BUTTON_STATUS') {
- data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[0];
- data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[1];
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[1];
- }
-
- //Entry.Robotis_carCont.setRobotisData([[data_instruction, data_address, data_length, data_value, data_default_length]]);
- //// Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- //Entry.Robotis_carCont.update();
- //
- //return Entry.hw.portData[data_default_address];
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 300
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [data_instruction, data_address, data_length, data_value, data_default_length],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: { js: [], py: ['Robotis.carcont_sensor_value(%1)'] },
- },
- robotis_carCont_cm_led: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_on, '1'],
- [Lang.Blocks.robotis_common_off, '0'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_on, '1'],
- [Lang.Blocks.robotis_common_off, '0'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_carCont_cm_led',
- },
- paramsKeyMap: {
- VALUE_LEFT: 0,
- VALUE_RIGHT: 1,
- },
- class: 'robotis_carCont_cm',
- isNotFor: ['robotis_carCont'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var value_left = script.getField('VALUE_LEFT', script);
- var value_right = script.getField('VALUE_RIGHT', script);
-
- var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_LED[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_LED[1];
-
- if (value_left == 1 && value_right == 1) {
- data_value = 9;
- } else if (value_left == 1 && value_right == 0) {
- data_value = 8;
- }
- if (value_left == 0 && value_right == 1) {
- data_value = 1;
- }
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_carCont.delay
- );
- },
- syntax: { js: [], py: ['Robotis.carcont_cm_led(%1, %2)'] },
- },
- robotis_carCont_cm_sound_detected_clear: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_carCont_cm_sound_detected_clear',
- },
- class: 'robotis_carCont_cm',
- isNotFor: ['robotis_carCont'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
-
- var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- data_value = 0;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_carCont.delay
- );
- },
- syntax: { js: [], py: ['Robotis.carcont_cm_sound_clear()'] },
- },
- robotis_carCont_aux_motor_speed: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.General.left, 'LEFT'],
- [Lang.General.right, 'RIGHT'],
- ],
- value: 'LEFT',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- ],
- type: 'robotis_carCont_aux_motor_speed',
- },
- paramsKeyMap: {
- DIRECTION: 0,
- DIRECTION_ANGLE: 1,
- VALUE: 2,
- },
- class: 'robotis_carCont_cm',
- isNotFor: ['robotis_carCont'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var direction = script.getField('DIRECTION', script);
- var directionAngle = script.getField('DIRECTION_ANGLE', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- if (direction == 'LEFT') {
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_LEFT[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_LEFT[1];
- } else {
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_RIGHT[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_RIGHT[1];
- }
-
- if (directionAngle == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_carCont.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.carcont_aux_motor_speed(%1, %2, %3)'],
- },
- },
- robotis_carCont_aux_motor_speed2: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- template:
- '왼쪽 감속모터 속도를 %1, 출력값을 %2 (으)로 오른쪽 감속모터 속도를 %3, 출력값을 %4 (으)로 정하기 %5',
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- ],
- type: 'robotis_carCont_aux_motor_speed2',
- },
- paramsKeyMap: {
- LEFT_ANGLE: 0,
- LEFT_VALUE: 1,
- RIGHT_ANGLE: 2,
- RIGHT_VALUE: 3,
- },
- class: 'robotis_carCont_cm',
- isNotFor: ['robotis_carCont'],
- func: function(sprite, script) {
- var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE,
- address = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_LEFT[0];
-
- var leftAngle = script.getField('LEFT_ANGLE', script);
- var leftValue = script.getNumberValue('LEFT_VALUE');
- var rightAngle = script.getField('RIGHT_ANGLE', script);
- var rightValue = script.getNumberValue('RIGHT_VALUE');
-
- leftValue = Math.min(leftValue, 1023);
- leftValue = Math.max(leftValue, 0);
- rightValue = Math.min(rightValue, 1023);
- rightValue = Math.max(rightValue, 0);
-
- if (leftAngle === 'CW') {
- leftValue += 1024;
- }
- if (rightAngle === 'CW') {
- rightValue += 1024;
- }
-
- var value = leftValue + (rightValue << 16);
- var data_sendqueue = [[data_instruction, address, 4, value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_carCont.delay
- );
- },
- },
- robotis_carCont_cm_calibration: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.General.left, 'LEFT'],
- [Lang.General.right, 'RIGHT'],
- ],
- value: 'LEFT',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_carCont_cm_calibration',
- },
- paramsKeyMap: {
- DIRECTION: 0,
- VALUE: 1,
- },
- class: 'robotis_carCont_cm',
- isNotFor: ['robotis_carCont'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var direction = script.getField('DIRECTION', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- if (direction == 'LEFT') {
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[1];
- } else {
- data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[0];
- data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[1];
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_carCont.delay
- );
-
- // Entry.hw.sendQueue['ROBOTIS_DATA'] = [[data_instruction, data_address, data_length, data_value]];
- // update();
- // return script.callReturn();
- },
- syntax: { js: [], py: ['Robotis.carcont_cm_calibration(%1, %2)'] },
- },
- //endregion robotis 로보티즈
- };
-};
-
-Entry.Robotis_openCM70.blockMenuBlocks = [
- //robotis_openCM70
- 'robotis_openCM70_sensor_value',
- 'robotis_openCM70_aux_sensor_value',
- 'robotis_openCM70_cm_buzzer_index',
- 'robotis_openCM70_cm_buzzer_melody',
- 'robotis_openCM70_cm_sound_detected_clear',
- 'robotis_openCM70_cm_led',
- 'robotis_openCM70_cm_motion',
- 'robotis_openCM70_aux_motor_speed',
- 'robotis_openCM70_aux_servo_mode',
- 'robotis_openCM70_aux_servo_speed',
- 'robotis_openCM70_aux_servo_position',
- 'robotis_openCM70_aux_led_module',
- 'robotis_openCM70_aux_custom',
- 'robotis_openCM70_cm_custom_value',
- 'robotis_openCM70_cm_custom',
-];
-
-Entry.Robotis_openCM70.getBlocks = function() {
- return {
- //region robotis 로보티즈 openCM70
- robotis_openCM70_cm_custom_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Dropdown',
- options: [
- ['BYTE', 'BYTE'],
- ['WORD', 'WORD'],
- ['DWORD', 'DWORD'],
- ],
- value: 'BYTE',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_custom_value',
- },
- paramsKeyMap: {
- VALUE: 0,
- SIZE: 1,
- },
- class: 'robotis_openCM70_custom',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- var scope = script.executor.scope;
-
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var size = script.getStringField('SIZE');
-
- if (size == 'BYTE') {
- data_length = 1;
- } else if (size == 'WORD') {
- data_length = 2;
- } else if (size == 'DWORD') {
- data_length = 4;
- }
-
- data_address = script.getNumberValue('VALUE');
-
- data_default_address = data_address;
- data_default_length = data_length;
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 200
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [data_instruction, data_address, data_length, data_value, data_default_length],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_cm_custom_value(%1, %2)'],
- },
- },
- robotis_openCM70_sensor_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_cm_sound_detected, 'CM_SOUND_DETECTED'],
- [Lang.Blocks.robotis_cm_sound_detecting, 'CM_SOUND_DETECTING'],
- [Lang.Blocks.robotis_cm_user_button, 'CM_USER_BUTTON'],
- ],
- value: 'CM_SOUND_DETECTED',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_openCM70_sensor_value',
- },
- paramsKeyMap: {
- SENSOR: 0,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- var scope = script.executor.scope;
-
- scope.isStart = true;
- scope.count = 0;
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var sensor = script.getStringField('SENSOR');
-
- var increase = 0;
-
- if (sensor == 'CM_SOUND_DETECTED') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- } else if (sensor == 'CM_SOUND_DETECTING') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[1];
- } else if (sensor == 'CM_USER_BUTTON') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
- }
-
- data_default_address = data_default_address + increase * data_default_length;
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 200
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [data_instruction, data_address, data_length, data_value, data_default_length],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: { js: [], py: ['Robotis.opencm70_sensor_value(%1)'] },
- },
- robotis_openCM70_aux_sensor_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- ['3', 'PORT_3'],
- ['4', 'PORT_4'],
- ['5', 'PORT_5'],
- ['6', 'PORT_6'],
- ],
- value: 'PORT_3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_aux_servo_position, 'AUX_SERVO_POSITION'],
- [Lang.Blocks.robotis_aux_ir, 'AUX_IR'],
- [Lang.Blocks.robotis_aux_touch, 'AUX_TOUCH'],
- [Lang.Blocks.robotis_aux_brightness, 'AUX_BRIGHTNESS'],
- [Lang.Blocks.robotis_aux_hydro_themo_humidity, 'AUX_HYDRO_THEMO_HUMIDITY'],
- [Lang.Blocks.robotis_aux_hydro_themo_temper, 'AUX_HYDRO_THEMO_TEMPER'],
- [Lang.Blocks.robotis_aux_temperature, 'AUX_TEMPERATURE'],
- [Lang.Blocks.robotis_aux_ultrasonic, 'AUX_ULTRASONIC'],
- [Lang.Blocks.robotis_aux_magnetic, 'AUX_MAGNETIC'],
- [Lang.Blocks.robotis_aux_motion_detection, 'AUX_MOTION_DETECTION'],
- [Lang.Blocks.robotis_aux_color, 'AUX_COLOR'],
- [Lang.Blocks.robotis_aux_custom, 'AUX_CUSTOM'],
- ],
- value: 'AUX_SERVO_POSITION',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [null, null],
- type: 'robotis_openCM70_aux_sensor_value',
- },
- paramsKeyMap: {
- PORT: 0,
- SENSOR: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- var scope = script.executor.scope;
-
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var port = script.getStringField('PORT');
- var sensor = script.getStringField('SENSOR');
-
- var increase = 0;
- if (port == 'PORT_3') {
- increase = 2;
- } else if (port == 'PORT_4') {
- increase = 3;
- } else if (port == 'PORT_5') {
- increase = 4;
- } else if (port == 'PORT_6') {
- increase = 5;
- }
-
- if (sensor == 'AUX_SERVO_POSITION') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
- } else if (sensor == 'AUX_IR') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
- } else if (sensor == 'AUX_TOUCH') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
- } else if (sensor == 'AUX_TEMPERATURE') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
- } else if (sensor == 'AUX_BRIGHTNESS') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
- } else if (sensor == 'AUX_HYDRO_THEMO_HUMIDITY') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[1];
- } else if (sensor == 'AUX_HYDRO_THEMO_TEMPER') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[1];
- } else if (sensor == 'AUX_ULTRASONIC') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
- } else if (sensor == 'AUX_MAGNETIC') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
- } else if (sensor == 'AUX_MOTION_DETECTION') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[1];
- } else if (sensor == 'AUX_COLOR') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
- } else if (sensor == 'AUX_CUSTOM') {
- data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
- data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
- }
-
- data_default_address = data_default_address + increase * data_default_length;
- data_address = data_default_address;
- // if (increase != 0) {
- // data_length = 6 * data_default_length;
- // }
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 200
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [data_instruction, data_address, data_length, data_value, data_default_length],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_sensor_value(%1, %2)'],
- },
- },
- robotis_openCM70_cm_buzzer_index: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.General.note_a + '(0)', '0'],
- [Lang.General.note_a + '#(1)', '1'],
- [Lang.General.note_b + '(2)', '2'],
- [Lang.General.note_c + '(3)', '3'],
- [Lang.General.note_c + '#(4)', '4'],
- [Lang.General.note_d + '(5)', '5'],
- [Lang.General.note_d + '#(6)', '6'],
- [Lang.General.note_e + '(7)', '7'],
- [Lang.General.note_f + '(8)', '8'],
- [Lang.General.note_f + '#(9)', '9'],
- [Lang.General.note_g + '(10)', '10'],
- [Lang.General.note_g + '#(11)', '11'],
- [Lang.General.note_a + '(12)', '12'],
- [Lang.General.note_a + '#(13)', '13'],
- [Lang.General.note_b + '(14)', '14'],
- [Lang.General.note_c + '(15)', '15'],
- [Lang.General.note_c + '#(16)', '16'],
- [Lang.General.note_d + '(17)', '17'],
- [Lang.General.note_d + '#(18)', '18'],
- [Lang.General.note_e + '(19)', '19'],
- [Lang.General.note_f + '(20)', '20'],
- [Lang.General.note_f + '#(21)', '21'],
- [Lang.General.note_g + '(22)', '22'],
- [Lang.General.note_g + '#(23)', '23'],
- [Lang.General.note_a + '(24)', '24'],
- [Lang.General.note_a + '#(25)', '25'],
- [Lang.General.note_b + '(26)', '26'],
- [Lang.General.note_c + '(27)', '27'],
- [Lang.General.note_c + '#(28)', '28'],
- [Lang.General.note_d + '(29)', '29'],
- [Lang.General.note_d + '#(30)', '30'],
- [Lang.General.note_e + '(31)', '31'],
- [Lang.General.note_f + '(32)', '32'],
- [Lang.General.note_f + '#(33)', '33'],
- [Lang.General.note_g + '(34)', '34'],
- [Lang.General.note_g + '#(35)', '35'],
- [Lang.General.note_a + '(36)', '36'],
- [Lang.General.note_a + '#(37)', '37'],
- [Lang.General.note_b + '(38)', '38'],
- [Lang.General.note_c + '(39)', '39'],
- [Lang.General.note_c + '#(40)', '40'],
- [Lang.General.note_d + '(41)', '41'],
- [Lang.General.note_d + '#(42)', '42'],
- [Lang.General.note_e + '(43)', '43'],
- [Lang.General.note_f + '(44)', '44'],
- [Lang.General.note_f + '#(45)', '45'],
- [Lang.General.note_g + '(46)', '46'],
- [Lang.General.note_g + '#(47)', '47'],
- [Lang.General.note_a + '(48)', '48'],
- [Lang.General.note_a + '#(49)', '49'],
- [Lang.General.note_b + '(50)', '50'],
- [Lang.General.note_c + '(51)', '51'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['1'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_buzzer_index',
- },
- paramsKeyMap: {
- CM_BUZZER_INDEX: 0,
- CM_BUZZER_TIME: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var cmBuzzerIndex = script.getField('CM_BUZZER_INDEX', script);
- var cmBuzzerTime = script.getNumberValue('CM_BUZZER_TIME', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address_1 = 0;
- var data_length_1 = 0;
- var data_value_1 = 0;
- var data_address_2 = 0;
- var data_length_2 = 0;
- var data_value_2 = 0;
- var interval = 100;
-
- data_address_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
- data_length_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
- // data_value_1 = cmBuzzerTime * 10;
- // TODO 텍스트 입력으로 바꾸고 최대는 5초 : 0.5 초 하려면 5를 입력 - console.log(parseInt(0.59 * 10)); max 는 5초
- data_value_1 = parseInt(cmBuzzerTime * 10);
- if (data_value_1 > 50) {
- data_value_1 = 50;
- }
-
- data_address_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
- data_length_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
- data_value_2 = cmBuzzerIndex;
-
- var data_sendqueue = [
- [data_instruction, data_address_1, data_length_1, data_value_1],
- [data_instruction, data_address_2, data_length_2, data_value_2],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- cmBuzzerTime * 1000 + interval
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_cm_buzzer_index(%1, %2)'],
- },
- },
- robotis_openCM70_cm_buzzer_melody: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- ['0', '0'],
- ['1', '1'],
- ['2', '2'],
- ['3', '3'],
- ['4', '4'],
- ['5', '5'],
- ['6', '6'],
- ['7', '7'],
- ['8', '8'],
- ['9', '9'],
- ['10', '10'],
- ['11', '11'],
- ['12', '12'],
- ['13', '13'],
- ['14', '14'],
- ['15', '15'],
- ['16', '16'],
- ['17', '17'],
- ['18', '18'],
- ['19', '19'],
- ['20', '20'],
- ['21', '21'],
- ['22', '22'],
- ['23', '23'],
- ['24', '24'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null],
- type: 'robotis_openCM70_cm_buzzer_melody',
- },
- paramsKeyMap: {
- CM_BUZZER_MELODY: 0,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var cmBuzzerMelody = script.getField('CM_BUZZER_MELODY', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address_1 = 0;
- var data_length_1 = 0;
- var data_value_1 = 0;
- var data_address_2 = 0;
- var data_length_2 = 0;
- var data_value_2 = 0;
- var interval = 100;
-
- data_address_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
- data_length_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
- data_value_1 = 255;
-
- data_address_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
- data_length_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
- data_value_2 = cmBuzzerMelody;
-
- var data_sendqueue = [
- [data_instruction, data_address_1, data_length_1, data_value_1],
- [data_instruction, data_address_2, data_length_2, data_value_2],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- 1000 + interval
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_buzzer_melody(%1)'] },
- },
- robotis_openCM70_cm_sound_detected_clear: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_openCM70_cm_sound_detected_clear',
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- data_value = 0;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_sound_clear()'] },
- },
- robotis_openCM70_cm_led: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_red_color, 'CM_LED_R'],
- [Lang.Blocks.robotis_common_green_color, 'CM_LED_G'],
- [Lang.Blocks.robotis_common_blue_color, 'CM_LED_B'],
- ],
- value: 'CM_LED_R',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_on, '1'],
- [Lang.Blocks.robotis_common_off, '0'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_openCM70_cm_led',
- },
- paramsKeyMap: {
- CM_LED: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var cmLed = script.getField('CM_LED', script);
- var value = script.getField('VALUE', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- if (cmLed == 'CM_LED_R') {
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[1];
- } else if (cmLed == 'CM_LED_G') {
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[1];
- } else if (cmLed == 'CM_LED_B') {
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[1];
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_led(%1, %2)'] },
- },
- robotis_openCM70_cm_motion: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- {
- type: 'number',
- params: ['1'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_motion',
- },
- paramsKeyMap: {
- VALUE: 0,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[1];
- data_value = script.getNumberValue('VALUE', script);
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_motion(%1)'] },
- },
- robotis_openCM70_aux_motor_speed: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_1, '1'],
- [Lang.Blocks.robotis_common_port_2, '2'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_motor_speed',
- },
- paramsKeyMap: {
- PORT: 0,
- DIRECTION_ANGLE: 1,
- VALUE: 2,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var directionAngle = script.getField('DIRECTION_ANGLE', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
-
- data_address = data_address + (port - 1) * data_length;
-
- if (directionAngle == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_motor_speed(%1, %2, %3)'],
- },
- },
- robotis_openCM70_aux_servo_mode: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_wheel_mode, '0'],
- [Lang.Blocks.robotis_common_joint_mode, '1'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_openCM70_aux_servo_mode',
- },
- paramsKeyMap: {
- PORT: 0,
- MODE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var mode = script.getField('MODE', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = mode;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_aux_servo_mode(%1, %2)'] },
- },
- robotis_openCM70_aux_servo_speed: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_servo_speed',
- },
- paramsKeyMap: {
- PORT: 0,
- DIRECTION_ANGLE: 1,
- VALUE: 2,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var directionAngle = script.getField('DIRECTION_ANGLE', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
-
- data_address = data_address + (port - 1) * data_length;
-
- if (directionAngle == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_servo_speed(%1, %2, %3)'],
- },
- },
- robotis_openCM70_aux_servo_position: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['512'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_servo_position',
- },
- paramsKeyMap: {
- PORT: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
-
- data_address = data_address + (port - 1) * data_length;
-
- if (value > 1023) {
- value = 1023;
- } else if (value < 0) {
- value = 0;
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_servo_position(%1, %2)'],
- },
- },
- robotis_openCM70_aux_led_module: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_cm_led_both + Lang.Blocks.robotis_common_off, '0'],
- [Lang.Blocks.robotis_cm_led_right + Lang.Blocks.robotis_common_on, '1'],
- [Lang.Blocks.robotis_cm_led_left + Lang.Blocks.robotis_common_on, '2'],
- [Lang.Blocks.robotis_cm_led_both + Lang.Blocks.robotis_common_on, '3'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_openCM70_aux_led_module',
- },
- paramsKeyMap: {
- PORT: 0,
- LED_MODULE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var ledModule = script.getField('LED_MODULE', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = ledModule;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_aux_led_module(%1, %2)'] },
- },
- robotis_openCM70_aux_custom: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_custom',
- },
- paramsKeyMap: {
- PORT: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_aux_custom(%1, %2)'] },
- },
- robotis_openCM70_cm_custom: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- {
- type: 'number',
- params: ['0'],
- },
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_custom',
- },
- paramsKeyMap: {
- ADDRESS: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_custom',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- func: function(sprite, script) {
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = script.getNumberValue('ADDRESS');
- data_value = script.getNumberValue('VALUE');
- if (data_value > 65535) {
- data_length = 4;
- } else if (data_value > 255) {
- data_length = 2;
- } else {
- data_length = 1;
- }
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_custom(%1, %2)'] },
- },
- //endregion robotis 로보티즈
- };
-};
-
-Entry.Robotis_openCM70.practicalBlockMenuBlocks = {
- hw_motor: [
- 'robotis_aux_move_for',
- 'robotis_aux_stop_for',
- 'robotis_set_servo_joint',
- 'robotis_set_servo_wheel',
- 'robotis_move_for_secs',
- ],
- hw_melody: [
- 'robotis_melody_note_for',
- ],
- hw_sensor: [
- 'robotis_touch_value',
- 'robotis_touch_value_boolean',
- 'robotis_irs_value',
- 'robotis_irs_value_boolean',
- 'robotis_light_value',
- 'robotis_light_value_boolean',
- 'robotis_detectedsound_value',
- 'robotis_detectingsound_value',
- 'robotis_detectedsound_value_boolean',
- 'robotis_detectingsound_value_boolean',
- 'robotis_detectedsound_value_init',
- 'robotis_color_value',
- 'robotis_color_value_boolean',
- 'robotis_humidity_value',
- 'robotis_humidity_value_boolean',
- 'robotis_temperature_value',
- 'robotis_temperature_value_boolean',
- 'robotis_userbutton_value',
- 'robotis_userbutton_value_boolean',
- ],
- hw_led: [
- 'robotis_set_led',
- ],
-}
-
-Entry.Robotis_openCM70.getPracticalBlocks = function() {
- return{
- robotis_set_led: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 LED를 %2 %3',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['모두 끄기', '0'],
- ['노랑색 켜기', '1'],
- ['파랑색 켜기', '2'],
- ['모두 켜기', '3'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/light.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_set_led',
- },
- paramsKeyMap: {
- PORT: 0,
- COLOR: 1,
- },
- class: 'robotis_led',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
-
- const port = script.getStringField('PORT');
- const value = 0;
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address = 0;
- const data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[1];
- const data_value = script.getNumberField('COLOR');
- switch (port) {
- case '3':
- data_address = 212;
- break;
- case '4':
- data_address = 213;
- break;
- case '5':
- data_address = 214;
- break;
- case '6':
- data_address = 215;
- break;
- }
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- //Entry.Robotis_carCont.update();
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- },
- robotis_touch_value: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 접촉 센서 값',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_touch_value',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_touch',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- let value = 0;
-
- switch (port) {
- case '3':
- value = Entry.hw.portData.TOUCH0;
- break;
- case '4':
- value = Entry.hw.portData.TOUCH1;
- break;
- case '5':
- value = Entry.hw.portData.TOUCH2;
- break;
- case '6':
- value = Entry.hw.portData.TOUCH3;
- break;
- }
- return value;
- },
- },
- robotis_touch_value_boolean: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 접촉 센서가 %2',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['접촉 되면', '1'],
- ['접촉 안되면', '0'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- def: {
- params: [null, null, null],
- type: 'robotis_touch_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- TOUCH: 1,
- },
- class: 'robotis_touch',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- const touch = script.getNumberField('TOUCH', script);
- let value = 0;
- switch (port) {
- case '3':
- value = Entry.hw.portData.TOUCH0;
- break;
- case '4':
- value = Entry.hw.portData.TOUCH1;
- break;
- case '5':
- value = Entry.hw.portData.TOUCH2;
- break;
- case '6':
- value = Entry.hw.portData.TOUCH3;
- break;
- }
- const isTouch = !((value == 1) ^ touch);
-
- return isTouch;
- },
- },
- robotis_irs_value: {
- color: '#C4065C',
- outerLine: '#9a0045',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 적외선 센서 값',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_irs_value',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_irs',
- //'isNotFor': ['mini'],
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- let value = 0;
- let data_address = 0;
- switch (port) {
- case '3':
- value = Entry.hw.portData.IR0;
- data_address = 108;
- break;
- case '4':
- value = Entry.hw.portData.IR1;
- data_address = 109;
- break;
- case '5':
- value = Entry.hw.portData.IR2;
- data_address = 110;
- break;
- case '6':
- value = Entry.hw.portData.IR3;
- data_address = 111;
- break;
- }
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 2;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- //Entry.Robotis_carCont.update();
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 && port == '3') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = true;
- }
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 && port == '4') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = true;
- }
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 && port == '5') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = true;
- }
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 && port == '6') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = true;
- }
- //var value = (Entry.hw.portData['IN' + port] > 125) ? 1 : 0;
- return value;
- },
- },
- robotis_irs_value_boolean: {
- color: '#C4065C',
- outerLine: '#9a0045',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 적외선 센서 값 %2 %3',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['100'],
- },
- ],
- type: 'robotis_irs_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- OPERATOR: 1,
- RIGHTVALUE: 2,
- },
- class: 'robotis_irs',
- //'isNotFor': ['mini'],
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT', script);
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- let leftValue = 0;
- let isCheck = false;
- let data_address = 0;
-
- switch (port) {
- case '3':
- leftValue = Entry.hw.portData.IR0;
- data_address = 108;
- break;
- case '4':
- leftValue = Entry.hw.portData.IR1;
- data_address = 109;
- break;
- case '5':
- leftValue = Entry.hw.portData.IR2;
- data_address = 110;
- break;
- case '6':
- leftValue = Entry.hw.portData.IR3;
- data_address = 111;
- break;
- }
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 2;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- //Entry.Robotis_carCont.update();
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 && port == '3') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = true;
- }
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 && port == '4') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = true;
- }
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 && port == '5') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = true;
- }
- if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 && port == '6') {
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = true;
- }
-
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
-
- return isCheck;
- },
- },
- robotis_light_value: {
- color: '#ff8d0f',
- outerLine: '#e37100',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 빛 감지 센서 값',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '0'],
- ['PORT 4', '1'],
- ['PORT 5', '2'],
- ['PORT 6', '3'],
- ],
- value: '0',
- outerLine: '#e37100',
- fontSize: 11,
- bgColor: '#e37100',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_light_value',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_light',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- return Entry.hw.portData[`LIGHT${port}`];
- },
- },
- robotis_light_value_boolean: {
- color: '#ff8d0f',
- outerLine: '#e37100',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 빛 감지 센서 값 %2 %3',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '0'],
- ['PORT 4', '1'],
- ['PORT 5', '2'],
- ['PORT 6', '3'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: '#e37100',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#e37100',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['100'],
- },
- ],
- type: 'robotis_light_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- OPERATOR: 1,
- RIGHTVALUE: 2,
- },
- class: 'robotis_light',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getNumberField('PORT', script);
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- const leftValue = Entry.hw.portData[`LIGHT${port}`];
- let isCheck = false;
-
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
-
- return isCheck;
- },
- },
- robotis_userbutton_value: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '사용자 버튼',
- events: {},
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [null],
- type: 'robotis_userbutton_value',
- },
- paramsKeyMap: {},
- class: 'robotis_userbutton',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- return Entry.hw.portData.USERBUTTONSTATE;
- },
- },
- robotis_userbutton_value_boolean: {
- color: '#2AB4D3',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '사용자 버튼이 %1',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['접촉 되면', '1'],
- ['접촉 안되면', '0'],
- ],
- value: '1',
- fontsIze: 11,
- },
- ],
- def: {
- params: [null],
- type: 'robotis_userbutton_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_userbutton',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- const value = Entry.hw.portData.USERBUTTONSTATE;
- var isTouch = false;
-
- var isTouch = port == value;
-
- return isTouch;
- },
- },
- robotis_detectedsound_value: {
- color: '#01d67f',
- outerLine: '#00b36a',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 최종 소리 횟수',
- events: {},
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [null],
- type: 'robotis_detectedsound_value',
- },
- paramsKeyMap: {},
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- return Entry.hw.portData.DETECTEDSOUNDE;
- },
- },
- robotis_detectedsound_value_boolean: {
- color: '#01d67f',
- outerLine: '#00b36a',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 최종 소리 횟수 %1 %2',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#00b36a',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['100'],
- },
- ],
- type: 'robotis_detectedsound_value_boolean',
- },
- paramsKeyMap: {
- OPERATOR: 0,
- RIGHTVALUE: 1,
- },
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- const leftValue = Entry.hw.portData.DETECTEDSOUNDE;
- let isCheck = false;
-
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
-
- return isCheck;
- },
- },
- robotis_detectedsound_value_init: {
- color: '#00D67F',
- outerLine: '#00b36a',
- skeleton: 'basic',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 최종 소리 횟수 초기화 %1',
- params: [
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/sound.png',
- size: 12,
- },
- ],
- def: {
- params: [null],
- type: 'robotis_detectedsound_value_init',
- },
- paramsKeyMap: {},
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- const data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- const data_value = 0;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- //Entry.Robotis_carCont.update();
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- },
- robotis_detectingsound_value: {
- color: '#01d67f',
- outerLine: '#00b36a',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 실시간 소리 횟수',
- events: {},
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [null],
- type: 'robotis_detectingsound_value',
- },
- paramsKeyMap: {},
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- return Entry.hw.portData.DETECTINGSOUNDE1;
- },
- },
- robotis_detectedsound_value_boolean: {
- color: '#01d67f',
- outerLine: '#00b36a',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 최종 소리 횟수 %1 %2',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#00b36a',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['100'],
- },
- ],
- type: 'robotis_detectedsound_value_boolean',
- },
- paramsKeyMap: {
- OPERATOR: 0,
- RIGHTVALUE: 1,
- },
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- const leftValue = Entry.hw.portData.DETECTEDSOUNDE;
- let isCheck = false;
-
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
-
- return isCheck;
- },
- },
- robotis_detectedsound_value_init: {
- color: '#00D67F',
- outerLine: '#00b36a',
- skeleton: 'basic',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 최종 소리 횟수 초기화 %1',
- params: [
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/sound.png',
- size: 12,
- },
- ],
- def: {
- params: [null],
- type: 'robotis_detectedsound_value_init',
- },
- paramsKeyMap: {},
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- const data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- const data_value = 0;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- //Entry.Robotis_carCont.update();
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- },
- robotis_detectingsound_value: {
- color: '#01d67f',
- outerLine: '#00b36a',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 실시간 소리 횟수',
- events: {},
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [null],
- type: 'robotis_detectingsound_value',
- },
- paramsKeyMap: {},
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- return Entry.hw.portData.DETECTINGSOUNDE1;
- },
- },
- robotis_detectingsound_value_boolean: {
- color: '#01d67f',
- outerLine: '#00b36a',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '소리 센서 실시간 소리 횟수 %1 %2',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#00b36a',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['100'],
- },
- ],
- type: 'robotis_detectingsound_value_boolean',
- },
- paramsKeyMap: {
- OPERATOR: 0,
- RIGHTVALUE: 1,
- },
- class: 'robotis_sound',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- const leftValue = Entry.hw.portData.DETECTINGSOUNDE1;
- let isCheck = false;
-
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
-
- return isCheck;
- },
- },
- robotis_color_value: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 컬러 센서 값',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_color_value',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_color',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- let value = 0;
- let data_address = 0;
- switch (port) {
- case '3':
- value = Entry.hw.portData.COLOR0;
- data_address = 108;
- break;
- case '4':
- value = Entry.hw.portData.COLOR1;
- data_address = 109;
- break;
- case '5':
- value = Entry.hw.portData.COLOR2;
- data_address = 110;
- break;
- case '6':
- value = Entry.hw.portData.COLOR3;
- data_address = 111;
- break;
- }
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 4;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
-
- switch (value) {
- case 0:
- value = '알 수 없음';
- break;
- case 1:
- value = '흰색';
- break;
- case 2:
- value = '검은색';
- break;
- case 3:
- value = '빨강색';
- break;
- case 4:
- value = '초록색';
- break;
- case 5:
- value = '파랑색';
- break;
- case 6:
- value = '노랑색';
- break;
- }
-
- return value;
- },
- },
- robotis_color_value_boolean: {
- color: '#C4065C',
- outerLine: '#9a0045',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 컬러 센서 값 %2 %3',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Dropdown',
- options: [
- ['알 수 없음 : 0', '0'],
- ['흰색 : 1', '1'],
- ['검은색 : 2', '2'],
- ['빨강색 : 3', '3'],
- ['초록색 : 4', '4'],
- ['파랑색 : 5', '5'],
- ['노랑색 : 6', '6'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- def: {
- params: [null, null, null],
- type: 'robotis_color_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- OPERATOR: 1,
- RIGHTVALUE: 2,
- },
- class: 'robotis_color',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getField('PORT', script);
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberField('RIGHTVALUE', script);
- let leftValue = 0;
- let data_address = 0;
- let isCheck = false;
-
- switch (port) {
- case '3':
- leftValue = Entry.hw.portData.COLOR0;
- data_address = 108;
- break;
- case '4':
- leftValue = Entry.hw.portData.COLOR1;
- data_address = 109;
- break;
- case '5':
- leftValue = Entry.hw.portData.COLOR2;
- data_address = 110;
- break;
- case '6':
- leftValue = Entry.hw.portData.COLOR3;
- data_address = 111;
- break;
- }
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 4;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
-
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
-
- return isCheck;
- },
- },
- robotis_humidity_value: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 습도 센서 값',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_humidity_value',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_humidity',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- let value = 0;
- let data_address = 0;
- switch (port) {
- case '3':
- value = Entry.hw.portData.HUMIDTY0;
- data_address = 108;
- break;
- case '4':
- value = Entry.hw.portData.HUMIDTY1;
- data_address = 109;
- break;
- case '5':
- value = Entry.hw.portData.HUMIDTY2;
- data_address = 110;
- break;
- case '6':
- value = Entry.hw.portData.HUMIDTY3;
- data_address = 111;
- break;
- }
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 5;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
-
- return value;
- },
- },
- robotis_humidity_value_boolean: {
- color: '#C4065C',
- outerLine: '#9a0045',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 습도 센서 값 %2 %3',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['50'],
- },
- ],
- type: 'robotis_humidity_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- OPERATOR: 1,
- RIGHTVALUE: 2,
- },
- class: 'robotis_humidity',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getNumberField('PORT', script);
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- let leftValue = 0;
- let data_address = 0;
- let isCheck = true;
-
- switch (port) {
- case 3:
- leftValue = Entry.hw.portData.HUMIDTY0;
- data_address = 108;
- break;
- case 4:
- leftValue = Entry.hw.portData.HUMIDTY1;
- data_address = 109;
- break;
- case 5:
- leftValue = Entry.hw.portData.HUMIDTY2;
- data_address = 110;
- break;
- case 6:
- leftValue = Entry.hw.portData.HUMIDTY3;
- data_address = 111;
- break;
- }
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 5;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
- return isCheck;
- },
- },
- robotis_temperature_value: {
- color: '#2AB4D3',
- outerLine: '#0e93b1',
- skeleton: 'basic_string_field',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 온도 센서 값',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#0e93b1',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_temperature_value',
- },
- paramsKeyMap: {
- PORT: 0,
- },
- class: 'robotis_temperature',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getStringField('PORT');
- let value = 0;
- let data_address = 0;
- switch (port) {
- case '3':
- value = Entry.hw.portData.TEMPERATURE0;
- data_address = 108;
- break;
- case '4':
- value = Entry.hw.portData.TEMPERATURE1;
- data_address = 109;
- break;
- case '5':
- value = Entry.hw.portData.TEMPERATURE2;
- data_address = 110;
- break;
- case '6':
- value = Entry.hw.portData.TEMPERATURE3;
- data_address = 111;
- break;
- }
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 5;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
-
- return value;
- },
- },
- robotis_temperature_value_boolean: {
- color: '#C4065C',
- outerLine: '#9a0045',
- skeleton: 'basic_boolean_field',
- fontColor: '#fff',
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1번 포트 온도 센서 값 %2 %3',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['=', 'EQUAL'],
- ['>', 'GREATER'],
- ['<', 'LESS'],
- ['≥', 'GREATER_OR_EQUAL'],
- ['≤', 'LESS_OR_EQUAL'],
- ],
- value: 'LESS',
- fontSize: 11,
- bgColor: '#9a0045',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- noaRrow: true,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- ],
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['50'],
- },
- ],
- type: 'robotis_temperature_value_boolean',
- },
- paramsKeyMap: {
- PORT: 0,
- OPERATOR: 1,
- RIGHTVALUE: 2,
- },
- class: 'robotis_temperature',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const port = script.getNumberField('PORT', script);
- const operator = script.getField('OPERATOR', script);
- const rightValue = script.getNumberValue('RIGHTVALUE', script);
- let leftValue = 0;
- let data_address = 0;
- let isCheck = true;
-
- switch (port) {
- case 3:
- leftValue = Entry.hw.portData.TEMPERATURE0;
- data_address = 108;
- break;
- case 4:
- leftValue = Entry.hw.portData.TEMPERATURE1;
- data_address = 109;
- break;
- case 5:
- leftValue = Entry.hw.portData.TEMPERATURE2;
- data_address = 110;
- break;
- case 6:
- leftValue = Entry.hw.portData.TEMPERATURE3;
- data_address = 111;
- break;
- }
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- const data_length = 1;
- const data_value = 5;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- switch (operator) {
- case 'EQUAL':
- isCheck = leftValue == rightValue;
- break;
- case 'GREATER':
- isCheck = Number(leftValue) > Number(rightValue);
- break;
- case 'LESS':
- isCheck = Number(leftValue) < Number(rightValue);
- break;
- case 'GREATER_OR_EQUAL':
- isCheck = Number(leftValue) >= Number(rightValue);
- break;
- case 'LESS_OR_EQUAL':
- isCheck = Number(leftValue) <= Number(rightValue);
- break;
- }
- return isCheck;
- },
- },
- robotis_move_for_secs: {
- color: '#00B200',
- outerLine: '#019101',
- skeleton: 'basic',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1모터를 %2 %3의 속도로 %4초 동안 회전 %5',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['왼쪽', '1'],
- ['오른쪽', '2'],
- ['양쪽', '3'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: '#019101',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['앞으로', 'CW'],
- ['뒤로', 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: '#019101',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/dcmotor.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'practical_course_motor_speed',
- },
- {
- type: 'number',
- params: ['2'],
- },
- null,
- ],
- type: 'robotis_move_for_secs',
- },
- paramsKeyMap: {
- WHEEL: 0,
- DIRECTION: 1,
- SPEED: 2,
- DURATION: 3,
- },
- class: 'robotis_motor',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const duration = script.getNumberValue('DURATION');
- const wheel = script.getNumberField('WHEEL');
- let value = script.getNumberValue('SPEED');
- const direction = script.getStringField('DIRECTION');
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address = 0;
- let data_length = 0;
- let data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
-
- if (wheel == '3') {
- data_length = 4;
- data_address = 136;
- } else {
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
- data_address = data_address + (wheel - 1) * data_length;
- }
-
- if (!script.isStart) {
- value = value * 68;
- if (wheel == '3' || wheel == '1') {
- if (direction == 'CCW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
- } else {
- if (direction == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
- }
-
- data_value = value;
-
- var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
-
- script.wheelMode = wheel;
-
- script.isStart = true;
- script.timeFlag = 1;
- setTimeout(() => {
- script.timeFlag = 0;
- }, duration * 1000);
-
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- //return Entry.Robotis_carCont.postCallReturn(script, data_sendqueue, 2000);
- return script;
- } else if (script.timeFlag == 1) {
- //data_sendqueue = [[data_instruction, data_address, data_length, 0]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- return script;
- } else {
- delete script.timeFlag;
- delete script.isStart;
- delete script.wheelMode;
- Entry.engine.isContinue = false;
-
- data_sendqueue = [[data_instruction, data_address, data_length, 0]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.engine.isContinue = false;
- Entry.Robotis_carCont.update();
- return script.callReturn();
- }
- //return Entry.Robotis_carCont.postCallReturn(script, data_sendqueue, 2000);
- },
- },
- robotis_aux_move_for: {
- color: '#00B200',
- outerLine: '#019101',
- skeleton: 'basic',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1모터를 %2 %3의 속도로 계속 회전 %4',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['왼쪽', '1'],
- ['오른쪽', '2'],
- ['양쪽', '3'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: '#019101',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['앞으로', 'CW'],
- ['뒤로', 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: '#019101',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/dcmotor.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'practical_course_motor_speed',
- },
- null,
- ],
- type: 'robotis_aux_move_for',
- },
- paramsKeyMap: {
- WHEEL: 0,
- DIRECTION: 1,
- SPEED: 2,
- },
- class: 'robotis_motor',
- //'isNotFor': ['mini'],
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const wheel = script.getNumberField('WHEEL');
- let value = script.getNumberValue('SPEED');
- const direction = script.getStringField('DIRECTION');
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address = 0;
- let data_length = 0;
- let data_value = 0;
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
-
- if (wheel == '3') {
- data_length = 4;
- data_address = 136;
- } else {
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
- data_address = data_address + (wheel - 1) * data_length;
- }
- value = value * 68;
-
- if (wheel == '3' || wheel == '1') {
- if (direction == 'CCW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
- } else {
- if (direction == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
- }
-
- data_value = value;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- },
- robotis_aux_stop_for: {
- color: '#00B200',
- outerLine: '#019101',
- skeleton: 'basic',
- fontColor: '#fff',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1모터를 정지 %2',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['왼쪽', '1'],
- ['오른쪽', '2'],
- ['양쪽', '3'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: '#019101',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/dcmotor.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null],
- type: 'robotis_aux_stop_for',
- },
- paramsKeyMap: {
- WHEEL: 0,
- },
- class: 'robotis_motor',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const wheel = script.getNumberField('WHEEL');
- const value = 0;
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address = 0;
- let data_length = 0;
- let data_value = 0;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
- if (wheel == '3') {
- data_length = 4;
- data_address = 136;
- } else {
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
- data_address = data_address + (wheel - 1) * data_length;
- }
-
- data_value = value;
-
- const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- },
- robotis_set_servo_wheel: {
- color: '#D128BD',
- outerLine: '#a2049e',
- skeleton: 'basic',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1 포트의 서보모터를 %2 %3속도로 회전 %4',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#A2049E',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['시계방향', 'CW'],
- ['반시계방향', 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: '#A2049E',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['1', 1],
- ['2', 2],
- ['3', 3],
- ['4', 4],
- ['5', 5],
- ['6', 6],
- ['7', 7],
- ['8', 8],
- ['9', 9],
- ['10', 10],
- ['11', 11],
- ['12', 12],
- ['13', 13],
- ['14', 14],
- ['15', 15],
- ],
- value: 7,
- fontSize: 11,
- bgColor: '#A2049E',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/servo.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null, null],
- type: 'robotis_set_servo_wheel',
- },
- paramsKeyMap: {
- PORT: 0,
- DIRECTION: 1,
- SPEED: 2,
- },
- class: 'robotis_servo_motor',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- // instruction / address / length / value / default length
- const port = script.getField('PORT', script);
- const direction = script.getStringField('DIRECTION');
- const speed = script.getNumberField('SPEED');
- const value = 0;
-
- let data_address3 = 0;
- let data_length3 = 0;
- let data_value3 = 0;
-
- let data_address2 = 0;
- const data_length2 = 1;
- const data_value2 = 7;
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address = 0;
- let data_length = 0;
- let data_value = 0;
-
- let data_address4 = 0; // servo speed
- let data_length4 = 2;
- let data_value4 = 0;
-
- data_value4 = speed * 68;
- if (data_value4 > 1023) {
- data_value4 = 1023;
- }
- switch (port) {
- case '3':
- data_address2 = 108;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 = true;
- break;
- case '4':
- data_address2 = 109;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 = true;
- break;
- case '5':
- data_address2 = 110;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 = true;
- break;
- case '6':
- data_address2 = 111;
- Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 = true;
- break;
- }
-
- data_address3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
- data_length3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
-
- data_address3 = data_address3 + (port - 1) * data_length3;
-
- data_address4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
- data_length4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
-
- data_address4 = data_address4 + (port - 1) * data_length4;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = 0;
-
- if (direction == 'CW') {
- data_value4 = data_value4 + 1024;
- if (data_value4 > 2047) {
- data_value4 = 2047;
- }
- } else {
- if (data_value4 > 1023) {
- data_value4 = 1023;
- }
- }
-
- data_value3 = direction;
-
- //var data_sendqueue = [[data_instruction, data_address2, data_length2, data_value2], [data_instruction, data_address, data_length, data_value], [data_instruction, data_address4, data_length4, data_value4]];
- //return Entry.Robotis_carCont.postCallReturn(script, data_sendqueue, Entry.Robotis_openCM70.delay);
- //
- if (!script.isStart) {
- if (
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 && port == '3') ||
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 && port == '4') ||
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 && port == '5') ||
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 && port == '6')
- ) {
- var data_sendqueue = [
- [data_instruction, data_address2, data_length2, data_value2],
- ];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- script.isStart = true;
- script.timeFlag = 1;
- setTimeout(() => {
- script.timeFlag = 0;
- }, 1 * 650);
- } else {
- script.isStart = true;
- script.timeFlag = 0;
- }
-
- /*
- var data_sendqueue = [[data_instruction, data_address2, data_length2, data_value2]];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.Robotis_carCont.update();
- script.isStart = true;
- script.timeFlag = 1;
- setTimeout(function () {
- script.timeFlag = 0;
- }, 1 * 650);
- */
-
- return script;
- } else if (script.timeFlag == 1) {
- //data_sendqueue = [[data_instruction, data_address, data_length, 0]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- return script;
- } else {
- delete script.timeFlag;
- delete script.isStart;
- delete script.wheelMode;
- Entry.engine.isContinue = false;
-
- data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- [data_instruction, data_address4, data_length4, data_value4],
- ];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.engine.isContinue = false;
- Entry.Robotis_carCont.update();
- return script.callReturn();
- }
- //
- },
- },
- robotis_set_servo_joint: {
- color: '#D128BD',
- outerLine: '#a2049e',
- skeleton: 'basic',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '%1 포트의 서보모터를 %2 도 %3속도로 이동 %4',
- params: [
- {
- type: 'Dropdown',
- options: [
- ['PORT 3', '3'],
- ['PORT 4', '4'],
- ['PORT 5', '5'],
- ['PORT 6', '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: '#A2049E',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Dropdown',
- options: [
- ['1', 1],
- ['2', 2],
- ['3', 3],
- ['4', 4],
- ['5', 5],
- ['6', 6],
- ['7', 7],
- ['8', 8],
- ['9', 9],
- ['10', 10],
- ['11', 11],
- ['12', 12],
- ['13', 13],
- ['14', 14],
- ['15', 15],
- ],
- value: 7,
- fontSize: 11,
- bgColor: '#A2049E',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/servo.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['512'],
- },
- null,
- null,
- ],
- type: 'robotis_set_servo_joint',
- },
- paramsKeyMap: {
- PORT: 0,
- VALUE: 1,
- SPEED: 2,
- },
- class: 'robotis_servo_motor',
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- // instruction / address / length / value / default length
- const port = script.getField('PORT', script);
- let value = script.getNumberValue('VALUE');
- const speed = script.getNumberField('SPEED');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address3 = 0;
- let data_length3 = 0;
- let data_value3 = 0;
-
- let data_address2 = 0;
- const data_length2 = 1;
- const data_value2 = 7;
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address = 0;
- let data_length = 0;
- let data_value = 0;
-
- let data_address4 = 0; // servo speed
- let data_length4 = 2;
- let data_value4 = 0;
-
- data_value4 = speed * 68;
- if (data_value4 > 1023) {
- data_value4 = 1023;
- }
- switch (port) {
- case '3':
- data_address2 = 108;
- break;
- case '4':
- data_address2 = 109;
- break;
- case '5':
- data_address2 = 110;
- break;
- case '6':
- data_address2 = 111;
- break;
- }
-
- data_address3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
- data_length3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
-
- data_address3 = data_address3 + (port - 1) * data_length3;
-
- data_address4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
- data_length4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
-
- data_address4 = data_address4 + (port - 1) * data_length4;
-
- data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = 1;
-
- if (value > 1023) {
- value = 1023;
- } else if (value < 0) {
- value = 0;
- }
-
- data_value3 = value;
-
- if (!script.isStart) {
- var data_sendqueue = [[data_instruction, data_address2, data_length2, data_value2]];
- //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- //Entry.Robotis_carCont.update();
- if (
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 && port == '3') ||
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 && port == '4') ||
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 && port == '5') ||
- (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 && port == '6')
- ) {
- script.isStart = true;
- script.timeFlag = 1;
- setTimeout(() => {
- script.timeFlag = 0;
- }, 1 * 650);
- } else {
- script.isStart = true;
- script.timeFlag = 0;
- }
-
- return script;
- } else if (script.timeFlag == 1) {
- return script;
- } else {
- delete script.timeFlag;
- delete script.isStart;
- delete script.wheelMode;
- Entry.engine.isContinue = false;
-
- setTimeout(() => {
- script.timeFlag = 0;
- }, 1 * 70);
-
- data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- [data_instruction, data_address4, data_length4, data_value4],
- [data_instruction, data_address3, data_length3, data_value3],
- ];
- Entry.Robotis_carCont.setRobotisData(data_sendqueue);
- Entry.engine.isContinue = false;
- Entry.Robotis_carCont.update();
- return script.callReturn();
- }
- //
- },
- },
- robotis_melody_note_for: {
- color: '#FC327F',
- skeleton: 'basic',
- statements: [],
- isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
- template: '멜로디 %1 을(를) %2 옥타브로 %3 만큼 소리내기 %4',
- params: [
- {
- type: 'Dropdown',
- options: [
- //['무음', '12'],
- ['도', '0'],
- ['도#(레♭)', '1'],
- ['레', '2'],
- ['레#(미♭)', '3'],
- ['미', '4'],
- ['파', '5'],
- ['파#(솔♭)', '6'],
- ['솔', '7'],
- ['솔#(라♭)', '8'],
- ['라', '9'],
- ['라#(시♭)', '10'],
- ['시', '11'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: '#ce105e',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['1', '0'],
- ['2', '1'],
- ['3', '2'],
- ['4', '3'],
- ['5', '4'],
- ['6', '5'],
- ],
- value: '2',
- fontSize: 11,
- bgColor: '#ce105e',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Dropdown',
- options: [
- ['온음표', '4'],
- ['2분음표', '2'],
- ['4분음표', '1'],
- ['8분음표', '0.5'],
- ['16분음표', '0.25'],
- /*['4분음표', '4'],
- ['8분음표', '8'],
- ['16분음표', '16'],*/
- ],
- value: '4',
- fontSize: 11,
- bgColor: '#ce105e',
- arrowColor: EntryStatic.colorSet.common.WHITE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/practical_course/melody.png',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null, null],
- type: 'robotis_melody_note_for',
- },
- paramsKeyMap: {
- NOTE: 0,
- OCTAVE: 1,
- DURATION: 2,
- },
- class: 'robotis_melody',
- //'isNotFor': ['mini'],
- func(sprite, script) {
- Entry.hw.sendQueue.IS_EDU = true;
- const note = script.getNumberField('NOTE', script);
- const octave = script.getNumberField('OCTAVE', script);
- const cmBuzzerTime = script.getNumberField('DURATION', script);
-
- let cmBuzzerIndex = note + octave * 12;
- if (cmBuzzerIndex > 51) {
- cmBuzzerIndex = 51;
- }
- if (cmBuzzerIndex < 0) {
- cmBuzzerIndex = 0;
- }
-
- const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- let data_address_1 = 0;
- let data_length_1 = 0;
- let data_value_1 = 0;
- let data_address_2 = 0;
- let data_length_2 = 0;
- let data_value_2 = 0;
-
- data_address_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
- data_length_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
-
- // TODO 텍스트 입력으로 바꾸고 최대는 5초 : 0.5 초 하려면 5를 입력 - console.log(parseInt(0.59 * 10)); max 는 5초
-
- data_value_1 = parseInt(cmBuzzerTime * 10);
- if (data_value_1 > 50) {
- data_value_1 = 50;
- }
- //data_value_1
- data_address_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
- data_length_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
- data_value_2 = cmBuzzerIndex;
-
- const data_sendqueue = [
- [data_instruction, data_address_1, data_length_1, data_value_1],
- [data_instruction, data_address_2, data_length_2, data_value_2],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- cmBuzzerTime * 1000
- );
- },
- },
- }
-}
-/*Entry.Robotis_openCM70EDU.blockMenuBlocks = [
- //Robotis_openCM70EDU
- 'robotis_openCM70_sensor_value',
- 'robotis_openCM70_aux_sensor_value',
- 'robotis_openCM70_cm_buzzer_index',
- 'robotis_openCM70_cm_buzzer_melody',
- 'robotis_openCM70_cm_sound_detected_clear',
- 'robotis_openCM70_cm_led',
- 'robotis_openCM70_cm_motion',
- 'robotis_openCM70_aux_motor_speed',
- 'robotis_openCM70_aux_servo_mode',
- 'robotis_openCM70_aux_servo_speed',
- 'robotis_openCM70_aux_servo_position',
- 'robotis_openCM70_aux_led_module',
- 'robotis_openCM70_aux_custom',
- 'robotis_openCM70_cm_custom_value',
- 'robotis_openCM70_cm_custom',
-];
-Entry.Robotis_openCM70EDU.getBlocks = function () {
- return {
- //region robotis 로보티즈 openCM70
- robotis_openCM70_cm_custom_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Dropdown',
- options: [
- ['BYTE', 'BYTE'],
- ['WORD', 'WORD'],
- ['DWORD', 'DWORD'],
- ],
- value: 'BYTE',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_custom_value',
- },
- paramsKeyMap: {
- VALUE: 0,
- SIZE: 1,
- },
- class: 'robotis_openCM70_custom',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- var scope = script.executor.scope;
-
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var size = script.getStringField('SIZE');
-
- if (size == 'BYTE') {
- data_length = 1;
- } else if (size == 'WORD') {
- data_length = 2;
- } else if (size == 'DWORD') {
- data_length = 4;
- }
-
- data_address = script.getNumberValue('VALUE');
-
- data_default_address = data_address;
- data_default_length = data_length;
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 200
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [
- data_instruction,
- data_address,
- data_length,
- data_value,
- data_default_length,
- ],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_cm_custom_value(%1, %2)'],
- },
- },
- robotis_openCM70_sensor_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [
- Lang.Blocks.robotis_cm_sound_detected,
- 'CM_SOUND_DETECTED',
- ],
- [
- Lang.Blocks.robotis_cm_sound_detecting,
- 'CM_SOUND_DETECTING',
- ],
- [Lang.Blocks.robotis_cm_user_button, 'CM_USER_BUTTON'],
- ],
- value: 'CM_SOUND_DETECTED',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_openCM70_sensor_value',
- },
- paramsKeyMap: {
- SENSOR: 0,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- var scope = script.executor.scope;
-
- scope.isStart = true;
- scope.count = 0;
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var sensor = script.getStringField('SENSOR');
-
- var increase = 0;
-
- if (sensor == 'CM_SOUND_DETECTED') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTED[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTED[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTED[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTED[1];
- } else if (sensor == 'CM_SOUND_DETECTING') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTING[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTING[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTING[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .CM_SOUND_DETECTING[1];
- } else if (sensor == 'CM_USER_BUTTON') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
- }
-
- data_default_address =
- data_default_address + increase * data_default_length;
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 200
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [
- data_instruction,
- data_address,
- data_length,
- data_value,
- data_default_length,
- ],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: { js: [], py: ['Robotis.opencm70_sensor_value(%1)'] },
- },
- robotis_openCM70_aux_sensor_value: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- fontColor: '#fff',
- skeleton: 'basic_string_field',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- ['3', 'PORT_3'],
- ['4', 'PORT_4'],
- ['5', 'PORT_5'],
- ['6', 'PORT_6'],
- ],
- value: 'PORT_3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [
- Lang.Blocks.robotis_aux_servo_position,
- 'AUX_SERVO_POSITION',
- ],
- [Lang.Blocks.robotis_aux_ir, 'AUX_IR'],
- [Lang.Blocks.robotis_aux_touch, 'AUX_TOUCH'],
- [Lang.Blocks.robotis_aux_brightness, 'AUX_BRIGHTNESS'],
- [
- Lang.Blocks.robotis_aux_hydro_themo_humidity,
- 'AUX_HYDRO_THEMO_HUMIDITY',
- ],
- [
- Lang.Blocks.robotis_aux_hydro_themo_temper,
- 'AUX_HYDRO_THEMO_TEMPER',
- ],
- [
- Lang.Blocks.robotis_aux_temperature,
- 'AUX_TEMPERATURE',
- ],
- [Lang.Blocks.robotis_aux_ultrasonic, 'AUX_ULTRASONIC'],
- [Lang.Blocks.robotis_aux_magnetic, 'AUX_MAGNETIC'],
- [
- Lang.Blocks.robotis_aux_motion_detection,
- 'AUX_MOTION_DETECTION',
- ],
- [Lang.Blocks.robotis_aux_color, 'AUX_COLOR'],
- [Lang.Blocks.robotis_aux_custom, 'AUX_CUSTOM'],
- ],
- value: 'AUX_SERVO_POSITION',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- ],
- events: {},
- def: {
- params: [null, null],
- type: 'robotis_openCM70_aux_sensor_value',
- },
- paramsKeyMap: {
- PORT: 0,
- SENSOR: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- var scope = script.executor.scope;
-
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- var data_default_address = 0;
- var data_default_length = 0;
-
- var port = script.getStringField('PORT');
- var sensor = script.getStringField('SENSOR');
-
- var increase = 0;
- if (port == 'PORT_3') {
- increase = 2;
- } else if (port == 'PORT_4') {
- increase = 3;
- } else if (port == 'PORT_5') {
- increase = 4;
- } else if (port == 'PORT_6') {
- increase = 5;
- }
-
- if (sensor == 'AUX_SERVO_POSITION') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_SERVO_POSITION[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_SERVO_POSITION[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_SERVO_POSITION[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_SERVO_POSITION[1];
- } else if (sensor == 'AUX_IR') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
- } else if (sensor == 'AUX_TOUCH') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
- } else if (sensor == 'AUX_TEMPERATURE') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
- } else if (sensor == 'AUX_BRIGHTNESS') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
- } else if (sensor == 'AUX_HYDRO_THEMO_HUMIDITY') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_HUMIDITY[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_HUMIDITY[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_HUMIDITY[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_HUMIDITY[1];
- } else if (sensor == 'AUX_HYDRO_THEMO_TEMPER') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_TEMPER[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_TEMPER[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_TEMPER[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_HYDRO_THEMO_TEMPER[1];
- } else if (sensor == 'AUX_ULTRASONIC') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
- } else if (sensor == 'AUX_MAGNETIC') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
- } else if (sensor == 'AUX_MOTION_DETECTION') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_MOTION_DETECTION[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_MOTION_DETECTION[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_MOTION_DETECTION[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE
- .AUX_MOTION_DETECTION[1];
- } else if (sensor == 'AUX_COLOR') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
- } else if (sensor == 'AUX_CUSTOM') {
- data_default_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
- data_default_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
- }
-
- data_default_address =
- data_default_address + increase * data_default_length;
- data_address = data_default_address;
- // if (increase != 0) {
- // data_length = 6 * data_default_length;
- // }
-
- if (
- Entry.hw.sendQueue.prevAddress &&
- Entry.hw.sendQueue.prevAddress == data_default_address
- ) {
- if (
- Entry.hw.sendQueue.prevTime &&
- new Date() - Entry.hw.sendQueue.prevTime < 200
- ) {
- //throw new Entry.Utils.AsyncError();
- return Entry.hw.sendQueue.prevResult;
- }
- }
-
- Entry.Robotis_carCont.setRobotisData([
- [
- data_instruction,
- data_address,
- data_length,
- data_value,
- data_default_length,
- ],
- ]);
- // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
- Entry.Robotis_carCont.update();
-
- var result = Entry.hw.portData[data_default_address];
- Entry.hw.sendQueue.prevAddress = data_default_address;
- Entry.hw.sendQueue.prevTime = new Date();
- Entry.hw.sendQueue.prevResult = result;
-
- return result;
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_sensor_value(%1, %2)'],
- },
- },
- robotis_openCM70_cm_buzzer_index: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.General.note_a + '(0)', '0'],
- [Lang.General.note_a + '#(1)', '1'],
- [Lang.General.note_b + '(2)', '2'],
- [Lang.General.note_c + '(3)', '3'],
- [Lang.General.note_c + '#(4)', '4'],
- [Lang.General.note_d + '(5)', '5'],
- [Lang.General.note_d + '#(6)', '6'],
- [Lang.General.note_e + '(7)', '7'],
- [Lang.General.note_f + '(8)', '8'],
- [Lang.General.note_f + '#(9)', '9'],
- [Lang.General.note_g + '(10)', '10'],
- [Lang.General.note_g + '#(11)', '11'],
- [Lang.General.note_a + '(12)', '12'],
- [Lang.General.note_a + '#(13)', '13'],
- [Lang.General.note_b + '(14)', '14'],
- [Lang.General.note_c + '(15)', '15'],
- [Lang.General.note_c + '#(16)', '16'],
- [Lang.General.note_d + '(17)', '17'],
- [Lang.General.note_d + '#(18)', '18'],
- [Lang.General.note_e + '(19)', '19'],
- [Lang.General.note_f + '(20)', '20'],
- [Lang.General.note_f + '#(21)', '21'],
- [Lang.General.note_g + '(22)', '22'],
- [Lang.General.note_g + '#(23)', '23'],
- [Lang.General.note_a + '(24)', '24'],
- [Lang.General.note_a + '#(25)', '25'],
- [Lang.General.note_b + '(26)', '26'],
- [Lang.General.note_c + '(27)', '27'],
- [Lang.General.note_c + '#(28)', '28'],
- [Lang.General.note_d + '(29)', '29'],
- [Lang.General.note_d + '#(30)', '30'],
- [Lang.General.note_e + '(31)', '31'],
- [Lang.General.note_f + '(32)', '32'],
- [Lang.General.note_f + '#(33)', '33'],
- [Lang.General.note_g + '(34)', '34'],
- [Lang.General.note_g + '#(35)', '35'],
- [Lang.General.note_a + '(36)', '36'],
- [Lang.General.note_a + '#(37)', '37'],
- [Lang.General.note_b + '(38)', '38'],
- [Lang.General.note_c + '(39)', '39'],
- [Lang.General.note_c + '#(40)', '40'],
- [Lang.General.note_d + '(41)', '41'],
- [Lang.General.note_d + '#(42)', '42'],
- [Lang.General.note_e + '(43)', '43'],
- [Lang.General.note_f + '(44)', '44'],
- [Lang.General.note_f + '#(45)', '45'],
- [Lang.General.note_g + '(46)', '46'],
- [Lang.General.note_g + '#(47)', '47'],
- [Lang.General.note_a + '(48)', '48'],
- [Lang.General.note_a + '#(49)', '49'],
- [Lang.General.note_b + '(50)', '50'],
- [Lang.General.note_c + '(51)', '51'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['1'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_buzzer_index',
- },
- paramsKeyMap: {
- CM_BUZZER_INDEX: 0,
- CM_BUZZER_TIME: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var cmBuzzerIndex = script.getField('CM_BUZZER_INDEX', script);
- var cmBuzzerTime = script.getNumberValue(
- 'CM_BUZZER_TIME',
- script
- );
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address_1 = 0;
- var data_length_1 = 0;
- var data_value_1 = 0;
- var data_address_2 = 0;
- var data_length_2 = 0;
- var data_value_2 = 0;
- var interval = 100;
-
- data_address_1 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
- data_length_1 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
- // data_value_1 = cmBuzzerTime * 10;
- // TODO 텍스트 입력으로 바꾸고 최대는 5초 : 0.5 초 하려면 5를 입력 - console.log(parseInt(0.59 * 10)); max 는 5초
- data_value_1 = parseInt(cmBuzzerTime * 10);
- if (data_value_1 > 50) {
- data_value_1 = 50;
- }
-
- data_address_2 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
- data_length_2 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
- data_value_2 = cmBuzzerIndex;
-
- var data_sendqueue = [
- [
- data_instruction,
- data_address_1,
- data_length_1,
- data_value_1,
- ],
- [
- data_instruction,
- data_address_2,
- data_length_2,
- data_value_2,
- ],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- cmBuzzerTime * 1000 + interval
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_cm_buzzer_index(%1, %2)'],
- },
- },
- robotis_openCM70_cm_buzzer_melody: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- ['0', '0'],
- ['1', '1'],
- ['2', '2'],
- ['3', '3'],
- ['4', '4'],
- ['5', '5'],
- ['6', '6'],
- ['7', '7'],
- ['8', '8'],
- ['9', '9'],
- ['10', '10'],
- ['11', '11'],
- ['12', '12'],
- ['13', '13'],
- ['14', '14'],
- ['15', '15'],
- ['16', '16'],
- ['17', '17'],
- ['18', '18'],
- ['19', '19'],
- ['20', '20'],
- ['21', '21'],
- ['22', '22'],
- ['23', '23'],
- ['24', '24'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null],
- type: 'robotis_openCM70_cm_buzzer_melody',
- },
- paramsKeyMap: {
- CM_BUZZER_MELODY: 0,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var cmBuzzerMelody = script.getField(
- 'CM_BUZZER_MELODY',
- script
- );
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address_1 = 0;
- var data_length_1 = 0;
- var data_value_1 = 0;
- var data_address_2 = 0;
- var data_length_2 = 0;
- var data_value_2 = 0;
- var interval = 100;
-
- data_address_1 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
- data_length_1 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
- data_value_1 = 255;
-
- data_address_2 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
- data_length_2 =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
- data_value_2 = cmBuzzerMelody;
-
- var data_sendqueue = [
- [
- data_instruction,
- data_address_1,
- data_length_1,
- data_value_1,
- ],
- [
- data_instruction,
- data_address_2,
- data_length_2,
- data_value_2,
- ],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- 1000 + interval
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_buzzer_melody(%1)'] },
- },
- robotis_openCM70_cm_sound_detected_clear: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null],
- type: 'robotis_openCM70_cm_sound_detected_clear',
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
- data_value = 0;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_sound_clear()'] },
- },
- robotis_openCM70_cm_led: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_red_color, 'CM_LED_R'],
- [Lang.Blocks.robotis_common_green_color, 'CM_LED_G'],
- [Lang.Blocks.robotis_common_blue_color, 'CM_LED_B'],
- ],
- value: 'CM_LED_R',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_on, '1'],
- [Lang.Blocks.robotis_common_off, '0'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_openCM70_cm_led',
- },
- paramsKeyMap: {
- CM_LED: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var cmLed = script.getField('CM_LED', script);
- var value = script.getField('VALUE', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- if (cmLed == 'CM_LED_R') {
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[1];
- } else if (cmLed == 'CM_LED_G') {
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[1];
- } else if (cmLed == 'CM_LED_B') {
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[1];
- }
-
- data_value = value;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_led(%1, %2)'] },
- },
- robotis_openCM70_cm_motion: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- {
- type: 'number',
- params: ['1'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_motion',
- },
- paramsKeyMap: {
- VALUE: 0,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[0];
- data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[1];
- data_value = script.getNumberValue('VALUE', script);
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_motion(%1)'] },
- },
- robotis_openCM70_aux_motor_speed: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_1, '1'],
- [Lang.Blocks.robotis_common_port_2, '2'],
- ],
- value: '1',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_motor_speed',
- },
- paramsKeyMap: {
- PORT: 0,
- DIRECTION_ANGLE: 1,
- VALUE: 2,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var directionAngle = script.getField('DIRECTION_ANGLE', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
-
- data_address = data_address + (port - 1) * data_length;
-
- if (directionAngle == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
-
- data_value = value;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_motor_speed(%1, %2, %3)'],
- },
- },
- robotis_openCM70_aux_servo_mode: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_wheel_mode, '0'],
- [Lang.Blocks.robotis_common_joint_mode, '1'],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_openCM70_aux_servo_mode',
- },
- paramsKeyMap: {
- PORT: 0,
- MODE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var mode = script.getField('MODE', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = mode;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_aux_servo_mode(%1, %2)'] },
- },
- robotis_openCM70_aux_servo_speed: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_clockwhise, 'CW'],
- [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
- ],
- value: 'CW',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- null,
- {
- type: 'number',
- params: ['500'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_servo_speed',
- },
- paramsKeyMap: {
- PORT: 0,
- DIRECTION_ANGLE: 1,
- VALUE: 2,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var directionAngle = script.getField('DIRECTION_ANGLE', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
-
- data_address = data_address + (port - 1) * data_length;
-
- if (directionAngle == 'CW') {
- value = value + 1024;
- if (value > 2047) {
- value = 2047;
- }
- } else {
- if (value > 1023) {
- value = 1023;
- }
- }
-
- data_value = value;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_servo_speed(%1, %2, %3)'],
- },
- },
- robotis_openCM70_aux_servo_position: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['512'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_servo_position',
- },
- paramsKeyMap: {
- PORT: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
-
- data_address = data_address + (port - 1) * data_length;
-
- if (value > 1023) {
- value = 1023;
- } else if (value < 0) {
- value = 0;
- }
-
- data_value = value;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: {
- js: [],
- py: ['Robotis.opencm70_aux_servo_position(%1, %2)'],
- },
- },
- robotis_openCM70_aux_led_module: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Dropdown',
- options: [
- [
- Lang.Blocks.robotis_cm_led_both +
- Lang.Blocks.robotis_common_off,
- '0',
- ],
- [
- Lang.Blocks.robotis_cm_led_right +
- Lang.Blocks.robotis_common_on,
- '1',
- ],
- [
- Lang.Blocks.robotis_cm_led_left +
- Lang.Blocks.robotis_common_on,
- '2',
- ],
- [
- Lang.Blocks.robotis_cm_led_both +
- Lang.Blocks.robotis_common_on,
- '3',
- ],
- ],
- value: '0',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [null, null, null],
- type: 'robotis_openCM70_aux_led_module',
- },
- paramsKeyMap: {
- PORT: 0,
- LED_MODULE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var ledModule = script.getField('LED_MODULE', script);
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = ledModule;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_aux_led_module(%1, %2)'] },
- },
- robotis_openCM70_aux_custom: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Dropdown',
- options: [
- [Lang.Blocks.robotis_common_port_3, '3'],
- [Lang.Blocks.robotis_common_port_4, '4'],
- [Lang.Blocks.robotis_common_port_5, '5'],
- [Lang.Blocks.robotis_common_port_6, '6'],
- ],
- value: '3',
- fontSize: 11,
- bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
- arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- null,
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_openCM70_aux_custom',
- },
- paramsKeyMap: {
- PORT: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_cm',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var port = script.getField('PORT', script);
- var value = script.getNumberValue('VALUE');
-
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
- data_length =
- Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
-
- data_address = data_address + (port - 1) * data_length;
- data_value = value;
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_aux_custom(%1, %2)'] },
- },
- robotis_openCM70_cm_custom: {
- color: EntryStatic.colorSet.block.default.HARDWARE,
- outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
- skeleton: 'basic',
- statements: [],
- params: [
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Block',
- accept: 'string',
- },
- {
- type: 'Indicator',
- img: 'block_icon/hardware_icon.svg',
- size: 12,
- },
- ],
- events: {},
- def: {
- params: [
- {
- type: 'number',
- params: ['0'],
- },
- {
- type: 'number',
- params: ['0'],
- },
- null,
- ],
- type: 'robotis_openCM70_cm_custom',
- },
- paramsKeyMap: {
- ADDRESS: 0,
- VALUE: 1,
- },
- class: 'robotis_openCM70_custom',
- isNotFor: ['Robotis_openCM70EDU'],
- func: function (sprite, script) {
- // instruction / address / length / value / default length
- var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
- var data_address = 0;
- var data_length = 0;
- var data_value = 0;
-
- data_address = script.getNumberValue('ADDRESS');
- data_value = script.getNumberValue('VALUE');
- if (data_value > 65535) {
- data_length = 4;
- } else if (data_value > 255) {
- data_length = 2;
- } else {
- data_length = 1;
- }
-
- var data_sendqueue = [
- [data_instruction, data_address, data_length, data_value],
- ];
- return Entry.Robotis_carCont.postCallReturn(
- script,
- data_sendqueue,
- Entry.Robotis_openCM70.delay
- );
- },
- syntax: { js: [], py: ['Robotis.opencm70_cm_custom(%1, %2)'] },
- },
- //endregion robotis 로보티즈
- };
-};*/
-
-module.exports = [Entry.Robotis_carCont, Entry.Robotis_openCM70, Entry.Robotis_openCM70EDU];
+'use strict';
+
+Entry.Robotis_carCont = {
+ INSTRUCTION: {
+ NONE: 0,
+ WRITE: 3,
+ READ: 2,
+ },
+ CONTROL_TABLE: {
+ // [default address, default length, address (when reads together), length (when reads together)]
+ CM_LED: [67, 1],
+ CM_SPRING_RIGHT: [69, 1, 69, 2],
+ CM_SPRING_LEFT: [70, 1, 69, 2],
+ CM_SWITCH: [71, 1],
+ CM_SOUND_DETECTED: [86, 1],
+ CM_SOUND_DETECTING: [87, 1],
+ CM_IR_LEFT: [91, 2, 91, 4],
+ CM_IR_RIGHT: [93, 2, 91, 4],
+ CM_CALIBRATION_LEFT: [95, 2],
+ CM_CALIBRATION_RIGHT: [97, 2],
+
+ AUX_MOTOR_SPEED_LEFT: [152, 2], // car_cont
+ AUX_MOTOR_SPEED_RIGHT: [154, 2],
+ },
+ setZero: function() {
+ // instruction / address / length / value / default length
+ Entry.hw.sendQueue['setZero'] = [1];
+ this.update();
+ this.setRobotisData(null);
+ Entry.hw.sendQueue['setZero'] = null;
+ this.update();
+ this.setRobotisData([
+ [Entry.Robotis_carCont.INSTRUCTION.WRITE, 152, 2, 0],
+ [Entry.Robotis_carCont.INSTRUCTION.WRITE, 154, 2, 0],
+ ]);
+
+ this.update();
+ },
+ id: '7.1',
+ name: 'robotis_carCont',
+ url: 'http://www.robotis.com/index/product.php?cate_code=111310',
+ imageName: 'robotis_carCont.png',
+ title: {
+ ko: '로보티즈 로봇자동차',
+ en: 'Robotis Robot car',
+ },
+ delay: 40,
+ postCallReturn: function(script, data, ms) {
+ if (ms <= 0) {
+ this.setRobotisData(data);
+ this.update();
+ return script.callReturn();
+ }
+
+ Entry.hw.portData = {};
+ setTimeout(function() {
+ Entry.hw.sendQueue = {}
+ // Entry.hw.portData = {};
+ }, ms - 100);
+
+ setTimeout(function() {
+ Entry.hw.sendQueue = {}
+ //Entry.hw.portData = {};
+ }, ms);
+
+ setTimeout(function() {
+ Entry.hw.sendQueue = {}
+ //Entry.hw.portData = {};
+ }, ms + 100);
+
+ setTimeout(function() {
+ Entry.hw.sendQueue = {}
+ // Entry.hw.portData = {};
+ }, ms + 200);
+
+ if (!script.isStart) {
+ script.isStart = true;
+ script.timeFlag = 1;
+ //data setting
+ this.setRobotisData(data);
+ this.update();
+
+ //delay xx ms
+ setTimeout(function() {
+ script.timeFlag = 0;
+
+ }, ms);
+
+ return script;
+ } else if (script.timeFlag == 1) {
+ this.setRobotisData(null);
+ this.update();
+ return script;
+ } else {
+ delete script.timeFlag;
+ delete script.isStart;
+ Entry.engine.isContinue = false;
+ this.update();
+ return script.callReturn();
+ }
+ },
+ wait: function(sq, ms) {
+ Entry.hw.socket.send(JSON.stringify(sq));
+
+ var start = new Date().getTime();
+ var end = start;
+ while (end < start + ms) {
+ //wait XX ms
+ end = new Date().getTime();
+ }
+ },
+ update: function() {
+ Entry.hw.update();
+ var ROBOTIS_DATA = Entry.hw.sendQueue['ROBOTIS_DATA'];
+ if (ROBOTIS_DATA) {
+ ROBOTIS_DATA.forEach(function(data) {
+ data['send'] = true;
+ });
+ }
+ this.setRobotisData(null);
+ },
+ filterSendData: function() {
+ var ROBOTIS_DATA = Entry.hw.sendQueue['ROBOTIS_DATA'];
+ if (ROBOTIS_DATA) {
+ return ROBOTIS_DATA.filter(function(data) {
+ return data.send !== true;
+ });
+ } else {
+ return null;
+ }
+ },
+ setRobotisData: function(data) {
+ var filterData = this.filterSendData();
+ if (data == null) {
+ Entry.hw.sendQueue['ROBOTIS_DATA'] = filterData;
+ } else {
+ Entry.hw.sendQueue['ROBOTIS_DATA'] = filterData ? filterData.concat(data) : data;
+ }
+ },
+};
+
+Entry.Robotis_openCM70 = {
+ hasPracticalCourse: true,
+ INSTRUCTION: {
+ NONE: 0,
+ WRITE: 3,
+ READ: 2,
+ },
+ CONTROL_TABLE: {
+ // [default address, default length, address (when reads together), length (when reads together)]
+ CM_LED_R: [79, 1],
+ CM_LED_G: [80, 1],
+ CM_LED_B: [81, 1],
+ CM_BUZZER_INDEX: [84, 1],
+ CM_BUZZER_TIME: [85, 1],
+ CM_SOUND_DETECTED: [86, 1],
+ CM_SOUND_DETECTING: [87, 1],
+ CM_USER_BUTTON: [26, 1],
+ CM_MOTION: [66, 1],
+ CM_AUTODRIVE: [40, 1],
+ CM_AUTODRIVE_LEFT_MOTOR_PORT: [42, 1],
+ CM_AUTODRIVE_RIGHT_MOTOR_PORT: [43, 1],
+ CM_AUTODRIVE_LEFT_IR_PORT: [44, 1],
+ CM_AUTODRIVE_RIGHT_IR_PORT: [45, 1],
+ CM_POWEROFF_TIMER: [76, 1],
+
+ AUX_SERVO_POSITION: [152, 2],
+ AUX_IR: [168, 2],
+ AUX_TOUCH: [202, 1],
+ AUX_TEMPERATURE: [234, 1],
+ AUX_ULTRASONIC: [242, 1],
+ AUX_MAGNETIC: [250, 1],
+ AUX_MOTION_DETECTION: [258, 1],
+ AUX_COLOR: [266, 1],
+ AUX_CUSTOM: [216, 2],
+ AUX_BRIGHTNESS: [288, 2],
+ AUX_HYDRO_THEMO_HUMIDITY: [274, 1],
+ AUX_HYDRO_THEMO_TEMPER: [282, 1],
+
+ AUX_SERVO_MODE: [126, 1],
+ AUX_SERVO_SPEED: [136, 2],
+ AUX_MOTOR_SPEED: [136, 2],
+ AUX_LED_MODULE: [210, 1],
+ },
+ IRS_MODULEWRITE: {
+ PORT3: false,
+ PORT4: false,
+ PORT5: false,
+ PORT6: false,
+ },
+ SERVO_MODULEWRITE: {
+ PORT3: false,
+ PORT4: false,
+ PORT5: false,
+ PORT6: false,
+ },
+ setZero: function() {
+ // instruction / address / length / value / default length
+ Entry.hw.sendQueue['setZero'] = [1];
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_carCont.setRobotisData(null);
+ Entry.hw.sendQueue['setZero'] = null;
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_carCont.setRobotisData([
+ /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 136, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 138, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 140, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 142, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 144, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 146, 2, 0],*/
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 136, 12, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 81, 1, 0],
+ /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 1, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 80, 1, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 81, 1, 0],*/
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 86, 1, 0], // 최종 소리 // add by kjs start 170605
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 108, 4, 0],
+ /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 108, 1, 0], // port 3
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 109, 1, 0], // port 4
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 110, 1, 0], // port 5
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 111, 1, 0] // port 6 // add by kjs end 170605*/
+ ]);
+
+ Entry.Robotis_carCont.update();
+
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = false;
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = false;
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = false;
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = false;
+
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 = false;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 = false;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 = false;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 = false;
+ /*
+ Entry.hw.sendQueue['temp'] = [0];
+ Entry.Robotis_carCont.update();
+ Entry.hw.sendQueue['temp'] = null;*/
+ //Entry.Robotis_carCont.update();
+ },
+ id: '7.2',
+ name: 'robotis_openCM70',
+ url: 'http://www.robotis.com/index/product.php?cate_code=111310',
+ imageName: 'robotis_openCM70.png',
+ title: {
+ ko: '로보티즈 IoT',
+ en: 'Robotis Open CM70',
+ },
+ delay: 15,
+ readDelay: 30
+};
+
+Entry.Robotis_openCM70EDU = {
+ hasPracticalCourse: true,
+ INSTRUCTION: {
+ NONE: 0,
+ WRITE: 3,
+ READ: 2,
+ },
+ CONTROL_TABLE: {
+ // [default address, default length, address (when reads together), length (when reads together)]
+ CM_LED_R: [79, 1],
+ CM_LED_G: [80, 1],
+ CM_LED_B: [81, 1],
+ CM_BUZZER_INDEX: [84, 1],
+ CM_BUZZER_TIME: [85, 1],
+ CM_SOUND_DETECTED: [86, 1],
+ CM_SOUND_DETECTING: [87, 1],
+ CM_USER_BUTTON: [26, 1],
+ CM_MOTION: [66, 1],
+ CM_AUTODRIVE: [40, 1],
+ CM_AUTODRIVE_LEFT_MOTOR_PORT: [42, 1],
+ CM_AUTODRIVE_RIGHT_MOTOR_PORT: [43, 1],
+ CM_AUTODRIVE_LEFT_IR_PORT: [44, 1],
+ CM_AUTODRIVE_RIGHT_IR_PORT: [45, 1],
+ CM_POWEROFF_TIMER: [76, 1],
+
+ AUX_SERVO_POSITION: [152, 2],
+ AUX_IR: [168, 2],
+ AUX_TOUCH: [202, 1],
+ AUX_TEMPERATURE: [234, 1],
+ AUX_ULTRASONIC: [242, 1],
+ AUX_MAGNETIC: [250, 1],
+ AUX_MOTION_DETECTION: [258, 1],
+ AUX_COLOR: [266, 1],
+ AUX_CUSTOM: [216, 2],
+ AUX_BRIGHTNESS: [288, 2],
+ AUX_HYDRO_THEMO_HUMIDITY: [274, 1],
+ AUX_HYDRO_THEMO_TEMPER: [282, 1],
+
+ AUX_SERVO_MODE: [126, 1],
+ AUX_SERVO_SPEED: [136, 2],
+ AUX_MOTOR_SPEED: [136, 2],
+ AUX_LED_MODULE: [210, 1],
+ },
+ IRS_MODULEWRITE: {
+ PORT3: false,
+ PORT4: false,
+ PORT5: false,
+ PORT6: false,
+ },
+ SERVO_MODULEWRITE: {
+ PORT3: false,
+ PORT4: false,
+ PORT5: false,
+ PORT6: false,
+ },
+ setZero: function() {
+ // instruction / address / length / value / default length
+ Entry.hw.sendQueue['setZero'] = [1];
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_carCont.setRobotisData(null);
+ Entry.hw.sendQueue['setZero'] = null;
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_carCont.setRobotisData([
+ /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 136, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 138, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 140, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 142, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 144, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 146, 2, 0],*/
+ [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 136, 12, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 2, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 81, 1, 0],
+ /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 79, 1, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 80, 1, 0],
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 81, 1, 0],*/
+ [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 86, 1, 0], // 최종 소리 // add by kjs start 170605
+ [Entry.Robotis_openCM70EDU.INSTRUCTION.WRITE, 108, 4, 0],
+ /*[Entry.Robotis_openCM70.INSTRUCTION.WRITE, 108, 1, 0], // port 3
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 109, 1, 0], // port 4
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 110, 1, 0], // port 5
+ [Entry.Robotis_openCM70.INSTRUCTION.WRITE, 111, 1, 0] // port 6 // add by kjs end 170605*/
+ ]);
+
+ Entry.Robotis_carCont.update();
+
+ Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT3 = false;
+ Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT4 = false;
+ Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT5 = false;
+ Entry.Robotis_openCM70EDU.IRS_MODULEWRITE.PORT6 = false;
+
+ Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT3 = false;
+ Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT4 = false;
+ Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT5 = false;
+ Entry.Robotis_openCM70EDU.SERVO_MODULEWRITE.PORT6 = false;
+
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = false;
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = false;
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = false;
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = false;
+
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 = false;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 = false;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 = false;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 = false;
+ /*
+ Entry.hw.sendQueue['temp'] = [0];
+ Entry.Robotis_carCont.update();
+ Entry.hw.sendQueue['temp'] = null;*/
+ //Entry.Robotis_carCont.update();
+ },
+ monitorTemplate: {
+ imgPath: 'hw/robotis_opencm70.png',
+ width: 800,
+ height: 800,
+ listPorts: {
+ DETECTEDSOUNDE: { name: '최종소리', type: 'input', pos: { x: 0, y: 0 } },
+ DETECTINGSOUNDE1: { name: '실시간소리', type: 'input', pos: { x: 0, y: 0 } },
+ //SND: { name: Lang.Hw.buzzer, type: 'output', pos: { x: 0, y: 0 } },
+ //FND: { name: '전원', type: 'output', pos: { x: 0, y: 0 } },
+ },
+ ports: {
+ USERBUTTONSTATE: { name: 'USERBUTTON', type: 'input', pos: { x: 565, y: 335 } },
+ //'LEDR': { name: 'R', type: 'input', pos: { x: 140, y: 300 } },
+ //'LEDG': { name: 'G', type: 'input', pos: { x: 170, y: 300 } },
+ //'LEDB': { name: 'B', type: 'input', pos: { x: 200, y: 300 } },
+ //'GM1': { name: 'GEARD1', type: 'input', pos: { x: 450, y: 300 } },
+ //'GM2': { name: 'GEARD2', type: 'input', pos: { x: 450, y: 480 } },
+ MONITORPORT0: { name: 'PORT3', type: 'input', pos: { x: 320, y: 320 } },
+ MONITORPORT1: { name: 'PORT4', type: 'input', pos: { x: 330, y: 330 } },
+ MONITORPORT2: { name: 'PORT5', type: 'input', pos: { x: 320, y: 440 } },
+ MONITORPORT3: { name: 'PORT6', type: 'input', pos: { x: 330, y: 460 } },
+ },
+ mode: 'both',
+ },
+ id: '7.3',
+ name: 'robotis_openCM70EDU',
+ url: 'http://www.robotis.com/index/product.php?cate_code=111310',
+ imageName: 'robotis_openCM70EDU.png',
+ title: {
+ ko: '로보티즈 실과',
+ en: 'ROBOTIS InfoRobot',
+ },
+ delay: 15,
+};
+
+Entry.Robotis_carCont.blockMenuBlocks = [
+ 'robotis_carCont_sensor_value',
+ 'robotis_carCont_cm_led',
+ 'robotis_carCont_cm_sound_detected_clear',
+ 'robotis_carCont_aux_motor_speed',
+ 'robotis_carCont_aux_motor_speed2',
+ 'robotis_carCont_cm_calibration',
+];
+
+Entry.Robotis_carCont.setLanguage = function() {
+ return {
+ ko: {
+ template: {
+ robotis_carCont_sensor_value: '%1 값',
+ robotis_carCont_cm_led: '4번 LED %1 , 1번 LED %2 %3',
+ robotis_carCont_cm_sound_detected_clear: '최종소리감지횟수 초기화 %1',
+ robotis_carCont_aux_motor_speed:
+ '%1 감속모터 속도를 %2 , 출력값을 %3 (으)로 정하기 %4',
+ robotis_carCont_cm_calibration:
+ '%1 적외선 센서 캘리브레이션 값을 %2 (으)로 정하기 %3',
+ robotis_openCM70_cm_custom_value: '직접입력 주소 ( %1 ) %2 값',
+ robotis_openCM70_sensor_value: '제어기 %1 값',
+ robotis_openCM70_aux_sensor_value: '%1 %2 값',
+ robotis_openCM70_cm_buzzer_index: '제어기 음계값 %1 을(를) %2 초 동안 연주 %3',
+ robotis_openCM70_cm_buzzer_melody: '제어기 멜로디 %1 번 연주 %2',
+ robotis_openCM70_cm_sound_detected_clear: '최종소리감지횟수 초기화 %1',
+ robotis_openCM70_cm_led: '제어기 %1 LED %2 %3',
+ //robotis_openCM70_cm_motion: '모션 %1 번 실행 %2',
+ robotis_openCM70_cm_autodrive_motor: '🚗 자율주행 자동차 %1 모터를 %2 에 연결 %3',
+ robotis_openCM70_cm_autodrive_ir: '🚗 자율주행 자동차 %1 적외선센서를 %2 에 연결 %3',
+ robotis_openCM70_cm_autodrive_speed: '🚗 차로를 따라 %1의 속도로 자율주행 %2',
+ robotis_openCM70_aux_car_move: '로봇을 %1% 의 속도로 %2 %3',
+ robotis_openCM70_aux_motor_speed:
+ '%1 감속모터 속도를 %2 , 출력값을 %3%로 정하기 %4',
+ robotis_openCM70_aux_servo_mode: '%1 서보모터 모드를 %2 (으)로 정하기 %3',
+ robotis_openCM70_aux_servo_speed:
+ '%1 서보모터 속도를 %2 , 출력값을 %3%로 정하기 %4',
+ robotis_openCM70_aux_servo_position: '%1 서보모터 위치를 %2도로 정하기 %3',
+ robotis_openCM70_aux_led_module: '%1 LED 모듈을 %2 (으)로 정하기 %3',
+ robotis_openCM70_cm_poweroff_timer: '제어기 자동꺼짐 타이머 %1 %2',
+ robotis_openCM70_aux_custom: '%1 사용자 장치를 %2 (으)로 정하기 %3',
+ robotis_openCM70_cm_custom: '직접입력 주소 ( %1 ) (을)를 %2 (으)로 정하기 %3',
+ },
+ Helper: {
+ robotis_carCont_sensor_value:
+ '왼쪽 접속 센서 : 접촉(1), 비접촉(0) 값 입니다.
오른쪽 접촉 센서 : 접촉(1), 비접촉(0) 값 입니다.
선택 버튼 상태 : 접촉(1), 비접촉(0) 값 입니다.
최종 소리 감지 횟수 : 마지막 실시간 소리 감지 횟수 값 입니다.
실시간 소리 감지 횟수 : 약 1초 안에 다음 소리가 감지되면 1씩 증가합니다.
왼쪽 적외선 센서 : 물체와 가까울 수록 큰 값 입니다.
오른쪽 적외선 센서 : 물체와 가까울 수록 큰 값 값 입니다.
왼쪽 적외선 센서 캘리브레이션 값 : 적외선 센서의 캘리브레이션 값 입니다.
오른쪽 적외선 센서 캘리브레이션 값 : 적외선 센서의 캘리브레이션 값 입니다.
(*캘리브레이션 값 - 적외선센서 조정 값)',
+ robotis_carCont_cm_led:
+ '4개의 LED 중 1번 또는 4번 LED 를 켜거나 끕니다.
LED 2번과 3번은 동작 지원하지 않습니다.',
+ robotis_carCont_cm_sound_detected_clear:
+ '최종 소리 감지횟 수를 0 으로 초기화 합니다.',
+ robotis_carCont_aux_motor_speed: '감속모터 속도를 0 ~ 1023 의 값(으)로 정합니다.',
+ robotis_carCont_cm_calibration:
+ '적외선센서 조정 값(http://support.robotis.com/ko/: 자동차로봇> 2. B. 적외선 값 조정)을 직접 정합니다.',
+ robotis_openCM70_sensor_value:
+ '최종 소리 감지 횟수 : 마지막 실시간 소리 감지 횟수 값 입니다.
실시간 소리 감지 횟수 : 약 1초 안에 다음 소리가 감지되면 1씩 증가합니다.
사용자 버튼 상태 : 접촉(1), 비접촉(0) 값 입니다.최종 소리 감지 횟수 : 마지막 실시간 소리 감지 횟수 값 입니다.
실시간 소리 감지 횟수 : 약 1초 안에 다음 소리가 감지되면 1씩 증가합니다.
사용자 버튼 상태 : 접촉(1), 비접촉(0) 값 입니다.',
+ robotis_openCM70_aux_sensor_value:
+ '서보모터 위치 : 0 ~ 1023, 중간 위치의 값은 512 입니다.
적외선센서 : 물체와 가까울 수록 큰 값 입니다.
접촉센서 : 접촉(1), 비접촉(0) 값 입니다.
조도센서(CDS) : 0 ~ 1023, 밝을 수록 큰 값 입니다.
온습도센서(습도) : 0 ~ 100, 습할 수록 큰 값 입니다.
온습도센서(온도) : -20 ~ 100, 온도가 높을 수록 큰 값 입니다.
온도센서 : -20 ~ 100, 온도가 높을 수록 큰 값 입니다.
초음파센서 : -
자석센서 : 접촉(1), 비접촉(0) 값 입니다.
동작감지센서 : 동작 감지(1), 동작 미감지(0) 값 입니다.
컬러센서 : 알수없음(0), 흰색(1), 검은색(2), 빨간색(3), 녹색(4), 파란색(5), 노란색(6) 값 입니다.
사용자 장치 : 사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
+ robotis_openCM70_cm_buzzer_index: '음계를 0.1 ~ 5 초 동안 연주 합니다.',
+ robotis_openCM70_cm_buzzer_melody:
+ "멜로디를 연주 합니다.
멜로디를 연속으로 재생하는 경우, 다음 소리가 재생되지 않으면 '흐름 > X 초 기다리기' 블록을 사용하여 기다린 후 실행합니다.",
+ robotis_openCM70_cm_sound_detected_clear:
+ '최종 소리 감지횟 수를 0 으로 초기화 합니다.',
+ robotis_openCM70_cm_led: '제어기의 빨간색, 녹색, 파란색 LED 를 켜거나 끕니다.',
+ //robotis_openCM70_cm_motion: '제어기에 다운로드 되어있는 모션을 실행합니다.',
+ robotis_openCM70_cm_autodrive_motor: '자율주행 자동차의 모터 포트를 지정합니다.',
+ robotis_openCM70_cm_autodrive_ir: '자율주행 자동차의 적외선 센서 포트를 지정합니다.',
+ robotis_openCM70_cm_autodrive_speed: '지정한 속도로 자율주행을 수행합니다.',
+ robotis_openCM70_aux_car_move: '로봇을 지정한 속도와 방향으로 움직이도록 합니다.',
+ robotis_openCM70_aux_motor_speed: '감속모터 속도를 0 ~ 100% 의 값으로 정합니다.',
+ robotis_openCM70_aux_servo_mode:
+ '서보모터를 회전모드 또는 관절모드로 정합니다.
한번 설정된 모드는 계속 적용됩니다.
회전모드는 서보모터 속도를 지정하여 서보모터를 회전 시킵니다.
관절모드는 지정한 서보모터 속도로 서보모터 위치를 이동 시킵니다.',
+ robotis_openCM70_aux_servo_speed: '서보모터 속도를 0 ~ 100% 의 값으로 정합니다.',
+ robotis_openCM70_aux_servo_position:
+ '서보모터 위치를 -150 ~ 150도 의 값(으)로 정합니다.
서보모터 속도와 같이 사용해야 합니다.',
+ robotis_openCM70_aux_led_module: 'LED 모듈의 LED 를 켜거나 끕니다.',
+ robotis_openCM70_aux_custom:
+ '사용자 센서 제작에 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
+ robotis_openCM70_cm_poweroff_timer:
+ '제어기의 자동꺼짐 타이머를 설정합니다.
설정된 만큼의 시간동안 통신이 진행되지 않으면 제어기는 자동으로 꺼집니다.',
+ robotis_openCM70_cm_custom_value:
+ '컨트롤 테이블 주소를 직접 입력하여 값을 확인 합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
+ robotis_openCM70_cm_custom:
+ '컨트롤 테이블 주소를 직접 입력하여 값을 정합니다.
컨트롤 테이블 대한 설명은 ROBOTIS e-매뉴얼(http://support.robotis.com/ko/)을 참고하세요.',
+ },
+ Blocks: {
+ robotis_carCont_aux_motor_speed_1: '감속모터 속도를',
+ robotis_carCont_aux_motor_speed_2: ', 출력값을',
+ robotis_carCont_calibration_1: '적외선 센서 캘리브레이션 값을',
+ robotis_common_case_01: '(을)를',
+ robotis_common_set: '(으)로 정하기',
+ robotis_common_value: '값',
+ robotis_common_clockwhise: '시계방향',
+ robotis_common_counter_clockwhise: '반시계방향',
+ robotis_common_wheel_mode: '회전모드',
+ robotis_common_joint_mode: '관절모드',
+ robotis_common_red_color: '빨간색',
+ robotis_common_green_color: '녹색',
+ robotis_common_blue_color: '파란색',
+ robotis_common_on: '켜기',
+ robotis_common_off: '끄기',
+ robotis_common_cm: '제어기',
+ robotis_common_port_1: '포트 1',
+ robotis_common_port_2: '포트 2',
+ robotis_common_port_3: '포트 3',
+ robotis_common_port_4: '포트 4',
+ robotis_common_port_5: '포트 5',
+ robotis_common_port_6: '포트 6',
+ robotis_common_play_buzzer: '연주',
+ robotis_common_play_motion: '실행',
+ robotis_common_motion: '모션',
+ robotis_common_index_number: '번',
+ robotis_common_left: '왼쪽',
+ robotis_common_right: '오른쪽',
+ robotis_common_minute: '분',
+ robotis_common_forward: '직진',
+ robotis_common_backward: '후진',
+ robotis_common_turn_left: '좌회전',
+ robotis_common_turn_right: '우회전',
+ robotis_common_stop: '정지',
+ robotis_cm_custom: '직접입력 주소',
+ robotis_cm_spring_left: '왼쪽 접촉 센서',
+ robotis_cm_spring_right: '오른쪽 접촉 센서',
+ robotis_cm_led_left: '왼쪽 LED',
+ robotis_cm_led_right: '오른쪽 LED',
+ robotis_cm_led_both: '양 쪽 LED',
+ robotis_cm_switch: '선택 버튼 상태',
+ robotis_cm_user_button: '사용자 버튼 상태',
+ robotis_cm_sound_detected: '최종 소리 감지 횟수',
+ robotis_cm_sound_detecting: '실시간 소리 감지 횟수',
+ robotis_cm_ir_left: '왼쪽 적외선 센서',
+ robotis_cm_ir_right: '오른쪽 적외선 센서',
+ robotis_cm_calibration_left: '왼쪽 적외선 센서 캘리브레이션 값',
+ robotis_cm_calibration_right: '오른쪽 적외선 센서 캘리브레이션 값',
+ robotis_cm_clear_sound_detected: '최종소리감지횟수 초기화',
+ robotis_cm_buzzer_index: '음계값',
+ robotis_cm_buzzer_melody: '멜로디',
+ robotis_cm_led_1: '1번 LED',
+ robotis_cm_led_4: '4번 LED',
+ robotis_aux_servo_position: '서보모터 위치',
+ robotis_aux_ir: '적외선센서',
+ robotis_aux_touch: '접촉센서',
+ robotis_aux_brightness: '조도센서(CDS)',
+ robotis_aux_hydro_themo_humidity: '온습도센서(습도)',
+ robotis_aux_hydro_themo_temper: '온습도센서(온도)',
+ robotis_aux_temperature: '온도센서',
+ robotis_aux_ultrasonic: '초음파센서',
+ robotis_aux_magnetic: '자석센서',
+ robotis_aux_motion_detection: '동작감지센서',
+ robotis_aux_color: '컬러센서',
+ robotis_aux_custom: '사용자 장치',
+ },
+ },
+ en: {
+ template: {
+ robotis_carCont_sensor_value: 'Value %1',
+ robotis_carCont_cm_led: '%1 LED 4, %2 LED %3',
+ robotis_carCont_cm_sound_detected_clear:
+ 'Initialize the final number of sound detection %1',
+ robotis_carCont_aux_motor_speed:
+ 'Set the speed of decelerating motor of %1 to %2, and the output value to %3 %4',
+ robotis_carCont_cm_calibration:
+ 'Set %1 value of infrared sensor calibration to %2 %3',
+ robotis_openCM70_cm_custom_value: 'Custom address ( %1 ) value %2',
+ robotis_openCM70_sensor_value: 'Controller value %1',
+ robotis_openCM70_aux_sensor_value: 'Value %1 %2',
+ robotis_openCM70_cm_buzzer_index:
+ 'Play %1 controller scale value for %2 seconds %3 ',
+ robotis_openCM70_cm_buzzer_melody: 'Play controller melody %1 times %2',
+ robotis_openCM70_cm_sound_detected_clear:
+ 'Initialize the final number of sound detection %1',
+ robotis_openCM70_cm_led: 'Controller %1 LED %2 %3',
+ //robotis_openCM70_cm_motion: 'Play the motion %1 times',
+ robotis_openCM70_cm_autodrive_motor: 'Autonomous driving car %1 motor uses %2 %3',
+ robotis_openCM70_cm_autodrive_ir: 'Autonomous driving car %1 IR sensor uses %2 %3',
+ robotis_openCM70_cm_autodrive_speed: 'Perform autonomous driving at the speed of %1 %2',
+ robotis_openCM70_aux_car_move: 'Make the robot %2 at a speed of %1% %3',
+ robotis_openCM70_aux_motor_speed:
+ 'Set the speed of decelerating motor of %1 to %2 , and the output value to %3% %4',
+ robotis_openCM70_aux_servo_mode: 'Set the mode of %1 servo motor to %2 %3',
+ robotis_openCM70_aux_servo_speed:
+ 'Set the speed of servo motor of %1 to %2 , and the output value to %3% %4',
+ robotis_openCM70_aux_servo_position: 'Set the position of %1 servo motor to %2 degree %3',
+ robotis_openCM70_aux_led_module: 'Set the LED module of %1 as %2 %3',
+ robotis_openCM70_aux_custom: 'Set the user device of %1 as %2 %3',
+ robotis_openCM70_cm_poweroff_timer: 'Set auto-off timer as %1 %2',
+ robotis_openCM70_cm_custom: 'Set the custom address ( %1 ) as %2 %3',
+ },
+ Helper: {
+ robotis_openCM70_sensor_value:
+ 'Final number of sound detection : the value of the final detected sound times.
Number of live sound detection : increases by 1 when it detects the next sound within 1 second.
Status of user button: the value of contact (1), non-contact (0).Final number of sound detection : the value of the number of last live sound detection.
Number of live sound detection : increases by 1 when it detects the next sound within 1 second.
Status of user button : the value of contact (1), non-contact (0).',
+ robotis_openCM70_aux_sensor_value:
+ "Position of servo motor: 0-1023, the value of the middle is 512.
Infrared sensor : the value is larger when it's close to an object.
Contact sensor: the value of contact(1), non-contact(0).
CDS: 0-1023, the value is larger when it's brighter.
Temperature-humidity sensor (humidity) : 0-100, the value is larger when it's more humid.
Temperature-humidity sensor (temperature) : -20 - 100, the value is larger when it's higher in temperature.
Temperature sensor : -20 - 100, the value is larger when it's higher in temperature.
Ultrasound sensor: -
Magnetic sensor : the value of contact(1), non-contact(0).
Motion detector: the value of detected motion(1), non-detected motion(0).
Color sensor: the value of unknown(0), white(1), black(2), red(3), green(4), blue(5), yellow(6).
User device: please refer to ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation on user sensor production.",
+ robotis_openCM70_cm_buzzer_index: 'Plays the scale for 0.1 to 5 seconds.',
+ robotis_openCM70_cm_buzzer_melody:
+ "Plays melody.
If the following sound doesn't play when repeatedly playing melodies, use the block 'flow > wait for X seconds' and execute it again.",
+ robotis_openCM70_cm_sound_detected_clear: 'Final number of sound detection ',
+ robotis_openCM70_cm_led: 'Turns the red, green, blue LED of the device on or off.',
+ //robotis_openCM70_cm_motion: 'Executes the motion downloaded on the device.',
+ robotis_openCM70_cm_autodrive_motor: 'Specifies the motor port of the autonomous driving car.',
+ robotis_openCM70_cm_autodrive_ir: 'Specifies the IR sensor port of the autonomous driving car.',
+ robotis_openCM70_cm_autodrive_speed: 'Perform autonomous driving at the specified speed along the lane.',
+ robotis_openCM70_aux_car_move: 'Make the robot move at the specified speed and direction.',
+ robotis_openCM70_aux_motor_speed:
+ 'Sets the speed of decelerating motor to the value of 0 - 100%.',
+ robotis_openCM70_aux_servo_mode:
+ "Sets the servo motor as wheel mode or joint mode.
The same mode continues to apply once it's set.
Wheel mode designates the servo motor's speed, and spins the servo motor.
Joint mode moves the servo motor's position with the set servo motor speed.",
+ robotis_openCM70_aux_servo_speed:
+ "Sets servo motor's speed to the value of 0 - 1023.",
+ robotis_openCM70_aux_servo_position:
+ "Sets servo motor's position to the value of -150 ~ 150 degree.
Use as servo motor speed",
+ robotis_openCM70_aux_led_module: 'Turns the LED of LED module on or off.',
+ robotis_openCM70_aux_custom:
+ 'Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation of user sensor production.',
+ robotis_openCM70_cm_poweroff_timer: "Set the controllers auto-off timer.
If there is no communication for the set amount of time, the controller will automatically turn off.",
+ robotis_openCM70_cm_custom_value:
+ 'Checks the value by directly inputting the control table address.
Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation about control table.',
+ robotis_openCM70_cm_custom:
+ 'Checks the value by directly inputting the control table address.
Please refer to the ROBOTIS e-manual (http://support.robotis.com/ko/) for the explanation about control table.',
+ robotis_carCont_sensor_value:
+ "Left connected sensor : the value of contact (1), non-contact (0).
Right contact sensor: the value of contact (1), non-contact (0).
Final number of sound detection : the value of the number of last live sound detection.
Number of live sound detection : increases by 1 when it detects the next sound within 1 second.
Right infrared sensor: the value is larger when it's closer to an object.
Value of left infrared sensor calibration : the calibration value of the infrared sensor.
Value of right infrared sensor calibration : the calibration value of the infrared sensor.
(*Calibration value - control value of infrared sensor)",
+ robotis_carCont_cm_led:
+ 'Turns LED 1 or LED 4 among the 4 LEDs on or off.
Not applicable to LED 2 and LED 3.',
+ robotis_carCont_cm_sound_detected_clear:
+ 'Initializes the final amount of detected sound to 0.',
+ robotis_carCont_aux_motor_speed:
+ 'Sets the speed of decelerating motor to the value of 0-1023.',
+ robotis_carCont_cm_calibration:
+ 'Sets the controlling value of infrared sensor (http://support.robotis.com/ko/: automobile robot> 2. B. control infrared value).',
+ },
+ Blocks: {
+ robotis_carCont_aux_motor_speed_1: 'Speed of decelerating motor',
+ robotis_carCont_aux_motor_speed_2: ', the output value',
+ robotis_carCont_calibration_1: 'Value of the infrared sensor calibration ',
+ robotis_common_case_01: '(을)를',
+ robotis_common_set: 'the output value',
+ robotis_common_value: 'Value',
+ robotis_common_clockwhise: 'Clockwise',
+ robotis_common_counter_clockwhise: 'Counterclockwise',
+ robotis_common_wheel_mode: 'Wheel mode',
+ robotis_common_joint_mode: 'Joint mode',
+ robotis_common_red_color: 'Red',
+ robotis_common_green_color: 'Green',
+ robotis_common_blue_color: 'Blue',
+ robotis_common_on: 'Turn on',
+ robotis_common_off: 'Turn off',
+ robotis_common_cm: 'Controller',
+ robotis_common_port_1: 'Port 1',
+ robotis_common_port_2: 'Port 2',
+ robotis_common_port_3: 'Port 3',
+ robotis_common_port_4: 'Port 4',
+ robotis_common_port_5: 'Port 5',
+ robotis_common_port_6: 'Port 6',
+ robotis_common_play_buzzer: 'Play',
+ robotis_common_play_motion: 'Play',
+ robotis_common_motion: 'Motion',
+ robotis_common_index_number: 'Number',
+ robotis_common_left: 'Left',
+ robotis_common_right: 'Right',
+ robotis_common_minute: 'minute(s)',
+ robotis_common_forward: 'Forward',
+ robotis_common_backward: 'Backword',
+ robotis_common_turn_left: 'Turn left',
+ robotis_common_turn_right: 'Turn Right',
+ robotis_common_stop: 'Stop',
+ robotis_cm_custom: 'Custom address',
+ robotis_cm_spring_left: 'Left contact sensor',
+ robotis_cm_spring_right: 'Right contact sensor',
+ robotis_cm_led_left: 'Left LED',
+ robotis_cm_led_right: 'Right LED',
+ robotis_cm_led_both: 'Both LED',
+ robotis_cm_switch: 'Status of the switch',
+ robotis_cm_user_button: 'Status of user button',
+ robotis_cm_sound_detected: 'Final number of sound detection ',
+ robotis_cm_sound_detecting: 'Number of live sound detection ',
+ robotis_cm_ir_left: 'Left infrared sensor',
+ robotis_cm_ir_right: 'Right infrared sensor',
+ robotis_cm_calibration_left: 'Value of the left infrared sensor calibration ',
+ robotis_cm_calibration_right: 'Value of the right infrared sensor calibration ',
+ robotis_cm_clear_sound_detected: 'Initialize the final number of sound detection',
+ robotis_cm_buzzer_index: 'Scale index',
+ robotis_cm_buzzer_melody: 'Melody',
+ robotis_cm_led_1: 'LED 1',
+ robotis_cm_led_4: 'LED 4',
+ robotis_aux_servo_position: 'Position of servo motor',
+ robotis_aux_ir: 'Infrared sensor',
+ robotis_aux_touch: 'Contact sensor',
+ robotis_aux_brightness: 'CDS',
+ robotis_aux_hydro_themo_humidity: 'Temperature-humidity sensor (humidity)',
+ robotis_aux_hydro_themo_temper: 'Temperature-humidity sensor (temperature)',
+ robotis_aux_temperature: 'Temperature sensor',
+ robotis_aux_ultrasonic: 'Ultrasonic sensor',
+ robotis_aux_magnetic: 'Magnetic sensor',
+ robotis_aux_motion_detection: 'Motion detector',
+ robotis_aux_color: 'Color sensor',
+ robotis_aux_custom: 'User device',
+ },
+ },
+ };
+};
+
+Entry.Robotis_carCont.getBlocks = function() {
+ return {
+ //region robotis 로보티즈 carCont
+ robotis_carCont_sensor_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_cm_spring_left, 'CM_SPRING_LEFT'],
+ [Lang.Blocks.robotis_cm_spring_right, 'CM_SPRING_RIGHT'],
+ [Lang.Blocks.robotis_cm_switch, 'CM_SWITCH'],
+ [Lang.Blocks.robotis_cm_sound_detected, 'CM_SOUND_DETECTED'],
+ [Lang.Blocks.robotis_cm_sound_detecting, 'CM_SOUND_DETECTING'],
+ [Lang.Blocks.robotis_cm_ir_left, 'CM_IR_LEFT'],
+ [Lang.Blocks.robotis_cm_ir_right, 'CM_IR_RIGHT'],
+ [Lang.Blocks.robotis_cm_calibration_left, 'CM_CALIBRATION_LEFT'],
+ [Lang.Blocks.robotis_cm_calibration_right, 'CM_CALIBRATION_RIGHT'],
+ ],
+ value: 'CM_SPRING_LEFT',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_carCont_sensor_value',
+ },
+ paramsKeyMap: {
+ SENSOR: 0,
+ },
+ class: 'robotis_carCont_cm',
+ isNotFor: ['robotis_carCont'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_carCont.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var sensor = script.getStringField('SENSOR');
+
+ if (sensor == 'CM_SPRING_LEFT') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[2];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_LEFT[3];
+ } else if (sensor == 'CM_SPRING_RIGHT') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[2];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SPRING_RIGHT[3];
+ } else if (sensor == 'CM_SWITCH') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SWITCH[1];
+ } else if (sensor == 'CM_SOUND_DETECTED') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ } else if (sensor == 'CM_SOUND_DETECTING') {
+ data_default_address =
+ Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTING[1];
+ } else if (sensor == 'CM_IR_LEFT') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[2];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_LEFT[3];
+ } else if (sensor == 'CM_IR_RIGHT') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[2];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_IR_RIGHT[3];
+ } else if (sensor == 'CM_CALIBRATION_LEFT') {
+ data_default_address =
+ Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[0];
+ data_default_length =
+ Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[1];
+ } else if (sensor == 'CM_CALIBRATION_RIGHT') {
+ data_default_address =
+ Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[0];
+ data_default_length =
+ Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[1];
+ } else if (sensor == 'CM_BUTTON_STATUS') {
+ data_default_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[0];
+ data_default_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[1];
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_BUTTON_STATUS[1];
+ }
+
+ //Entry.Robotis_carCont.setRobotisData([[data_instruction, data_address, data_length, data_value, data_default_length]]);
+ //// Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ //Entry.Robotis_carCont.update();
+ //
+ //return Entry.hw.portData[data_default_address];
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 300
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [data_instruction, data_address, data_length, data_value, data_default_length],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[data_default_address];
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: { js: [], py: ['Robotis.carcont_sensor_value(%1)'] },
+ },
+ robotis_carCont_cm_led: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_on, '1'],
+ [Lang.Blocks.robotis_common_off, '0'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_on, '1'],
+ [Lang.Blocks.robotis_common_off, '0'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_carCont_cm_led',
+ },
+ paramsKeyMap: {
+ VALUE_LEFT: 0,
+ VALUE_RIGHT: 1,
+ },
+ class: 'robotis_carCont_cm',
+ isNotFor: ['robotis_carCont'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var value_left = script.getField('VALUE_LEFT', script);
+ var value_right = script.getField('VALUE_RIGHT', script);
+
+ var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_LED[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_LED[1];
+
+ if (value_left == 1 && value_right == 1) {
+ data_value = 9;
+ } else if (value_left == 1 && value_right == 0) {
+ data_value = 8;
+ }
+ if (value_left == 0 && value_right == 1) {
+ data_value = 1;
+ }
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_carCont.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.carcont_cm_led(%1, %2)'] },
+ },
+ robotis_carCont_cm_sound_detected_clear: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_carCont_cm_sound_detected_clear',
+ },
+ class: 'robotis_carCont_cm',
+ isNotFor: ['robotis_carCont'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+
+ var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ data_value = 0;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_carCont.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.carcont_cm_sound_clear()'] },
+ },
+ robotis_carCont_aux_motor_speed: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.General.left, 'LEFT'],
+ [Lang.General.right, 'RIGHT'],
+ ],
+ value: 'LEFT',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['500'],
+ },
+ null,
+ ],
+ type: 'robotis_carCont_aux_motor_speed',
+ },
+ paramsKeyMap: {
+ DIRECTION: 0,
+ DIRECTION_ANGLE: 1,
+ VALUE: 2,
+ },
+ class: 'robotis_carCont_cm',
+ isNotFor: ['robotis_carCont'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var direction = script.getField('DIRECTION', script);
+ var directionAngle = script.getField('DIRECTION_ANGLE', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ if (direction == 'LEFT') {
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_LEFT[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_LEFT[1];
+ } else {
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_RIGHT[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_RIGHT[1];
+ }
+
+ if (directionAngle == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_carCont.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.carcont_aux_motor_speed(%1, %2, %3)'],
+ },
+ },
+ robotis_carCont_aux_motor_speed2: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ template:
+ '왼쪽 감속모터 속도를 %1, 출력값을 %2 (으)로 오른쪽 감속모터 속도를 %3, 출력값을 %4 (으)로 정하기 %5',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['500'],
+ },
+ null,
+ {
+ type: 'number',
+ params: ['500'],
+ },
+ null,
+ ],
+ type: 'robotis_carCont_aux_motor_speed2',
+ },
+ paramsKeyMap: {
+ LEFT_ANGLE: 0,
+ LEFT_VALUE: 1,
+ RIGHT_ANGLE: 2,
+ RIGHT_VALUE: 3,
+ },
+ class: 'robotis_carCont_cm',
+ isNotFor: ['robotis_carCont'],
+ func: function(sprite, script) {
+ var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE,
+ address = Entry.Robotis_carCont.CONTROL_TABLE.AUX_MOTOR_SPEED_LEFT[0];
+
+ var leftAngle = script.getField('LEFT_ANGLE', script);
+ var leftValue = script.getNumberValue('LEFT_VALUE');
+ var rightAngle = script.getField('RIGHT_ANGLE', script);
+ var rightValue = script.getNumberValue('RIGHT_VALUE');
+
+ leftValue = Math.min(leftValue, 1023);
+ leftValue = Math.max(leftValue, 0);
+ rightValue = Math.min(rightValue, 1023);
+ rightValue = Math.max(rightValue, 0);
+
+ if (leftAngle === 'CW') {
+ leftValue += 1024;
+ }
+ if (rightAngle === 'CW') {
+ rightValue += 1024;
+ }
+
+ var value = leftValue + (rightValue << 16);
+ var data_sendqueue = [[data_instruction, address, 4, value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_carCont.delay
+ );
+ },
+ },
+ robotis_carCont_cm_calibration: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.General.left, 'LEFT'],
+ [Lang.General.right, 'RIGHT'],
+ ],
+ value: 'LEFT',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_carCont_cm_calibration',
+ },
+ paramsKeyMap: {
+ DIRECTION: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_carCont_cm',
+ isNotFor: ['robotis_carCont'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var direction = script.getField('DIRECTION', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_carCont.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ if (direction == 'LEFT') {
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_LEFT[1];
+ } else {
+ data_address = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[0];
+ data_length = Entry.Robotis_carCont.CONTROL_TABLE.CM_CALIBRATION_RIGHT[1];
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_carCont.delay
+ );
+
+ // Entry.hw.sendQueue['ROBOTIS_DATA'] = [[data_instruction, data_address, data_length, data_value]];
+ // update();
+ // return script.callReturn();
+ },
+ syntax: { js: [], py: ['Robotis.carcont_cm_calibration(%1, %2)'] },
+ },
+ //endregion robotis 로보티즈
+ };
+};
+
+Entry.Robotis_openCM70.blockMenuBlocks = [
+ //robotis_openCM70
+ 'robotis_irs_value',
+ 'robotis_irs_value_boolean',
+ 'robotis_color_value',
+ 'robotis_color_value_boolean',
+ 'robotis_openCM70_sensor_value',
+ 'robotis_openCM70_aux_sensor_value',
+ 'robotis_openCM70_cm_buzzer_index',
+ 'robotis_openCM70_cm_buzzer_melody',
+ 'robotis_openCM70_cm_sound_detected_clear',
+ 'robotis_openCM70_cm_led',
+ //'robotis_openCM70_cm_motion',
+ 'robotis_openCM70_cm_autodrive_motor',
+ 'robotis_openCM70_cm_autodrive_ir',
+ 'robotis_openCM70_cm_autodrive_speed',
+ 'robotis_openCM70_aux_car_move',
+ 'robotis_openCM70_aux_motor_speed',
+ 'robotis_openCM70_aux_servo_mode',
+ 'robotis_openCM70_aux_servo_speed',
+ 'robotis_openCM70_aux_servo_position',
+ 'robotis_openCM70_aux_led_module',
+ 'robotis_openCM70_aux_custom',
+ 'robotis_openCM70_cm_poweroff_timer',
+ 'robotis_openCM70_cm_custom_value',
+ 'robotis_openCM70_cm_custom',
+];
+
+let opencm70_last_valid_value = [];
+
+Entry.Robotis_openCM70.getBlocks = function() {
+ return {
+ //region robotis 로보티즈 openCM70
+ robotis_openCM70_cm_custom_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['BYTE', 'BYTE'],
+ ['WORD', 'WORD'],
+ ['DWORD', 'DWORD'],
+ ],
+ value: 'BYTE',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_custom_value',
+ },
+ paramsKeyMap: {
+ VALUE: 0,
+ SIZE: 1,
+ },
+ class: 'robotis_openCM70_custom',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ var scope = script.executor.scope;
+
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var size = script.getStringField('SIZE');
+
+ if (size == 'BYTE') {
+ data_length = 1;
+ } else if (size == 'WORD') {
+ data_length = 2;
+ } else if (size == 'DWORD') {
+ data_length = 4;
+ }
+
+ data_address = script.getNumberValue('VALUE');
+
+ data_default_address = data_address;
+ data_default_length = data_length;
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 200
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [data_instruction, data_address, data_length, data_value, data_default_length],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[data_default_address];
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_cm_custom_value(%1, %2)'],
+ },
+ },
+ robotis_openCM70_sensor_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_cm_sound_detected, 'CM_SOUND_DETECTED'],
+ [Lang.Blocks.robotis_cm_sound_detecting, 'CM_SOUND_DETECTING'],
+ [Lang.Blocks.robotis_cm_user_button, 'CM_USER_BUTTON'],
+ ],
+ value: 'CM_SOUND_DETECTED',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_openCM70_sensor_value',
+ },
+ paramsKeyMap: {
+ SENSOR: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ var scope = script.executor.scope;
+
+ scope.isStart = true;
+ scope.count = 0;
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var sensor = script.getStringField('SENSOR');
+
+ var increase = 0;
+ var sensor_name = '';
+
+ if (sensor == 'CM_SOUND_DETECTED') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ sensor_name = 'DETECTEDSOUNDE';
+ } else if (sensor == 'CM_SOUND_DETECTING') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTING[1];
+ sensor_name = 'DETECTINGSOUNDE1';
+ } else if (sensor == 'CM_USER_BUTTON') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
+ sensor_name = 'USERBUTTONSTATE';
+ }
+
+ data_default_address = data_default_address + increase * data_default_length;
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 200
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [data_instruction, data_address, data_length, data_value, data_default_length],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[sensor_name];
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_sensor_value(%1)'] },
+ },
+ robotis_openCM70_aux_sensor_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_aux_servo_position, 'AUX_SERVO_POSITION'],
+ [Lang.Blocks.robotis_aux_ir, 'AUX_IR'],
+ [Lang.Blocks.robotis_aux_touch, 'AUX_TOUCH'],
+ [Lang.Blocks.robotis_aux_brightness, 'AUX_BRIGHTNESS'],
+ [Lang.Blocks.robotis_aux_hydro_themo_humidity, 'AUX_HYDRO_THEMO_HUMIDITY'],
+ [Lang.Blocks.robotis_aux_hydro_themo_temper, 'AUX_HYDRO_THEMO_TEMPER'],
+ [Lang.Blocks.robotis_aux_temperature, 'AUX_TEMPERATURE'],
+ [Lang.Blocks.robotis_aux_ultrasonic, 'AUX_ULTRASONIC'],
+ [Lang.Blocks.robotis_aux_magnetic, 'AUX_MAGNETIC'],
+ [Lang.Blocks.robotis_aux_motion_detection, 'AUX_MOTION_DETECTION'],
+ [Lang.Blocks.robotis_aux_color, 'AUX_COLOR'],
+ [Lang.Blocks.robotis_aux_custom, 'AUX_CUSTOM'],
+ ],
+ value: 'AUX_SERVO_POSITION',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null],
+ type: 'robotis_openCM70_aux_sensor_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ SENSOR: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ var scope = script.executor.scope;
+
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var port = script.getStringField('PORT');
+ var sensor = script.getStringField('SENSOR');
+
+ var aux_name = '';
+
+ var increase = 0;
+ if (port == '3') {
+ increase = 2;
+ } else if (port == '4') {
+ increase = 3;
+ } else if (port == '5') {
+ increase = 4;
+ } else if (port == '6') {
+ increase = 5;
+ }
+
+ if (sensor == 'AUX_SERVO_POSITION') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
+ aux_name = 'LIGHT' + (increase-2);
+ } else if (sensor == 'AUX_IR') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
+ aux_name = 'IR' + (increase-2);
+ } else if (sensor == 'AUX_TOUCH') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
+ aux_name = 'TOUCH' + (increase-2);
+ } else if (sensor == 'AUX_TEMPERATURE') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
+ aux_name = 'TEMPERATURE' + (increase-2);
+ } else if (sensor == 'AUX_BRIGHTNESS') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
+ aux_name = 'LIGHT' + (increase-2);
+ } else if (sensor == 'AUX_HYDRO_THEMO_HUMIDITY') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_HUMIDITY[1];
+ aux_name = 'HUMIDTY' + (increase-2);
+ } else if (sensor == 'AUX_HYDRO_THEMO_TEMPER') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_HYDRO_THEMO_TEMPER[1];
+ aux_name = 'HT_TEMPERATURE' + (increase-2);
+ } else if (sensor == 'AUX_ULTRASONIC') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
+ aux_name = 'ULTRASONIC' + (increase-2);
+ } else if (sensor == 'AUX_MAGNETIC') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
+ aux_name = 'MAGNETIC' + (increase-2);
+ } else if (sensor == 'AUX_MOTION_DETECTION') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTION_DETECTION[1];
+ aux_name = 'MOTION' + (increase-2);
+ } else if (sensor == 'AUX_COLOR') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
+ aux_name = 'COLOR' + (increase-2);
+ } else if (sensor == 'AUX_CUSTOM') {
+ data_default_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
+ data_default_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
+ aux_name = 'LIGHT' + (increase-2);
+ }
+
+ data_default_address = data_default_address + increase * data_default_length;
+ data_address = data_default_address;
+ // if (increase != 0) {
+ // data_length = 6 * data_default_length;
+ // }
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 200
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [data_instruction, data_address, data_length, data_value, data_default_length],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[aux_name];
+ if (result == undefined)
+ {
+ result = opencm70_last_valid_value[data_default_address];
+ }
+ else
+ {
+ if (sensor == 'AUX_SERVO_POSITION') {
+ if (result < 0) result = 0;
+ else if (result > 1023) result = 1023;
+
+ result = (512 - result) * 300 / 1023;
+
+ result = Math.floor(result * 9 / 8);
+
+ if (result > 150) result = 150;
+ else if (result < -150) result = -150;
+ }
+ opencm70_last_valid_value[data_default_address] = result;
+ }
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_sensor_value(%1, %2)'],
+ },
+ },
+ robotis_openCM70_cm_buzzer_index: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.General.note_a + '(0)', '0'],
+ [Lang.General.note_a + '#(1)', '1'],
+ [Lang.General.note_b + '(2)', '2'],
+ [Lang.General.note_c + '(3)', '3'],
+ [Lang.General.note_c + '#(4)', '4'],
+ [Lang.General.note_d + '(5)', '5'],
+ [Lang.General.note_d + '#(6)', '6'],
+ [Lang.General.note_e + '(7)', '7'],
+ [Lang.General.note_f + '(8)', '8'],
+ [Lang.General.note_f + '#(9)', '9'],
+ [Lang.General.note_g + '(10)', '10'],
+ [Lang.General.note_g + '#(11)', '11'],
+ [Lang.General.note_a + '(12)', '12'],
+ [Lang.General.note_a + '#(13)', '13'],
+ [Lang.General.note_b + '(14)', '14'],
+ [Lang.General.note_c + '(15)', '15'],
+ [Lang.General.note_c + '#(16)', '16'],
+ [Lang.General.note_d + '(17)', '17'],
+ [Lang.General.note_d + '#(18)', '18'],
+ [Lang.General.note_e + '(19)', '19'],
+ [Lang.General.note_f + '(20)', '20'],
+ [Lang.General.note_f + '#(21)', '21'],
+ [Lang.General.note_g + '(22)', '22'],
+ [Lang.General.note_g + '#(23)', '23'],
+ [Lang.General.note_a + '(24)', '24'],
+ [Lang.General.note_a + '#(25)', '25'],
+ [Lang.General.note_b + '(26)', '26'],
+ [Lang.General.note_c + '(27)', '27'],
+ [Lang.General.note_c + '#(28)', '28'],
+ [Lang.General.note_d + '(29)', '29'],
+ [Lang.General.note_d + '#(30)', '30'],
+ [Lang.General.note_e + '(31)', '31'],
+ [Lang.General.note_f + '(32)', '32'],
+ [Lang.General.note_f + '#(33)', '33'],
+ [Lang.General.note_g + '(34)', '34'],
+ [Lang.General.note_g + '#(35)', '35'],
+ [Lang.General.note_a + '(36)', '36'],
+ [Lang.General.note_a + '#(37)', '37'],
+ [Lang.General.note_b + '(38)', '38'],
+ [Lang.General.note_c + '(39)', '39'],
+ [Lang.General.note_c + '#(40)', '40'],
+ [Lang.General.note_d + '(41)', '41'],
+ [Lang.General.note_d + '#(42)', '42'],
+ [Lang.General.note_e + '(43)', '43'],
+ [Lang.General.note_f + '(44)', '44'],
+ [Lang.General.note_f + '#(45)', '45'],
+ [Lang.General.note_g + '(46)', '46'],
+ [Lang.General.note_g + '#(47)', '47'],
+ [Lang.General.note_a + '(48)', '48'],
+ [Lang.General.note_a + '#(49)', '49'],
+ [Lang.General.note_b + '(50)', '50'],
+ [Lang.General.note_c + '(51)', '51'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['1'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_buzzer_index',
+ },
+ paramsKeyMap: {
+ CM_BUZZER_INDEX: 0,
+ CM_BUZZER_TIME: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var cmBuzzerIndex = script.getField('CM_BUZZER_INDEX', script);
+ var cmBuzzerTime = script.getNumberValue('CM_BUZZER_TIME', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address_1 = 0;
+ var data_length_1 = 0;
+ var data_value_1 = 0;
+ var data_address_2 = 0;
+ var data_length_2 = 0;
+ var data_value_2 = 0;
+ var interval = 100;
+
+ data_address_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
+ data_length_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
+ // data_value_1 = cmBuzzerTime * 10;
+ // TODO 텍스트 입력으로 바꾸고 최대는 5초 : 0.5 초 하려면 5를 입력 - console.log(parseInt(0.59 * 10)); max 는 5초
+ data_value_1 = parseInt(cmBuzzerTime * 10);
+ if (data_value_1 > 50) {
+ data_value_1 = 50;
+ }
+
+ data_address_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
+ data_length_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
+ data_value_2 = cmBuzzerIndex;
+
+ var data_sendqueue = [
+ [data_instruction, data_address_1, data_length_1, data_value_1],
+ [data_instruction, data_address_2, data_length_2, data_value_2],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ cmBuzzerTime * 1000 + interval
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_cm_buzzer_index(%1, %2)'],
+ },
+ },
+ robotis_openCM70_cm_buzzer_melody: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['0', '0'],
+ ['1', '1'],
+ ['2', '2'],
+ ['3', '3'],
+ ['4', '4'],
+ ['5', '5'],
+ ['6', '6'],
+ ['7', '7'],
+ ['8', '8'],
+ ['9', '9'],
+ ['10', '10'],
+ ['11', '11'],
+ ['12', '12'],
+ ['13', '13'],
+ ['14', '14'],
+ ['15', '15'],
+ ['16', '16'],
+ ['17', '17'],
+ ['18', '18'],
+ ['19', '19'],
+ ['20', '20'],
+ ['21', '21'],
+ ['22', '22'],
+ ['23', '23'],
+ ['24', '24'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null],
+ type: 'robotis_openCM70_cm_buzzer_melody',
+ },
+ paramsKeyMap: {
+ CM_BUZZER_MELODY: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var cmBuzzerMelody = script.getField('CM_BUZZER_MELODY', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address_1 = 0;
+ var data_length_1 = 0;
+ var data_value_1 = 0;
+ var data_address_2 = 0;
+ var data_length_2 = 0;
+ var data_value_2 = 0;
+ var interval = 100;
+
+ data_address_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
+ data_length_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
+ data_value_1 = 255;
+
+ data_address_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
+ data_length_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
+ data_value_2 = cmBuzzerMelody;
+
+ var data_sendqueue = [
+ [data_instruction, data_address_1, data_length_1, data_value_1],
+ [data_instruction, data_address_2, data_length_2, data_value_2],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ 1000 + interval
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_buzzer_melody(%1)'] },
+ },
+ robotis_openCM70_cm_sound_detected_clear: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_openCM70_cm_sound_detected_clear',
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ data_value = 0;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_sound_clear()'] },
+ },
+ robotis_openCM70_cm_led: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_red_color, 'CM_LED_R'],
+ [Lang.Blocks.robotis_common_green_color, 'CM_LED_G'],
+ [Lang.Blocks.robotis_common_blue_color, 'CM_LED_B'],
+ ],
+ value: 'CM_LED_R',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_on, '1'],
+ [Lang.Blocks.robotis_common_off, '0'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_cm_led',
+ },
+ paramsKeyMap: {
+ CM_LED: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var cmLed = script.getField('CM_LED', script);
+ var value = script.getField('VALUE', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ if (cmLed == 'CM_LED_R') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[1];
+ } else if (cmLed == 'CM_LED_G') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[1];
+ } else if (cmLed == 'CM_LED_B') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[1];
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_led(%1, %2)'] },
+ },
+ /*
+ robotis_openCM70_cm_motion: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['1'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_motion',
+ },
+ paramsKeyMap: {
+ VALUE: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[1];
+ data_value = script.getNumberValue('VALUE', script);
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_motion(%1)'] },
+ },
+ */
+ robotis_openCM70_cm_autodrive_motor: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_left, 'CM_LEFT'],
+ [Lang.Blocks.robotis_common_right, 'CM_RIGHT'],
+ ],
+ value: 'CM_LEFT',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 1', '1'],
+ ['PORT 2', '2'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_cm_autodrive_motor',
+ },
+ paramsKeyMap: {
+ CM_MOTOR_POSITION: 0,
+ PORT_NUM: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var motor_position = script.getField('CM_MOTOR_POSITION', script);
+ var port_num = script.getField('PORT_NUM', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ if (motor_position == 'CM_LEFT') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_LEFT_MOTOR_PORT[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_LEFT_MOTOR_PORT[1];
+ } else if (motor_position == 'CM_RIGHT') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_RIGHT_MOTOR_PORT[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_RIGHT_MOTOR_PORT[1];
+ }
+
+ data_value = port_num;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_autodrive_motor_port(%1, %2)'] },
+ },
+ robotis_openCM70_cm_autodrive_ir: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_left, 'CM_LEFT'],
+ [Lang.Blocks.robotis_common_right, 'CM_RIGHT'],
+ ],
+ value: 'CM_LEFT',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_cm_autodrive_ir',
+ },
+ paramsKeyMap: {
+ CM_IR_POSITION: 0,
+ PORT_NUM: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var ir_position = script.getField('CM_IR_POSITION', script);
+ var port_num = script.getField('PORT_NUM', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ if (ir_position == 'CM_LEFT') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_LEFT_IR_PORT[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_LEFT_IR_PORT[1];
+ } else if (ir_position == 'CM_RIGHT') {
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_RIGHT_IR_PORT[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE_RIGHT_IR_PORT[1];
+ }
+
+ data_value = port_num;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_autodrive_ir_port(%1, %2)'] },
+ },
+ robotis_openCM70_cm_autodrive_speed: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['100%', '100'],
+ ['90%', '90'],
+ ['80%', '80'],
+ ['70%', '70'],
+ ['60%', '60'],
+ ['50%', '50'],
+ ['40%', '40'],
+ ['30%', '30'],
+ ['20%', '20'],
+ ['10%', '10'],
+ ['0%', '0'],
+ ],
+ value: '80',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_openCM70_cm_autodrive_speed',
+ },
+ paramsKeyMap: {
+ CM_AUTODRIVE_SPEED: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var autodrive_speed = script.getField('CM_AUTODRIVE_SPEED', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_AUTODRIVE[1];
+ data_value = autodrive_speed;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_autodrive_speed(%1)'] },
+ },
+ robotis_openCM70_aux_car_move: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_forward, 'F'],
+ [Lang.Blocks.robotis_common_backward, 'B'],
+ [Lang.Blocks.robotis_common_turn_left, 'L'],
+ [Lang.Blocks.robotis_common_turn_right, 'R'],
+ [Lang.Blocks.robotis_common_stop, 'S'],
+ ],
+ value: 'F',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['50'],
+ },
+ null,
+ null,
+ ],
+ type: 'robotis_openCM70_aux_car_move',
+ },
+ paramsKeyMap: {
+ SPEED: 0,
+ MOVE_DIRECTION: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var speed = script.getNumberValue('SPEED');
+ var direction = script.getField('MOVE_DIRECTION', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1] * 2;
+
+ if (speed < 0) speed = 0;
+ else if (speed > 100) speed = 100;
+
+ speed = Math.floor(speed * 1023 /100);
+
+ if (direction == 'F') {
+ data_value = speed + (speed + 1024) * 65536;
+ } else if (direction == 'B'){
+ data_value = (speed + 1024) + speed * 65536;
+ } else if (direction == 'L'){
+ data_value = (speed + 1024) + (speed + 1024) * 65536;
+ } else if (direction == 'R'){
+ data_value = speed + speed * 65536;
+ } else if (direction == 'S'){
+ data_value = 0;
+ }
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_car_move(%1, %2)'],
+ },
+ },
+ robotis_irs_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1 적외선 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_irs_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_irs',
+ //'isNotFor': ['mini'],
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+ let data_address = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.IR0;
+ data_address = 108;
+ break;
+ case '4':
+ value = Entry.hw.portData.IR1;
+ data_address = 109;
+ break;
+ case '5':
+ value = Entry.hw.portData.IR2;
+ data_address = 110;
+ break;
+ case '6':
+ value = Entry.hw.portData.IR3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 2;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 && port == '3') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 && port == '4') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 && port == '5') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 && port == '6') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = true;
+ }
+ //var value = (Entry.hw.portData['IN' + port] > 125) ? 1 : 0;
+ return value;
+ },
+ },
+ robotis_irs_value_boolean: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1 적외선 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'GREATER',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['100'],
+ },
+ ],
+ type: 'robotis_irs_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_irs',
+ //'isNotFor': ['mini'],
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ let leftValue = 0;
+ let isCheck = false;
+ let data_address = 0;
+
+ switch (port) {
+ case '3':
+ leftValue = Entry.hw.portData.IR0;
+ data_address = 108;
+ break;
+ case '4':
+ leftValue = Entry.hw.portData.IR1;
+ data_address = 109;
+ break;
+ case '5':
+ leftValue = Entry.hw.portData.IR2;
+ data_address = 110;
+ break;
+ case '6':
+ leftValue = Entry.hw.portData.IR3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 2;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 && port == '3') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 && port == '4') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 && port == '5') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 && port == '6') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = true;
+ }
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_color_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1 컬러 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_color_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_color',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+ let data_address = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.COLOR0;
+ data_address = 108;
+ break;
+ case '4':
+ value = Entry.hw.portData.COLOR1;
+ data_address = 109;
+ break;
+ case '5':
+ value = Entry.hw.portData.COLOR2;
+ data_address = 110;
+ break;
+ case '6':
+ value = Entry.hw.portData.COLOR3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 4;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+
+ switch (value) {
+ case 0:
+ value = '알 수 없음';
+ break;
+ case 1:
+ value = '흰색';
+ break;
+ case 2:
+ value = '검은색';
+ break;
+ case 3:
+ value = '빨강색';
+ break;
+ case 4:
+ value = '초록색';
+ break;
+ case 5:
+ value = '파랑색';
+ break;
+ case 6:
+ value = '노랑색';
+ break;
+ }
+
+ return value;
+ },
+ },
+ robotis_color_value_boolean: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1 컬러 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['!=', 'NOT_EQUAL'],
+ ],
+ value: 'EQUAL',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['알 수 없음 : 0', '0'],
+ ['흰색 : 1', '1'],
+ ['검은색 : 2', '2'],
+ ['빨강색 : 3', '3'],
+ ['초록색 : 4', '4'],
+ ['파랑색 : 5', '5'],
+ ['노랑색 : 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ def: {
+ params: [null, null, null],
+ type: 'robotis_color_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_color',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberField('RIGHTVALUE', script);
+ let leftValue = 0;
+ let data_address = 0;
+ let isCheck = false;
+
+ switch (port) {
+ case '3':
+ leftValue = Entry.hw.portData.COLOR0;
+ data_address = 108;
+ break;
+ case '4':
+ leftValue = Entry.hw.portData.COLOR1;
+ data_address = 109;
+ break;
+ case '5':
+ leftValue = Entry.hw.portData.COLOR2;
+ data_address = 110;
+ break;
+ case '6':
+ leftValue = Entry.hw.portData.COLOR3;
+ data_address = 111;
+ break;
+ }
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 4;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'NOT_EQUAL':
+ isCheck = Number(leftValue) != Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_openCM70_aux_motor_speed: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 1', '1'],
+ ['PORT 2', '2'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['50'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_motor_speed',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ DIRECTION_ANGLE: 1,
+ VALUE: 2,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var directionAngle = script.getField('DIRECTION_ANGLE', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
+
+ data_address = data_address + (port - 1) * data_length;
+
+ if (value < 0) value = 0;
+ else if (value > 100) value = 100;
+
+ value = Math.floor(value * 1023 / 100);
+
+ if (directionAngle == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_motor_speed(%1, %2, %3)'],
+ },
+ },
+ robotis_openCM70_aux_servo_mode: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_wheel_mode, '0'],
+ [Lang.Blocks.robotis_common_joint_mode, '1'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_aux_servo_mode',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ MODE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var mode = script.getField('MODE', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = mode;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_aux_servo_mode(%1, %2)'] },
+ },
+ robotis_openCM70_aux_servo_speed: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['50'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_servo_speed',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ DIRECTION_ANGLE: 1,
+ VALUE: 2,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var directionAngle = script.getField('DIRECTION_ANGLE', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
+
+ data_address = data_address + (port - 1) * data_length;
+
+ if (value < 0) value = 0;
+ else if (value > 100) value = 100;
+
+ value = Math.floor(value * 1023 / 100);
+
+ if (directionAngle == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_servo_speed(%1, %2, %3)'],
+ },
+ },
+ robotis_openCM70_aux_servo_position: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_servo_position',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
+
+ data_address = data_address + (port - 1) * data_length;
+
+ if (value > 150) {
+ value = 150;
+ } else if (value < -150) {
+ value = -150;
+ }
+
+ value = value * 8 / 9;
+
+ data_value = 512 - Math.floor(value * 1023 / 300);
+
+ if (data_value < 0) data_value = 0;
+ else if (data_value > 1023) data_value = 1023;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_servo_position(%1, %2)'],
+ },
+ },
+ robotis_openCM70_aux_led_module: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_cm_led_both + Lang.Blocks.robotis_common_off, '0'],
+ [Lang.Blocks.robotis_cm_led_right + Lang.Blocks.robotis_common_on, '1'],
+ [Lang.Blocks.robotis_cm_led_left + Lang.Blocks.robotis_common_on, '2'],
+ [Lang.Blocks.robotis_cm_led_both + Lang.Blocks.robotis_common_on, '3'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_aux_led_module',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ LED_MODULE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var ledModule = script.getField('LED_MODULE', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = ledModule;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_aux_led_module(%1, %2)'] },
+ },
+ robotis_openCM70_aux_custom: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_custom',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_aux_custom(%1, %2)'] },
+ },
+ robotis_openCM70_cm_poweroff_timer: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_off, '0'],
+ ['1' + Lang.Blocks.robotis_common_minute, '1'],
+ ['2' + Lang.Blocks.robotis_common_minute, '2'],
+ ['3' + Lang.Blocks.robotis_common_minute, '3'],
+ ['4' + Lang.Blocks.robotis_common_minute, '4'],
+ ['5' + Lang.Blocks.robotis_common_minute, '5'],
+ ['6' + Lang.Blocks.robotis_common_minute, '6'],
+ ['7' + Lang.Blocks.robotis_common_minute, '7'],
+ ['8' + Lang.Blocks.robotis_common_minute, '8'],
+ ['9' + Lang.Blocks.robotis_common_minute, '9'],
+ ['10' + Lang.Blocks.robotis_common_minute, '10'],
+ ['11' + Lang.Blocks.robotis_common_minute, '11'],
+ ['12' + Lang.Blocks.robotis_common_minute, '12'],
+ ['13' + Lang.Blocks.robotis_common_minute, '13'],
+ ['14' + Lang.Blocks.robotis_common_minute, '14'],
+ ['15' + Lang.Blocks.robotis_common_minute, '15'],
+ ['16' + Lang.Blocks.robotis_common_minute, '16'],
+ ['17' + Lang.Blocks.robotis_common_minute, '17'],
+ ['18' + Lang.Blocks.robotis_common_minute, '18'],
+ ['19' + Lang.Blocks.robotis_common_minute, '19'],
+ ['20' + Lang.Blocks.robotis_common_minute, '20'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null],
+ type: 'robotis_openCM70_cm_poweroff_timer',
+ },
+ paramsKeyMap: {
+ CM_POWEROFF_TIMER: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var cm_poweroff_timer = script.getField('CM_POWEROFF_TIMER', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_POWEROFF_TIMER[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_POWEROFF_TIMER[1];
+ data_value = cm_poweroff_timer;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_poweroff_timer(%1)'] },
+ },
+ robotis_openCM70_cm_custom: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_custom',
+ },
+ paramsKeyMap: {
+ ADDRESS: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_custom',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ func: function(sprite, script) {
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = script.getNumberValue('ADDRESS');
+ data_value = script.getNumberValue('VALUE');
+ if (data_value > 65535) {
+ data_length = 4;
+ } else if (data_value > 255) {
+ data_length = 2;
+ } else {
+ data_length = 1;
+ }
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_custom(%1, %2)'] },
+ },
+ //endregion robotis 로보티즈
+ };
+};
+
+Entry.Robotis_openCM70.practicalBlockMenuBlocks = {
+ hw_motor: [
+ 'robotis_aux_move_for',
+ 'robotis_aux_stop_for',
+ 'robotis_set_servo_joint',
+ 'robotis_set_servo_wheel',
+ 'robotis_move_for_secs',
+ ],
+ hw_melody: [
+ 'robotis_melody_note_for',
+ ],
+ hw_sensor: [
+ 'robotis_touch_value',
+ 'robotis_touch_value_boolean',
+ 'robotis_irs_value',
+ 'robotis_irs_value_boolean',
+ 'robotis_light_value',
+ 'robotis_light_value_boolean',
+ 'robotis_detectedsound_value',
+ 'robotis_detectingsound_value',
+ 'robotis_detectedsound_value_boolean',
+ 'robotis_detectingsound_value_boolean',
+ 'robotis_detectedsound_value_init',
+ 'robotis_color_value',
+ 'robotis_color_value_boolean',
+ 'robotis_humidity_value',
+ 'robotis_humidity_value_boolean',
+ 'robotis_temperature_value',
+ 'robotis_temperature_value_boolean',
+ 'robotis_userbutton_value',
+ 'robotis_userbutton_value_boolean',
+ ],
+ hw_led: [
+ 'robotis_set_led',
+ ],
+}
+
+Entry.Robotis_openCM70.getPracticalBlocks = function() {
+ return{
+ robotis_set_led: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 LED를 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['모두 끄기', '0'],
+ ['노랑색 켜기', '1'],
+ ['파랑색 켜기', '2'],
+ ['모두 켜기', '3'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/light.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_set_led',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ COLOR: 1,
+ },
+ class: 'robotis_led',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+
+ const port = script.getStringField('PORT');
+ const value = 0;
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address = 0;
+ const data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[1];
+ const data_value = script.getNumberField('COLOR');
+ switch (port) {
+ case '3':
+ data_address = 212;
+ break;
+ case '4':
+ data_address = 213;
+ break;
+ case '5':
+ data_address = 214;
+ break;
+ case '6':
+ data_address = 215;
+ break;
+ }
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ },
+ robotis_touch_value: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 접촉 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_touch_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_touch',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.TOUCH0;
+ break;
+ case '4':
+ value = Entry.hw.portData.TOUCH1;
+ break;
+ case '5':
+ value = Entry.hw.portData.TOUCH2;
+ break;
+ case '6':
+ value = Entry.hw.portData.TOUCH3;
+ break;
+ }
+ return value;
+ },
+ },
+ robotis_touch_value_boolean: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 접촉 센서가 %2',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['접촉 되면', '1'],
+ ['접촉 안되면', '0'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ def: {
+ params: [null, null, null],
+ type: 'robotis_touch_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ TOUCH: 1,
+ },
+ class: 'robotis_touch',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ const touch = script.getNumberField('TOUCH', script);
+ let value = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.TOUCH0;
+ break;
+ case '4':
+ value = Entry.hw.portData.TOUCH1;
+ break;
+ case '5':
+ value = Entry.hw.portData.TOUCH2;
+ break;
+ case '6':
+ value = Entry.hw.portData.TOUCH3;
+ break;
+ }
+ const isTouch = !((value == 1) ^ touch);
+
+ return isTouch;
+ },
+ },
+ robotis_irs_value: {
+ color: '#C4065C',
+ outerLine: '#9a0045',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 적외선 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_irs_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_irs',
+ //'isNotFor': ['mini'],
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+ let data_address = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.IR0;
+ data_address = 108;
+ break;
+ case '4':
+ value = Entry.hw.portData.IR1;
+ data_address = 109;
+ break;
+ case '5':
+ value = Entry.hw.portData.IR2;
+ data_address = 110;
+ break;
+ case '6':
+ value = Entry.hw.portData.IR3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 2;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 && port == '3') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 && port == '4') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 && port == '5') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 && port == '6') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = true;
+ }
+ //var value = (Entry.hw.portData['IN' + port] > 125) ? 1 : 0;
+ return value;
+ },
+ },
+ robotis_irs_value_boolean: {
+ color: '#C4065C',
+ outerLine: '#9a0045',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 적외선 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['100'],
+ },
+ ],
+ type: 'robotis_irs_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_irs',
+ //'isNotFor': ['mini'],
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ let leftValue = 0;
+ let isCheck = false;
+ let data_address = 0;
+
+ switch (port) {
+ case '3':
+ leftValue = Entry.hw.portData.IR0;
+ data_address = 108;
+ break;
+ case '4':
+ leftValue = Entry.hw.portData.IR1;
+ data_address = 109;
+ break;
+ case '5':
+ leftValue = Entry.hw.portData.IR2;
+ data_address = 110;
+ break;
+ case '6':
+ leftValue = Entry.hw.portData.IR3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 2;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 && port == '3') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT3 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 && port == '4') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT4 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 && port == '5') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT5 = true;
+ }
+ if (!Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 && port == '6') {
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ Entry.Robotis_openCM70.IRS_MODULEWRITE.PORT6 = true;
+ }
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_light_value: {
+ color: '#ff8d0f',
+ outerLine: '#e37100',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 빛 감지 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '0'],
+ ['PORT 4', '1'],
+ ['PORT 5', '2'],
+ ['PORT 6', '3'],
+ ],
+ value: '0',
+ outerLine: '#e37100',
+ fontSize: 11,
+ bgColor: '#e37100',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_light_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_light',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ return Entry.hw.portData[`LIGHT${port}`];
+ },
+ },
+ robotis_light_value_boolean: {
+ color: '#ff8d0f',
+ outerLine: '#e37100',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 빛 감지 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '0'],
+ ['PORT 4', '1'],
+ ['PORT 5', '2'],
+ ['PORT 6', '3'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: '#e37100',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#e37100',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['100'],
+ },
+ ],
+ type: 'robotis_light_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_light',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getNumberField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ const leftValue = Entry.hw.portData[`LIGHT${port}`];
+ let isCheck = false;
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_userbutton_value: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '사용자 버튼',
+ events: {},
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_userbutton_value',
+ },
+ paramsKeyMap: {},
+ class: 'robotis_userbutton',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ return Entry.hw.portData.USERBUTTONSTATE;
+ },
+ },
+ robotis_userbutton_value_boolean: {
+ color: '#2AB4D3',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '사용자 버튼이 %1',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['접촉 되면', '1'],
+ ['접촉 안되면', '0'],
+ ],
+ value: '1',
+ fontsIze: 11,
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_userbutton_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_userbutton',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ const value = Entry.hw.portData.USERBUTTONSTATE;
+ var isTouch = false;
+
+ var isTouch = port == value;
+
+ return isTouch;
+ },
+ },
+ robotis_detectedsound_value: {
+ color: '#01d67f',
+ outerLine: '#00b36a',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 최종 소리 횟수',
+ events: {},
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_detectedsound_value',
+ },
+ paramsKeyMap: {},
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ return Entry.hw.portData.DETECTEDSOUNDE;
+ },
+ },
+ robotis_detectedsound_value_boolean: {
+ color: '#01d67f',
+ outerLine: '#00b36a',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 최종 소리 횟수 %1 %2',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#00b36a',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['100'],
+ },
+ ],
+ type: 'robotis_detectedsound_value_boolean',
+ },
+ paramsKeyMap: {
+ OPERATOR: 0,
+ RIGHTVALUE: 1,
+ },
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ const leftValue = Entry.hw.portData.DETECTEDSOUNDE;
+ let isCheck = false;
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_detectedsound_value_init: {
+ color: '#00D67F',
+ outerLine: '#00b36a',
+ skeleton: 'basic',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 최종 소리 횟수 초기화 %1',
+ params: [
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/sound.png',
+ size: 12,
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_detectedsound_value_init',
+ },
+ paramsKeyMap: {},
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ const data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ const data_value = 0;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ },
+ robotis_detectingsound_value: {
+ color: '#01d67f',
+ outerLine: '#00b36a',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 실시간 소리 횟수',
+ events: {},
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_detectingsound_value',
+ },
+ paramsKeyMap: {},
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ return Entry.hw.portData.DETECTINGSOUNDE1;
+ },
+ },
+ robotis_detectedsound_value_boolean: {
+ color: '#01d67f',
+ outerLine: '#00b36a',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 최종 소리 횟수 %1 %2',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#00b36a',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['100'],
+ },
+ ],
+ type: 'robotis_detectedsound_value_boolean',
+ },
+ paramsKeyMap: {
+ OPERATOR: 0,
+ RIGHTVALUE: 1,
+ },
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ const leftValue = Entry.hw.portData.DETECTEDSOUNDE;
+ let isCheck = false;
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_detectedsound_value_init: {
+ color: '#00D67F',
+ outerLine: '#00b36a',
+ skeleton: 'basic',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 최종 소리 횟수 초기화 %1',
+ params: [
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/sound.png',
+ size: 12,
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_detectedsound_value_init',
+ },
+ paramsKeyMap: {},
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_address = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ const data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ const data_value = 0;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ },
+ robotis_detectingsound_value: {
+ color: '#01d67f',
+ outerLine: '#00b36a',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 실시간 소리 횟수',
+ events: {},
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [null],
+ type: 'robotis_detectingsound_value',
+ },
+ paramsKeyMap: {},
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ return Entry.hw.portData.DETECTINGSOUNDE1;
+ },
+ },
+ robotis_detectingsound_value_boolean: {
+ color: '#01d67f',
+ outerLine: '#00b36a',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '소리 센서 실시간 소리 횟수 %1 %2',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#00b36a',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['100'],
+ },
+ ],
+ type: 'robotis_detectingsound_value_boolean',
+ },
+ paramsKeyMap: {
+ OPERATOR: 0,
+ RIGHTVALUE: 1,
+ },
+ class: 'robotis_sound',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ const leftValue = Entry.hw.portData.DETECTINGSOUNDE1;
+ let isCheck = false;
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_color_value: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 컬러 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_color_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_color',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+ let data_address = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.COLOR0;
+ data_address = 108;
+ break;
+ case '4':
+ value = Entry.hw.portData.COLOR1;
+ data_address = 109;
+ break;
+ case '5':
+ value = Entry.hw.portData.COLOR2;
+ data_address = 110;
+ break;
+ case '6':
+ value = Entry.hw.portData.COLOR3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 4;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+
+ switch (value) {
+ case 0:
+ value = '알 수 없음';
+ break;
+ case 1:
+ value = '흰색';
+ break;
+ case 2:
+ value = '검은색';
+ break;
+ case 3:
+ value = '빨강색';
+ break;
+ case 4:
+ value = '초록색';
+ break;
+ case 5:
+ value = '파랑색';
+ break;
+ case 6:
+ value = '노랑색';
+ break;
+ }
+
+ return value;
+ },
+ },
+ robotis_color_value_boolean: {
+ color: '#C4065C',
+ outerLine: '#9a0045',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 컬러 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['알 수 없음 : 0', '0'],
+ ['흰색 : 1', '1'],
+ ['검은색 : 2', '2'],
+ ['빨강색 : 3', '3'],
+ ['초록색 : 4', '4'],
+ ['파랑색 : 5', '5'],
+ ['노랑색 : 6', '6'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ def: {
+ params: [null, null, null],
+ type: 'robotis_color_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_color',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberField('RIGHTVALUE', script);
+ let leftValue = 0;
+ let data_address = 0;
+ let isCheck = false;
+
+ switch (port) {
+ case '3':
+ leftValue = Entry.hw.portData.COLOR0;
+ data_address = 108;
+ break;
+ case '4':
+ leftValue = Entry.hw.portData.COLOR1;
+ data_address = 109;
+ break;
+ case '5':
+ leftValue = Entry.hw.portData.COLOR2;
+ data_address = 110;
+ break;
+ case '6':
+ leftValue = Entry.hw.portData.COLOR3;
+ data_address = 111;
+ break;
+ }
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 4;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+
+ return isCheck;
+ },
+ },
+ robotis_humidity_value: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 습도 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_humidity_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_humidity',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+ let data_address = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.HUMIDTY0;
+ data_address = 108;
+ break;
+ case '4':
+ value = Entry.hw.portData.HUMIDTY1;
+ data_address = 109;
+ break;
+ case '5':
+ value = Entry.hw.portData.HUMIDTY2;
+ data_address = 110;
+ break;
+ case '6':
+ value = Entry.hw.portData.HUMIDTY3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 5;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+
+ return value;
+ },
+ },
+ robotis_humidity_value_boolean: {
+ color: '#C4065C',
+ outerLine: '#9a0045',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 습도 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['50'],
+ },
+ ],
+ type: 'robotis_humidity_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_humidity',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getNumberField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ let leftValue = 0;
+ let data_address = 0;
+ let isCheck = true;
+
+ switch (port) {
+ case 3:
+ leftValue = Entry.hw.portData.HUMIDTY0;
+ data_address = 108;
+ break;
+ case 4:
+ leftValue = Entry.hw.portData.HUMIDTY1;
+ data_address = 109;
+ break;
+ case 5:
+ leftValue = Entry.hw.portData.HUMIDTY2;
+ data_address = 110;
+ break;
+ case 6:
+ leftValue = Entry.hw.portData.HUMIDTY3;
+ data_address = 111;
+ break;
+ }
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 5;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+ return isCheck;
+ },
+ },
+ robotis_temperature_value: {
+ color: '#2AB4D3',
+ outerLine: '#0e93b1',
+ skeleton: 'basic_string_field',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 온도 센서 값',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#0e93b1',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_temperature_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ },
+ class: 'robotis_temperature',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getStringField('PORT');
+ let value = 0;
+ let data_address = 0;
+ switch (port) {
+ case '3':
+ value = Entry.hw.portData.TEMPERATURE0;
+ data_address = 108;
+ break;
+ case '4':
+ value = Entry.hw.portData.TEMPERATURE1;
+ data_address = 109;
+ break;
+ case '5':
+ value = Entry.hw.portData.TEMPERATURE2;
+ data_address = 110;
+ break;
+ case '6':
+ value = Entry.hw.portData.TEMPERATURE3;
+ data_address = 111;
+ break;
+ }
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 5;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+
+ return value;
+ },
+ },
+ robotis_temperature_value_boolean: {
+ color: '#C4065C',
+ outerLine: '#9a0045',
+ skeleton: 'basic_boolean_field',
+ fontColor: '#fff',
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1번 포트 온도 센서 값 %2 %3',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['=', 'EQUAL'],
+ ['>', 'GREATER'],
+ ['<', 'LESS'],
+ ['≥', 'GREATER_OR_EQUAL'],
+ ['≤', 'LESS_OR_EQUAL'],
+ ],
+ value: 'LESS',
+ fontSize: 11,
+ bgColor: '#9a0045',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ noaRrow: true,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ ],
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['50'],
+ },
+ ],
+ type: 'robotis_temperature_value_boolean',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ OPERATOR: 1,
+ RIGHTVALUE: 2,
+ },
+ class: 'robotis_temperature',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const port = script.getNumberField('PORT', script);
+ const operator = script.getField('OPERATOR', script);
+ const rightValue = script.getNumberValue('RIGHTVALUE', script);
+ let leftValue = 0;
+ let data_address = 0;
+ let isCheck = true;
+
+ switch (port) {
+ case 3:
+ leftValue = Entry.hw.portData.TEMPERATURE0;
+ data_address = 108;
+ break;
+ case 4:
+ leftValue = Entry.hw.portData.TEMPERATURE1;
+ data_address = 109;
+ break;
+ case 5:
+ leftValue = Entry.hw.portData.TEMPERATURE2;
+ data_address = 110;
+ break;
+ case 6:
+ leftValue = Entry.hw.portData.TEMPERATURE3;
+ data_address = 111;
+ break;
+ }
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ const data_length = 1;
+ const data_value = 5;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ switch (operator) {
+ case 'EQUAL':
+ isCheck = leftValue == rightValue;
+ break;
+ case 'GREATER':
+ isCheck = Number(leftValue) > Number(rightValue);
+ break;
+ case 'LESS':
+ isCheck = Number(leftValue) < Number(rightValue);
+ break;
+ case 'GREATER_OR_EQUAL':
+ isCheck = Number(leftValue) >= Number(rightValue);
+ break;
+ case 'LESS_OR_EQUAL':
+ isCheck = Number(leftValue) <= Number(rightValue);
+ break;
+ }
+ return isCheck;
+ },
+ },
+ robotis_move_for_secs: {
+ color: '#00B200',
+ outerLine: '#019101',
+ skeleton: 'basic',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1모터를 %2 %3의 속도로 %4초 동안 회전 %5',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['왼쪽', '1'],
+ ['오른쪽', '2'],
+ ['양쪽', '3'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: '#019101',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['앞으로', 'CW'],
+ ['뒤로', 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: '#019101',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/dcmotor.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'practical_course_motor_speed',
+ },
+ {
+ type: 'number',
+ params: ['2'],
+ },
+ null,
+ ],
+ type: 'robotis_move_for_secs',
+ },
+ paramsKeyMap: {
+ WHEEL: 0,
+ DIRECTION: 1,
+ SPEED: 2,
+ DURATION: 3,
+ },
+ class: 'robotis_motor',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const duration = script.getNumberValue('DURATION');
+ const wheel = script.getNumberField('WHEEL');
+ let value = script.getNumberValue('SPEED');
+ const direction = script.getStringField('DIRECTION');
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address = 0;
+ let data_length = 0;
+ let data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
+
+ if (wheel == '3') {
+ data_length = 4;
+ data_address = 136;
+ } else {
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
+ data_address = data_address + (wheel - 1) * data_length;
+ }
+
+ if (!script.isStart) {
+ value = value * 68;
+ if (wheel == '3' || wheel == '1') {
+ if (direction == 'CCW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+ } else {
+ if (direction == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+ }
+
+ if ( value < 1024) {
+ value = value + (value + 1024) * 0x10000;
+ }
+ else {
+ value = value + (value - 1024) * 0x10000;
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+
+ script.wheelMode = wheel;
+
+ script.isStart = true;
+ script.timeFlag = 1;
+ setTimeout(() => {
+ script.timeFlag = 0;
+ }, duration * 1000);
+
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ //return Entry.Robotis_carCont.postCallReturn(script, data_sendqueue, 2000);
+ return script;
+ } else if (script.timeFlag == 1) {
+ //data_sendqueue = [[data_instruction, data_address, data_length, 0]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ return script;
+ } else {
+ delete script.timeFlag;
+ delete script.isStart;
+ delete script.wheelMode;
+ Entry.engine.isContinue = false;
+
+ data_sendqueue = [[data_instruction, data_address, data_length, 0]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.engine.isContinue = false;
+ Entry.Robotis_carCont.update();
+ return script.callReturn();
+ }
+ //return Entry.Robotis_carCont.postCallReturn(script, data_sendqueue, 2000);
+ },
+ },
+ robotis_aux_move_for: {
+ color: '#00B200',
+ outerLine: '#019101',
+ skeleton: 'basic',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1모터를 %2 %3의 속도로 계속 회전 %4',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['왼쪽', '1'],
+ ['오른쪽', '2'],
+ ['양쪽', '3'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: '#019101',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['앞으로', 'CW'],
+ ['뒤로', 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: '#019101',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/dcmotor.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'practical_course_motor_speed',
+ },
+ null,
+ ],
+ type: 'robotis_aux_move_for',
+ },
+ paramsKeyMap: {
+ WHEEL: 0,
+ DIRECTION: 1,
+ SPEED: 2,
+ },
+ class: 'robotis_motor',
+ //'isNotFor': ['mini'],
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const wheel = script.getNumberField('WHEEL');
+ let value = script.getNumberValue('SPEED');
+ const direction = script.getStringField('DIRECTION');
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address = 0;
+ let data_length = 0;
+ let data_value = 0;
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
+
+ if (wheel == '3') {
+ data_length = 4;
+ data_address = 136;
+ } else {
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
+ data_address = data_address + (wheel - 1) * data_length;
+ }
+ value = value * 68;
+
+ if (wheel == '3' || wheel == '1') {
+ if (direction == 'CCW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+ } else {
+ if (direction == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+ }
+
+ if ( value < 1024) {
+ value = value + (value + 1024) * 0x10000;
+ }
+ else {
+ value = value + (value - 1024) * 0x10000;
+ }
+
+ data_value = value;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ },
+ robotis_aux_stop_for: {
+ color: '#00B200',
+ outerLine: '#019101',
+ skeleton: 'basic',
+ fontColor: '#fff',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1모터를 정지 %2',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['왼쪽', '1'],
+ ['오른쪽', '2'],
+ ['양쪽', '3'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: '#019101',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/dcmotor.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null],
+ type: 'robotis_aux_stop_for',
+ },
+ paramsKeyMap: {
+ WHEEL: 0,
+ },
+ class: 'robotis_motor',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const wheel = script.getNumberField('WHEEL');
+ const value = 0;
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address = 0;
+ let data_length = 0;
+ let data_value = 0;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
+ if (wheel == '3') {
+ data_length = 4;
+ data_address = 136;
+ } else {
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
+ data_address = data_address + (wheel - 1) * data_length;
+ }
+
+ data_value = value;
+
+ const data_sendqueue = [[data_instruction, data_address, data_length, data_value]];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ },
+ robotis_set_servo_wheel: {
+ color: '#D128BD',
+ outerLine: '#a2049e',
+ skeleton: 'basic',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1 포트의 서보모터를 %2 %3속도로 회전 %4',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#A2049E',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['시계방향', 'CW'],
+ ['반시계방향', 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: '#A2049E',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['1', 1],
+ ['2', 2],
+ ['3', 3],
+ ['4', 4],
+ ['5', 5],
+ ['6', 6],
+ ['7', 7],
+ ['8', 8],
+ ['9', 9],
+ ['10', 10],
+ ['11', 11],
+ ['12', 12],
+ ['13', 13],
+ ['14', 14],
+ ['15', 15],
+ ],
+ value: 7,
+ fontSize: 11,
+ bgColor: '#A2049E',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/servo.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null, null],
+ type: 'robotis_set_servo_wheel',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ DIRECTION: 1,
+ SPEED: 2,
+ },
+ class: 'robotis_servo_motor',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ // instruction / address / length / value / default length
+ const port = script.getField('PORT', script);
+ const direction = script.getStringField('DIRECTION');
+ const speed = script.getNumberField('SPEED');
+ const value = 0;
+
+ let data_address3 = 0;
+ let data_length3 = 0;
+ let data_value3 = 0;
+
+ let data_address2 = 0;
+ const data_length2 = 1;
+ const data_value2 = 7;
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address = 0;
+ let data_length = 0;
+ let data_value = 0;
+
+ let data_address4 = 0; // servo speed
+ let data_length4 = 2;
+ let data_value4 = 0;
+
+ data_value4 = speed * 68;
+ if (data_value4 > 1023) {
+ data_value4 = 1023;
+ }
+ switch (port) {
+ case '3':
+ data_address2 = 108;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 = true;
+ break;
+ case '4':
+ data_address2 = 109;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 = true;
+ break;
+ case '5':
+ data_address2 = 110;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 = true;
+ break;
+ case '6':
+ data_address2 = 111;
+ Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 = true;
+ break;
+ }
+
+ data_address3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
+ data_length3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
+
+ data_address3 = data_address3 + (port - 1) * data_length3;
+
+ data_address4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
+ data_length4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
+
+ data_address4 = data_address4 + (port - 1) * data_length4;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = 0;
+
+ if (direction == 'CW') {
+ data_value4 = data_value4 + 1024;
+ if (data_value4 > 2047) {
+ data_value4 = 2047;
+ }
+ } else {
+ if (data_value4 > 1023) {
+ data_value4 = 1023;
+ }
+ }
+
+ data_value3 = direction;
+
+ //var data_sendqueue = [[data_instruction, data_address2, data_length2, data_value2], [data_instruction, data_address, data_length, data_value], [data_instruction, data_address4, data_length4, data_value4]];
+ //return Entry.Robotis_carCont.postCallReturn(script, data_sendqueue, Entry.Robotis_openCM70.delay);
+ //
+ if (!script.isStart) {
+ if (
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 && port == '3') ||
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 && port == '4') ||
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 && port == '5') ||
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 && port == '6')
+ ) {
+ var data_sendqueue = [
+ [data_instruction, data_address2, data_length2, data_value2],
+ ];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ script.isStart = true;
+ script.timeFlag = 1;
+ setTimeout(() => {
+ script.timeFlag = 0;
+ }, 1 * 650);
+ } else {
+ script.isStart = true;
+ script.timeFlag = 0;
+ }
+
+ /*
+ var data_sendqueue = [[data_instruction, data_address2, data_length2, data_value2]];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.Robotis_carCont.update();
+ script.isStart = true;
+ script.timeFlag = 1;
+ setTimeout(function () {
+ script.timeFlag = 0;
+ }, 1 * 650);
+ */
+
+ return script;
+ } else if (script.timeFlag == 1) {
+ //data_sendqueue = [[data_instruction, data_address, data_length, 0]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ return script;
+ } else {
+ delete script.timeFlag;
+ delete script.isStart;
+ delete script.wheelMode;
+ Entry.engine.isContinue = false;
+
+ data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ [data_instruction, data_address4, data_length4, data_value4],
+ ];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.engine.isContinue = false;
+ Entry.Robotis_carCont.update();
+ return script.callReturn();
+ }
+ //
+ },
+ },
+ robotis_set_servo_joint: {
+ color: '#D128BD',
+ outerLine: '#a2049e',
+ skeleton: 'basic',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '%1 포트의 서보모터를 %2 도 %3속도로 이동 %4',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['PORT 3', '3'],
+ ['PORT 4', '4'],
+ ['PORT 5', '5'],
+ ['PORT 6', '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: '#A2049E',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['1', 1],
+ ['2', 2],
+ ['3', 3],
+ ['4', 4],
+ ['5', 5],
+ ['6', 6],
+ ['7', 7],
+ ['8', 8],
+ ['9', 9],
+ ['10', 10],
+ ['11', 11],
+ ['12', 12],
+ ['13', 13],
+ ['14', 14],
+ ['15', 15],
+ ],
+ value: 7,
+ fontSize: 11,
+ bgColor: '#A2049E',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/servo.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['512'],
+ },
+ null,
+ null,
+ ],
+ type: 'robotis_set_servo_joint',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ VALUE: 1,
+ SPEED: 2,
+ },
+ class: 'robotis_servo_motor',
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ // instruction / address / length / value / default length
+ const port = script.getField('PORT', script);
+ let value = script.getNumberValue('VALUE');
+ const speed = script.getNumberField('SPEED');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address3 = 0;
+ let data_length3 = 0;
+ let data_value3 = 0;
+
+ let data_address2 = 0;
+ const data_length2 = 1;
+ const data_value2 = 7;
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address = 0;
+ let data_length = 0;
+ let data_value = 0;
+
+ let data_address4 = 0; // servo speed
+ let data_length4 = 2;
+ let data_value4 = 0;
+
+ data_value4 = speed * 68;
+ if (data_value4 > 1023) {
+ data_value4 = 1023;
+ }
+ switch (port) {
+ case '3':
+ data_address2 = 108;
+ break;
+ case '4':
+ data_address2 = 109;
+ break;
+ case '5':
+ data_address2 = 110;
+ break;
+ case '6':
+ data_address2 = 111;
+ break;
+ }
+
+ data_address3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
+ data_length3 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
+
+ data_address3 = data_address3 + (port - 1) * data_length3;
+
+ data_address4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
+ data_length4 = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
+
+ data_address4 = data_address4 + (port - 1) * data_length4;
+
+ data_address = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = 1;
+
+ if (value > 1023) {
+ value = 1023;
+ } else if (value < 0) {
+ value = 0;
+ }
+
+ data_value3 = value;
+
+ if (!script.isStart) {
+ var data_sendqueue = [[data_instruction, data_address2, data_length2, data_value2]];
+ //Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ //Entry.Robotis_carCont.update();
+ if (
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT3 && port == '3') ||
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT4 && port == '4') ||
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT5 && port == '5') ||
+ (!Entry.Robotis_openCM70.SERVO_MODULEWRITE.PORT6 && port == '6')
+ ) {
+ script.isStart = true;
+ script.timeFlag = 1;
+ setTimeout(() => {
+ script.timeFlag = 0;
+ }, 1 * 650);
+ } else {
+ script.isStart = true;
+ script.timeFlag = 0;
+ }
+
+ return script;
+ } else if (script.timeFlag == 1) {
+ return script;
+ } else {
+ delete script.timeFlag;
+ delete script.isStart;
+ delete script.wheelMode;
+ Entry.engine.isContinue = false;
+
+ setTimeout(() => {
+ script.timeFlag = 0;
+ }, 1 * 70);
+
+ data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ [data_instruction, data_address4, data_length4, data_value4],
+ [data_instruction, data_address3, data_length3, data_value3],
+ ];
+ Entry.Robotis_carCont.setRobotisData(data_sendqueue);
+ Entry.engine.isContinue = false;
+ Entry.Robotis_carCont.update();
+ return script.callReturn();
+ }
+ //
+ },
+ },
+ robotis_melody_note_for: {
+ color: '#FC327F',
+ skeleton: 'basic',
+ statements: [],
+ isNotFor: ['robotis_openCM70', 'robotis_openCM70EDU'],
+ template: '멜로디 %1 을(를) %2 옥타브로 %3 만큼 소리내기 %4',
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ //['무음', '12'],
+ ['도', '0'],
+ ['도#(레♭)', '1'],
+ ['레', '2'],
+ ['레#(미♭)', '3'],
+ ['미', '4'],
+ ['파', '5'],
+ ['파#(솔♭)', '6'],
+ ['솔', '7'],
+ ['솔#(라♭)', '8'],
+ ['라', '9'],
+ ['라#(시♭)', '10'],
+ ['시', '11'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: '#ce105e',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['1', '0'],
+ ['2', '1'],
+ ['3', '2'],
+ ['4', '3'],
+ ['5', '4'],
+ ['6', '5'],
+ ],
+ value: '2',
+ fontSize: 11,
+ bgColor: '#ce105e',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['온음표', '4'],
+ ['2분음표', '2'],
+ ['4분음표', '1'],
+ ['8분음표', '0.5'],
+ ['16분음표', '0.25'],
+ /*['4분음표', '4'],
+ ['8분음표', '8'],
+ ['16분음표', '16'],*/
+ ],
+ value: '4',
+ fontSize: 11,
+ bgColor: '#ce105e',
+ arrowColor: EntryStatic.colorSet.common.WHITE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/practical_course/melody.png',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null, null],
+ type: 'robotis_melody_note_for',
+ },
+ paramsKeyMap: {
+ NOTE: 0,
+ OCTAVE: 1,
+ DURATION: 2,
+ },
+ class: 'robotis_melody',
+ //'isNotFor': ['mini'],
+ func(sprite, script) {
+ Entry.hw.sendQueue.IS_EDU = true;
+ const note = script.getNumberField('NOTE', script);
+ const octave = script.getNumberField('OCTAVE', script);
+ const cmBuzzerTime = script.getNumberField('DURATION', script);
+
+ let cmBuzzerIndex = note + octave * 12;
+ if (cmBuzzerIndex > 51) {
+ cmBuzzerIndex = 51;
+ }
+ if (cmBuzzerIndex < 0) {
+ cmBuzzerIndex = 0;
+ }
+
+ const data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ let data_address_1 = 0;
+ let data_length_1 = 0;
+ let data_value_1 = 0;
+ let data_address_2 = 0;
+ let data_length_2 = 0;
+ let data_value_2 = 0;
+
+ data_address_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
+ data_length_1 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
+
+ // TODO 텍스트 입력으로 바꾸고 최대는 5초 : 0.5 초 하려면 5를 입력 - console.log(parseInt(0.59 * 10)); max 는 5초
+
+ data_value_1 = parseInt(cmBuzzerTime * 10);
+ if (data_value_1 > 50) {
+ data_value_1 = 50;
+ }
+ //data_value_1
+ data_address_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
+ data_length_2 = Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
+ data_value_2 = cmBuzzerIndex;
+
+ const data_sendqueue = [
+ [data_instruction, data_address_1, data_length_1, data_value_1],
+ [data_instruction, data_address_2, data_length_2, data_value_2],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ cmBuzzerTime * 1000
+ );
+ },
+ },
+ }
+}
+/*Entry.Robotis_openCM70EDU.blockMenuBlocks = [
+ //Robotis_openCM70EDU
+ 'robotis_openCM70_sensor_value',
+ 'robotis_openCM70_aux_sensor_value',
+ 'robotis_openCM70_cm_buzzer_index',
+ 'robotis_openCM70_cm_buzzer_melody',
+ 'robotis_openCM70_cm_sound_detected_clear',
+ 'robotis_openCM70_cm_led',
+ 'robotis_openCM70_cm_motion',
+ 'robotis_openCM70_aux_motor_speed',
+ 'robotis_openCM70_aux_servo_mode',
+ 'robotis_openCM70_aux_servo_speed',
+ 'robotis_openCM70_aux_servo_position',
+ 'robotis_openCM70_aux_led_module',
+ 'robotis_openCM70_aux_custom',
+ 'robotis_openCM70_cm_custom_value',
+ 'robotis_openCM70_cm_custom',
+];
+Entry.Robotis_openCM70EDU.getBlocks = function () {
+ return {
+ //region robotis 로보티즈 openCM70
+ robotis_openCM70_cm_custom_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ ['BYTE', 'BYTE'],
+ ['WORD', 'WORD'],
+ ['DWORD', 'DWORD'],
+ ],
+ value: 'BYTE',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_custom_value',
+ },
+ paramsKeyMap: {
+ VALUE: 0,
+ SIZE: 1,
+ },
+ class: 'robotis_openCM70_custom',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ var scope = script.executor.scope;
+
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var size = script.getStringField('SIZE');
+
+ if (size == 'BYTE') {
+ data_length = 1;
+ } else if (size == 'WORD') {
+ data_length = 2;
+ } else if (size == 'DWORD') {
+ data_length = 4;
+ }
+
+ data_address = script.getNumberValue('VALUE');
+
+ data_default_address = data_address;
+ data_default_length = data_length;
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 200
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [
+ data_instruction,
+ data_address,
+ data_length,
+ data_value,
+ data_default_length,
+ ],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[data_default_address];
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_cm_custom_value(%1, %2)'],
+ },
+ },
+ robotis_openCM70_sensor_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [
+ Lang.Blocks.robotis_cm_sound_detected,
+ 'CM_SOUND_DETECTED',
+ ],
+ [
+ Lang.Blocks.robotis_cm_sound_detecting,
+ 'CM_SOUND_DETECTING',
+ ],
+ [Lang.Blocks.robotis_cm_user_button, 'CM_USER_BUTTON'],
+ ],
+ value: 'CM_SOUND_DETECTED',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_openCM70_sensor_value',
+ },
+ paramsKeyMap: {
+ SENSOR: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ var scope = script.executor.scope;
+
+ scope.isStart = true;
+ scope.count = 0;
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var sensor = script.getStringField('SENSOR');
+
+ var increase = 0;
+
+ if (sensor == 'CM_SOUND_DETECTED') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTED[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTED[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTED[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTED[1];
+ } else if (sensor == 'CM_SOUND_DETECTING') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTING[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTING[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTING[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .CM_SOUND_DETECTING[1];
+ } else if (sensor == 'CM_USER_BUTTON') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_USER_BUTTON[1];
+ }
+
+ data_default_address =
+ data_default_address + increase * data_default_length;
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 200
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [
+ data_instruction,
+ data_address,
+ data_length,
+ data_value,
+ data_default_length,
+ ],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[data_default_address];
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_sensor_value(%1)'] },
+ },
+ robotis_openCM70_aux_sensor_value: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ fontColor: '#fff',
+ skeleton: 'basic_string_field',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['3', 'PORT_3'],
+ ['4', 'PORT_4'],
+ ['5', 'PORT_5'],
+ ['6', 'PORT_6'],
+ ],
+ value: 'PORT_3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [
+ Lang.Blocks.robotis_aux_servo_position,
+ 'AUX_SERVO_POSITION',
+ ],
+ [Lang.Blocks.robotis_aux_ir, 'AUX_IR'],
+ [Lang.Blocks.robotis_aux_touch, 'AUX_TOUCH'],
+ [Lang.Blocks.robotis_aux_brightness, 'AUX_BRIGHTNESS'],
+ [
+ Lang.Blocks.robotis_aux_hydro_themo_humidity,
+ 'AUX_HYDRO_THEMO_HUMIDITY',
+ ],
+ [
+ Lang.Blocks.robotis_aux_hydro_themo_temper,
+ 'AUX_HYDRO_THEMO_TEMPER',
+ ],
+ [
+ Lang.Blocks.robotis_aux_temperature,
+ 'AUX_TEMPERATURE',
+ ],
+ [Lang.Blocks.robotis_aux_ultrasonic, 'AUX_ULTRASONIC'],
+ [Lang.Blocks.robotis_aux_magnetic, 'AUX_MAGNETIC'],
+ [
+ Lang.Blocks.robotis_aux_motion_detection,
+ 'AUX_MOTION_DETECTION',
+ ],
+ [Lang.Blocks.robotis_aux_color, 'AUX_COLOR'],
+ [Lang.Blocks.robotis_aux_custom, 'AUX_CUSTOM'],
+ ],
+ value: 'AUX_SERVO_POSITION',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null],
+ type: 'robotis_openCM70_aux_sensor_value',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ SENSOR: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ var scope = script.executor.scope;
+
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.READ;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ var data_default_address = 0;
+ var data_default_length = 0;
+
+ var port = script.getStringField('PORT');
+ var sensor = script.getStringField('SENSOR');
+
+ var increase = 0;
+ if (port == 'PORT_3') {
+ increase = 2;
+ } else if (port == 'PORT_4') {
+ increase = 3;
+ } else if (port == 'PORT_5') {
+ increase = 4;
+ } else if (port == 'PORT_6') {
+ increase = 5;
+ }
+
+ if (sensor == 'AUX_SERVO_POSITION') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_SERVO_POSITION[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_SERVO_POSITION[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_SERVO_POSITION[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_SERVO_POSITION[1];
+ } else if (sensor == 'AUX_IR') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_IR[1];
+ } else if (sensor == 'AUX_TOUCH') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TOUCH[1];
+ } else if (sensor == 'AUX_TEMPERATURE') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_TEMPERATURE[1];
+ } else if (sensor == 'AUX_BRIGHTNESS') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_BRIGHTNESS[1];
+ } else if (sensor == 'AUX_HYDRO_THEMO_HUMIDITY') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_HUMIDITY[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_HUMIDITY[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_HUMIDITY[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_HUMIDITY[1];
+ } else if (sensor == 'AUX_HYDRO_THEMO_TEMPER') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_TEMPER[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_TEMPER[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_TEMPER[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_HYDRO_THEMO_TEMPER[1];
+ } else if (sensor == 'AUX_ULTRASONIC') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_ULTRASONIC[1];
+ } else if (sensor == 'AUX_MAGNETIC') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MAGNETIC[1];
+ } else if (sensor == 'AUX_MOTION_DETECTION') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_MOTION_DETECTION[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_MOTION_DETECTION[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_MOTION_DETECTION[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE
+ .AUX_MOTION_DETECTION[1];
+ } else if (sensor == 'AUX_COLOR') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_COLOR[1];
+ } else if (sensor == 'AUX_CUSTOM') {
+ data_default_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
+ data_default_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
+ }
+
+ data_default_address =
+ data_default_address + increase * data_default_length;
+ data_address = data_default_address;
+ // if (increase != 0) {
+ // data_length = 6 * data_default_length;
+ // }
+
+ if (
+ Entry.hw.sendQueue.prevAddress &&
+ Entry.hw.sendQueue.prevAddress == data_default_address
+ ) {
+ if (
+ Entry.hw.sendQueue.prevTime &&
+ new Date() - Entry.hw.sendQueue.prevTime < 200
+ ) {
+ //throw new Entry.Utils.AsyncError();
+ return Entry.hw.sendQueue.prevResult;
+ }
+ }
+
+ Entry.Robotis_carCont.setRobotisData([
+ [
+ data_instruction,
+ data_address,
+ data_length,
+ data_value,
+ data_default_length,
+ ],
+ ]);
+ // Entry.hw.socket.send(JSON.stringify(Entry.hw.sendQueue));
+ Entry.Robotis_carCont.update();
+
+ var result = Entry.hw.portData[data_default_address];
+ Entry.hw.sendQueue.prevAddress = data_default_address;
+ Entry.hw.sendQueue.prevTime = new Date();
+ Entry.hw.sendQueue.prevResult = result;
+
+ return result;
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_sensor_value(%1, %2)'],
+ },
+ },
+ robotis_openCM70_cm_buzzer_index: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.General.note_a + '(0)', '0'],
+ [Lang.General.note_a + '#(1)', '1'],
+ [Lang.General.note_b + '(2)', '2'],
+ [Lang.General.note_c + '(3)', '3'],
+ [Lang.General.note_c + '#(4)', '4'],
+ [Lang.General.note_d + '(5)', '5'],
+ [Lang.General.note_d + '#(6)', '6'],
+ [Lang.General.note_e + '(7)', '7'],
+ [Lang.General.note_f + '(8)', '8'],
+ [Lang.General.note_f + '#(9)', '9'],
+ [Lang.General.note_g + '(10)', '10'],
+ [Lang.General.note_g + '#(11)', '11'],
+ [Lang.General.note_a + '(12)', '12'],
+ [Lang.General.note_a + '#(13)', '13'],
+ [Lang.General.note_b + '(14)', '14'],
+ [Lang.General.note_c + '(15)', '15'],
+ [Lang.General.note_c + '#(16)', '16'],
+ [Lang.General.note_d + '(17)', '17'],
+ [Lang.General.note_d + '#(18)', '18'],
+ [Lang.General.note_e + '(19)', '19'],
+ [Lang.General.note_f + '(20)', '20'],
+ [Lang.General.note_f + '#(21)', '21'],
+ [Lang.General.note_g + '(22)', '22'],
+ [Lang.General.note_g + '#(23)', '23'],
+ [Lang.General.note_a + '(24)', '24'],
+ [Lang.General.note_a + '#(25)', '25'],
+ [Lang.General.note_b + '(26)', '26'],
+ [Lang.General.note_c + '(27)', '27'],
+ [Lang.General.note_c + '#(28)', '28'],
+ [Lang.General.note_d + '(29)', '29'],
+ [Lang.General.note_d + '#(30)', '30'],
+ [Lang.General.note_e + '(31)', '31'],
+ [Lang.General.note_f + '(32)', '32'],
+ [Lang.General.note_f + '#(33)', '33'],
+ [Lang.General.note_g + '(34)', '34'],
+ [Lang.General.note_g + '#(35)', '35'],
+ [Lang.General.note_a + '(36)', '36'],
+ [Lang.General.note_a + '#(37)', '37'],
+ [Lang.General.note_b + '(38)', '38'],
+ [Lang.General.note_c + '(39)', '39'],
+ [Lang.General.note_c + '#(40)', '40'],
+ [Lang.General.note_d + '(41)', '41'],
+ [Lang.General.note_d + '#(42)', '42'],
+ [Lang.General.note_e + '(43)', '43'],
+ [Lang.General.note_f + '(44)', '44'],
+ [Lang.General.note_f + '#(45)', '45'],
+ [Lang.General.note_g + '(46)', '46'],
+ [Lang.General.note_g + '#(47)', '47'],
+ [Lang.General.note_a + '(48)', '48'],
+ [Lang.General.note_a + '#(49)', '49'],
+ [Lang.General.note_b + '(50)', '50'],
+ [Lang.General.note_c + '(51)', '51'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['1'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_buzzer_index',
+ },
+ paramsKeyMap: {
+ CM_BUZZER_INDEX: 0,
+ CM_BUZZER_TIME: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var cmBuzzerIndex = script.getField('CM_BUZZER_INDEX', script);
+ var cmBuzzerTime = script.getNumberValue(
+ 'CM_BUZZER_TIME',
+ script
+ );
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address_1 = 0;
+ var data_length_1 = 0;
+ var data_value_1 = 0;
+ var data_address_2 = 0;
+ var data_length_2 = 0;
+ var data_value_2 = 0;
+ var interval = 100;
+
+ data_address_1 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
+ data_length_1 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
+ // data_value_1 = cmBuzzerTime * 10;
+ // TODO 텍스트 입력으로 바꾸고 최대는 5초 : 0.5 초 하려면 5를 입력 - console.log(parseInt(0.59 * 10)); max 는 5초
+ data_value_1 = parseInt(cmBuzzerTime * 10);
+ if (data_value_1 > 50) {
+ data_value_1 = 50;
+ }
+
+ data_address_2 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
+ data_length_2 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
+ data_value_2 = cmBuzzerIndex;
+
+ var data_sendqueue = [
+ [
+ data_instruction,
+ data_address_1,
+ data_length_1,
+ data_value_1,
+ ],
+ [
+ data_instruction,
+ data_address_2,
+ data_length_2,
+ data_value_2,
+ ],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ cmBuzzerTime * 1000 + interval
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_cm_buzzer_index(%1, %2)'],
+ },
+ },
+ robotis_openCM70_cm_buzzer_melody: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ ['0', '0'],
+ ['1', '1'],
+ ['2', '2'],
+ ['3', '3'],
+ ['4', '4'],
+ ['5', '5'],
+ ['6', '6'],
+ ['7', '7'],
+ ['8', '8'],
+ ['9', '9'],
+ ['10', '10'],
+ ['11', '11'],
+ ['12', '12'],
+ ['13', '13'],
+ ['14', '14'],
+ ['15', '15'],
+ ['16', '16'],
+ ['17', '17'],
+ ['18', '18'],
+ ['19', '19'],
+ ['20', '20'],
+ ['21', '21'],
+ ['22', '22'],
+ ['23', '23'],
+ ['24', '24'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null],
+ type: 'robotis_openCM70_cm_buzzer_melody',
+ },
+ paramsKeyMap: {
+ CM_BUZZER_MELODY: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var cmBuzzerMelody = script.getField(
+ 'CM_BUZZER_MELODY',
+ script
+ );
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address_1 = 0;
+ var data_length_1 = 0;
+ var data_value_1 = 0;
+ var data_address_2 = 0;
+ var data_length_2 = 0;
+ var data_value_2 = 0;
+ var interval = 100;
+
+ data_address_1 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[0];
+ data_length_1 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_TIME[1];
+ data_value_1 = 255;
+
+ data_address_2 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[0];
+ data_length_2 =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_BUZZER_INDEX[1];
+ data_value_2 = cmBuzzerMelody;
+
+ var data_sendqueue = [
+ [
+ data_instruction,
+ data_address_1,
+ data_length_1,
+ data_value_1,
+ ],
+ [
+ data_instruction,
+ data_address_2,
+ data_length_2,
+ data_value_2,
+ ],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ 1000 + interval
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_buzzer_melody(%1)'] },
+ },
+ robotis_openCM70_cm_sound_detected_clear: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_openCM70_cm_sound_detected_clear',
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_SOUND_DETECTED[1];
+ data_value = 0;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_sound_clear()'] },
+ },
+ robotis_openCM70_cm_led: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_red_color, 'CM_LED_R'],
+ [Lang.Blocks.robotis_common_green_color, 'CM_LED_G'],
+ [Lang.Blocks.robotis_common_blue_color, 'CM_LED_B'],
+ ],
+ value: 'CM_LED_R',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_on, '1'],
+ [Lang.Blocks.robotis_common_off, '0'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_cm_led',
+ },
+ paramsKeyMap: {
+ CM_LED: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var cmLed = script.getField('CM_LED', script);
+ var value = script.getField('VALUE', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ if (cmLed == 'CM_LED_R') {
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_R[1];
+ } else if (cmLed == 'CM_LED_G') {
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_G[1];
+ } else if (cmLed == 'CM_LED_B') {
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_LED_B[1];
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_led(%1, %2)'] },
+ },
+ robotis_openCM70_cm_motion: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['1'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_motion',
+ },
+ paramsKeyMap: {
+ VALUE: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[0];
+ data_length = Entry.Robotis_openCM70.CONTROL_TABLE.CM_MOTION[1];
+ data_value = script.getNumberValue('VALUE', script);
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_motion(%1)'] },
+ },
+ robotis_openCM70_aux_motor_speed: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_port_1, '1'],
+ [Lang.Blocks.robotis_common_port_2, '2'],
+ ],
+ value: '1',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['500'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_motor_speed',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ DIRECTION_ANGLE: 1,
+ VALUE: 2,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var directionAngle = script.getField('DIRECTION_ANGLE', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_MOTOR_SPEED[1];
+
+ data_address = data_address + (port - 1) * data_length;
+
+ if (directionAngle == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_motor_speed(%1, %2, %3)'],
+ },
+ },
+ robotis_openCM70_aux_servo_mode: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_port_3, '3'],
+ [Lang.Blocks.robotis_common_port_4, '4'],
+ [Lang.Blocks.robotis_common_port_5, '5'],
+ [Lang.Blocks.robotis_common_port_6, '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_wheel_mode, '0'],
+ [Lang.Blocks.robotis_common_joint_mode, '1'],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_aux_servo_mode',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ MODE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var mode = script.getField('MODE', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_MODE[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = mode;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_aux_servo_mode(%1, %2)'] },
+ },
+ robotis_openCM70_aux_servo_speed: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_port_3, '3'],
+ [Lang.Blocks.robotis_common_port_4, '4'],
+ [Lang.Blocks.robotis_common_port_5, '5'],
+ [Lang.Blocks.robotis_common_port_6, '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_clockwhise, 'CW'],
+ [Lang.Blocks.robotis_common_counter_clockwhise, 'CCW'],
+ ],
+ value: 'CW',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ null,
+ {
+ type: 'number',
+ params: ['500'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_servo_speed',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ DIRECTION_ANGLE: 1,
+ VALUE: 2,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var directionAngle = script.getField('DIRECTION_ANGLE', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_SPEED[1];
+
+ data_address = data_address + (port - 1) * data_length;
+
+ if (directionAngle == 'CW') {
+ value = value + 1024;
+ if (value > 2047) {
+ value = 2047;
+ }
+ } else {
+ if (value > 1023) {
+ value = 1023;
+ }
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_servo_speed(%1, %2, %3)'],
+ },
+ },
+ robotis_openCM70_aux_servo_position: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_port_3, '3'],
+ [Lang.Blocks.robotis_common_port_4, '4'],
+ [Lang.Blocks.robotis_common_port_5, '5'],
+ [Lang.Blocks.robotis_common_port_6, '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['512'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_servo_position',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_SERVO_POSITION[1];
+
+ data_address = data_address + (port - 1) * data_length;
+
+ if (value > 1023) {
+ value = 1023;
+ } else if (value < 0) {
+ value = 0;
+ }
+
+ data_value = value;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: {
+ js: [],
+ py: ['Robotis.opencm70_aux_servo_position(%1, %2)'],
+ },
+ },
+ robotis_openCM70_aux_led_module: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_port_3, '3'],
+ [Lang.Blocks.robotis_common_port_4, '4'],
+ [Lang.Blocks.robotis_common_port_5, '5'],
+ [Lang.Blocks.robotis_common_port_6, '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Dropdown',
+ options: [
+ [
+ Lang.Blocks.robotis_cm_led_both +
+ Lang.Blocks.robotis_common_off,
+ '0',
+ ],
+ [
+ Lang.Blocks.robotis_cm_led_right +
+ Lang.Blocks.robotis_common_on,
+ '1',
+ ],
+ [
+ Lang.Blocks.robotis_cm_led_left +
+ Lang.Blocks.robotis_common_on,
+ '2',
+ ],
+ [
+ Lang.Blocks.robotis_cm_led_both +
+ Lang.Blocks.robotis_common_on,
+ '3',
+ ],
+ ],
+ value: '0',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null, null, null],
+ type: 'robotis_openCM70_aux_led_module',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ LED_MODULE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var ledModule = script.getField('LED_MODULE', script);
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_LED_MODULE[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = ledModule;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_aux_led_module(%1, %2)'] },
+ },
+ robotis_openCM70_aux_custom: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_common_port_3, '3'],
+ [Lang.Blocks.robotis_common_port_4, '4'],
+ [Lang.Blocks.robotis_common_port_5, '5'],
+ [Lang.Blocks.robotis_common_port_6, '6'],
+ ],
+ value: '3',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ null,
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_aux_custom',
+ },
+ paramsKeyMap: {
+ PORT: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var port = script.getField('PORT', script);
+ var value = script.getNumberValue('VALUE');
+
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[0];
+ data_length =
+ Entry.Robotis_openCM70.CONTROL_TABLE.AUX_CUSTOM[1];
+
+ data_address = data_address + (port - 1) * data_length;
+ data_value = value;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_aux_custom(%1, %2)'] },
+ },
+ robotis_openCM70_cm_custom: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Block',
+ accept: 'string',
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ {
+ type: 'number',
+ params: ['0'],
+ },
+ null,
+ ],
+ type: 'robotis_openCM70_cm_custom',
+ },
+ paramsKeyMap: {
+ ADDRESS: 0,
+ VALUE: 1,
+ },
+ class: 'robotis_openCM70_custom',
+ isNotFor: ['Robotis_openCM70EDU'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var data_instruction = Entry.Robotis_openCM70.INSTRUCTION.WRITE;
+ var data_address = 0;
+ var data_length = 0;
+ var data_value = 0;
+
+ data_address = script.getNumberValue('ADDRESS');
+ data_value = script.getNumberValue('VALUE');
+ if (data_value > 65535) {
+ data_length = 4;
+ } else if (data_value > 255) {
+ data_length = 2;
+ } else {
+ data_length = 1;
+ }
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ ];
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_custom(%1, %2)'] },
+ },
+ //endregion robotis 로보티즈
+ };
+};*/
+
+module.exports = [Entry.Robotis_carCont, Entry.Robotis_openCM70, Entry.Robotis_openCM70EDU];
diff --git a/src/playground/blocks/hardware/block_robotisRB.js b/src/playground/blocks/hardware/block_robotisRB.js
index b71bd5c4fc..b4d2fb3f6f 100644
--- a/src/playground/blocks/hardware/block_robotisRB.js
+++ b/src/playground/blocks/hardware/block_robotisRB.js
@@ -80,10 +80,6 @@ Entry.Robotis_rb.blockMenuBlocks = [
'robotis_RB_cm_buzzer_index',
- 'robotis_RB_car_screen',
- 'robotis_RB_car_anim_screen',
-
-
'robotis_RB_cm_screen',
'robotis_RB_cm_anim_screen',
'robotis_RB_rsp_screen',
@@ -93,11 +89,15 @@ Entry.Robotis_rb.blockMenuBlocks = [
'robotis_RB_LEDBright',
'robotis_RB_cm_led',
-
'robotis_RB_Hello',
'robotis_RB_effectSound',
'robotis_RB_record',
'robotis_RB_playRecord',
+
+ 'robotis_RB_car_screen',
+ 'robotis_RB_car_anim_screen',
+ 'robotis_RB_kkokdu_screen',
+ 'robotis_RB_kkokdu_anim_screen',
'robotis_openCM70_RGee_go',
'robotis_openCM70_RGee_stop',
@@ -105,7 +105,7 @@ Entry.Robotis_rb.blockMenuBlocks = [
'robotis_dxl_control',
'robotis_dxl_each_control',
-
+
// 'robotis_RB_cm_custom_value',
// 'robotis_RB_cm_custom',
];
@@ -126,8 +126,10 @@ Entry.Robotis_rb.setLanguage = function() {
robotis_RB_detectPose: "로봇이 %1 넘어지면",
robotis_RB_cm_buzzer_index: "제어기 음계값 %1 을(를) %2 옥타브로 %3 초 동안 %4 %5",
- robotis_RB_cm_screen: "제어기 화면 배경을 알쥐 %1 로 선택 %2",
- robotis_RB_cm_anim_screen: "제어기 화면 애니메이션을 알쥐 %1 로 선택 %2",
+
+ robotis_RB_kkokdu_screen: "제어기 화면 배경을 꼭두 %1 로 선택 %2",
+ robotis_RB_kkokdu_anim_screen: "제어기 화면 애니메이션을 꼭두 %1 로 선택 %2",
+
robotis_RB_rsp_screen: "제어기 화면에 %1 출력하기 %2",
robotis_RB_LCDBright: "제어기 화면 밝기를 %1로 정하기 %2",
@@ -144,8 +146,11 @@ Entry.Robotis_rb.setLanguage = function() {
robotis_openCM70_RGee_stop: "알쥐 정지하기 %1",
robotis_openCM70_RGee_motion: "알쥐 %1 %2",
+ robotis_RB_cm_screen: "제어기 화면 배경을 알쥐 %1 로 선택 %2",
+ robotis_RB_cm_anim_screen: "제어기 화면 애니메이션을 알쥐 %1 로 선택 %2",
+
robotis_RB_car_screen: "제어기 화면 배경을 알라 %1 로 선택 %2",
- robotis_RB_car_anim_screen: "제어기 화면 애니메이션을 알라 %1 로 선택 %2"
+ robotis_RB_car_anim_screen: "제어기 화면 애니메이션을 알라 %1 로 선택 %2",
},
Blocks: {
robotis_red: "빨강",
@@ -350,8 +355,10 @@ Entry.Robotis_rb.setLanguage = function() {
robotis_RB_detectPose:"If robot falls %1",
robotis_RB_cm_buzzer_index:"%1 at %2 octaves for %3 second(s) -> %4 %5",
- robotis_RB_cm_screen:"Choose %1 as a screen background %2",
- robotis_RB_cm_anim_screen: "Choose %1 as a screen animation %2",
+
+ robotis_RB_kkokdu_screen: "Choose %1 Tiger as a screen background %2",
+ robotis_RB_kkokdu_anim_screen: "Choose %1 Tiger as a screen animation %2",
+
robotis_RB_rsp_screen:"Print %1 on the screen %2",
robotis_RB_LCDBright:"Adjust screen brightness to %1 %2",
@@ -368,8 +375,11 @@ Entry.Robotis_rb.setLanguage = function() {
robotis_openCM70_RGee_stop:"R-G STOP",
robotis_openCM70_RGee_motion:"Do %1",
- robotis_RB_car_screen: "Choose %1 as a screen Rla background %2",
- robotis_RB_car_anim_screen: "Choose %1 as a screen Rla animation %2"
+ robotis_RB_cm_screen:"Choose %1 R-Gee as a screen background %2",
+ robotis_RB_cm_anim_screen: "Choose %1 R-Gee as a screen animation %2",
+
+ robotis_RB_car_screen: "Choose %1 R-La as a screen background %2",
+ robotis_RB_car_anim_screen: "Choose %1 R-La as a screen animation %2",
},
Blocks: {
robotis_red: "Red",
@@ -564,6 +574,7 @@ Entry.Robotis_rb.setLanguage = function() {
}
};
+let rb100_last_valid_value = [];
Entry.Robotis_rb.getBlocks = function () {
return {
@@ -759,6 +770,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -870,6 +889,15 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
+
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -967,6 +995,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -1095,12 +1131,19 @@ Entry.Robotis_rb.getBlocks = function () {
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
if(result == undefined) {
- console.log('언디파인')
return false;
}
@@ -1331,6 +1374,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -1889,6 +1940,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -1989,6 +2048,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -2071,6 +2138,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -2178,6 +2253,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -2271,6 +2354,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -2371,6 +2462,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -2477,6 +2576,14 @@ Entry.Robotis_rb.getBlocks = function () {
Entry.Robotis_carCont.update();
var result = Entry.hw.portData[data_default_address];
+ if (result == undefined)
+ {
+ result = rb100_last_valid_value[data_default_address];
+ }
+ else
+ {
+ rb100_last_valid_value[data_default_address] = result;
+ }
Entry.hw.sendQueue.prevAddress = data_default_address;
Entry.hw.sendQueue.prevTime = new Date();
Entry.hw.sendQueue.prevResult = result;
@@ -2636,6 +2743,163 @@ Entry.Robotis_rb.getBlocks = function () {
py: ['Robotis.opencm70_cm_buzzer_index(%1, %2)'],
},
},
+
+
+ robotis_RB_kkokdu_screen: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_car_anim01, '3585'],
+ [Lang.Blocks.robotis_car_anim02, '3586'],
+ [Lang.Blocks.robotis_car_anim03, '3587'],
+ [Lang.Blocks.robotis_car_anim04, '3588'],
+ [Lang.Blocks.robotis_car_anim05, '3589'],
+
+ [Lang.Blocks.robotis_car_anim06, '3590'],
+ [Lang.Blocks.robotis_car_anim07, '3591'],
+ [Lang.Blocks.robotis_car_anim08, '3592'],
+ [Lang.Blocks.robotis_car_anim09, '3593'],
+ [Lang.Blocks.robotis_car_anim10, '3594'],
+
+ [Lang.Blocks.robotis_car_anim11, '3595'],
+ [Lang.Blocks.robotis_car_anim12, '3596'],
+ [Lang.Blocks.robotis_car_anim13, '3597'],
+ [Lang.Blocks.robotis_car_anim14, '3598'],
+ [Lang.Blocks.robotis_car_anim15, '3599'],
+
+ [Lang.Blocks.robotis_car_anim16, '3600'],
+ [Lang.Blocks.robotis_car_anim17, '3601'],
+ [Lang.Blocks.robotis_car_anim18, '3602'],
+ [Lang.Blocks.robotis_car_anim19, '3603'],
+ ],
+ value: '3585',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_RB_kkokdu_screen',
+ },
+ paramsKeyMap: {
+ BACKGROUND: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_rb', 'Robotis_rb_H', 'Robotis_rb_car'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var screenValue = script.getNumberValue('BACKGROUND', script);
+
+ var data_instruction = Entry.Robotis_rb.INSTRUCTION.WRITE;
+ var data_address = 163;
+ var data_length = 2;
+ var data_value = screenValue;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ [3, 162, 1, 1]
+ ];
+
+
+
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay + 1000
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_screen(%1)'] },
+ },
+
+ robotis_RB_kkokdu_anim_screen: {
+ color: EntryStatic.colorSet.block.default.HARDWARE,
+ outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
+ skeleton: 'basic',
+ statements: [],
+ params: [
+ {
+ type: 'Dropdown',
+ options: [
+ [Lang.Blocks.robotis_car_anim01, '31234'],
+ [Lang.Blocks.robotis_car_anim02, '31237'],
+ [Lang.Blocks.robotis_car_anim03, '31238'],
+ [Lang.Blocks.robotis_car_anim04, '31239'],
+ [Lang.Blocks.robotis_car_anim05, '31240'],
+
+ [Lang.Blocks.robotis_car_anim06, '31241'],
+ [Lang.Blocks.robotis_car_anim07, '31242'],
+ [Lang.Blocks.robotis_car_anim08, '31243'],
+ [Lang.Blocks.robotis_car_anim09, '31244'],
+ [Lang.Blocks.robotis_car_anim10, '31245'],
+
+ [Lang.Blocks.robotis_car_anim11, '31246'],
+ [Lang.Blocks.robotis_car_anim12, '31247'],
+ [Lang.Blocks.robotis_car_anim13, '31248'],
+ [Lang.Blocks.robotis_car_anim14, '31249'],
+ [Lang.Blocks.robotis_car_anim15, '31250'],
+
+ [Lang.Blocks.robotis_car_anim16, '31251'],
+ [Lang.Blocks.robotis_car_anim17, '31252'],
+ [Lang.Blocks.robotis_car_anim18, '31253'],
+ [Lang.Blocks.robotis_car_anim19, '31254'],
+ ],
+ value: '31234',
+ fontSize: 11,
+ bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
+ arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
+ },
+ {
+ type: 'Indicator',
+ img: 'block_icon/hardware_icon.svg',
+ size: 12,
+ },
+ ],
+ events: {},
+ def: {
+ params: [null],
+ type: 'robotis_RB_kkokdu_anim_screen',
+ },
+ paramsKeyMap: {
+ BACKGROUND: 0,
+ },
+ class: 'robotis_openCM70_cm',
+ isNotFor: ['Robotis_rb', 'Robotis_rb_H', 'Robotis_rb_car'],
+ func: function (sprite, script) {
+ // instruction / address / length / value / default length
+ var screenValue = script.getNumberValue('BACKGROUND', script);
+
+ var data_instruction = Entry.Robotis_rb.INSTRUCTION.WRITE;
+ var data_address = 163;
+ var data_length = 2;
+ var data_value = screenValue;
+
+ var data_sendqueue = [
+ [data_instruction, data_address, data_length, data_value],
+ [3, 162, 1, 1]
+ ];
+
+
+
+ return Entry.Robotis_carCont.postCallReturn(
+ script,
+ data_sendqueue,
+ Entry.Robotis_openCM70.delay //+ 1000
+ );
+ },
+ syntax: { js: [], py: ['Robotis.opencm70_cm_screen(%1)'] },
+ },
robotis_RB_cm_screen: {
color: EntryStatic.colorSet.block.default.HARDWARE,
outerLine: EntryStatic.colorSet.block.darken.HARDWARE,
@@ -2814,30 +3078,30 @@ Entry.Robotis_rb.getBlocks = function () {
{
type: 'Dropdown',
options: [
- [Lang.Blocks.robotis_car_anim01, '2840'],
- [Lang.Blocks.robotis_car_anim02, '2841'],
- [Lang.Blocks.robotis_car_anim03, '2842'],
- [Lang.Blocks.robotis_car_anim04, '2843'],
- [Lang.Blocks.robotis_car_anim05, '2844'],
-
- [Lang.Blocks.robotis_car_anim06, '2845'],
- [Lang.Blocks.robotis_car_anim07, '2846'],
- [Lang.Blocks.robotis_car_anim08, '2847'],
- [Lang.Blocks.robotis_car_anim09, '2848'],
- [Lang.Blocks.robotis_car_anim10, '2849'],
-
- [Lang.Blocks.robotis_car_anim11, '2850'],
- [Lang.Blocks.robotis_car_anim12, '2851'],
- [Lang.Blocks.robotis_car_anim13, '2852'],
- [Lang.Blocks.robotis_car_anim14, '2853'],
- [Lang.Blocks.robotis_car_anim15, '2854'],
-
- [Lang.Blocks.robotis_car_anim16, '2855'],
- [Lang.Blocks.robotis_car_anim17, '2856'],
- [Lang.Blocks.robotis_car_anim18, '2857'],
- [Lang.Blocks.robotis_car_anim19, '2858'],
+ [Lang.Blocks.robotis_car_anim01, '3329'],
+ [Lang.Blocks.robotis_car_anim02, '3330'],
+ [Lang.Blocks.robotis_car_anim03, '3331'],
+ [Lang.Blocks.robotis_car_anim04, '3332'],
+ [Lang.Blocks.robotis_car_anim05, '3333'],
+
+ [Lang.Blocks.robotis_car_anim06, '3334'],
+ [Lang.Blocks.robotis_car_anim07, '3335'],
+ [Lang.Blocks.robotis_car_anim08, '3336'],
+ [Lang.Blocks.robotis_car_anim09, '3337'],
+ [Lang.Blocks.robotis_car_anim10, '3338'],
+
+ [Lang.Blocks.robotis_car_anim11, '3339'],
+ [Lang.Blocks.robotis_car_anim12, '3340'],
+ [Lang.Blocks.robotis_car_anim13, '3341'],
+ [Lang.Blocks.robotis_car_anim14, '3342'],
+ [Lang.Blocks.robotis_car_anim15, '3343'],
+
+ [Lang.Blocks.robotis_car_anim16, '3344'],
+ [Lang.Blocks.robotis_car_anim17, '3345'],
+ [Lang.Blocks.robotis_car_anim18, '3346'],
+ [Lang.Blocks.robotis_car_anim19, '3347'],
],
- value: '2840',
+ value: '3329',
fontSize: 11,
bgColor: EntryStatic.colorSet.block.darken.HARDWARE,
arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE,
diff --git a/src/playground/blocks/hardware/block_robotisRBCar.js b/src/playground/blocks/hardware/block_robotisRBCar.js
index 476549b15e..4a07624c22 100644
--- a/src/playground/blocks/hardware/block_robotisRBCar.js
+++ b/src/playground/blocks/hardware/block_robotisRBCar.js
@@ -82,9 +82,6 @@ Entry.Robotis_rb_car.blockMenuBlocks = [
//알라표정
//화면 애니메이션
- 'robotis_RB_car_screen',
- 'robotis_RB_car_anim_screen',
-
'robotis_RB_cm_screen',
'robotis_RB_cm_anim_screen',
'robotis_RB_rsp_screen',
@@ -99,6 +96,11 @@ Entry.Robotis_rb_car.blockMenuBlocks = [
'robotis_RB_effectSound',
'robotis_RB_record',
'robotis_RB_playRecord',
+
+ 'robotis_RB_car_screen',
+ 'robotis_RB_car_anim_screen',
+ 'robotis_RB_kkokdu_screen',
+ 'robotis_RB_kkokdu_anim_screen',
'robotis_openCM70_RLa_go',
'robotis_openCM70_RLa_stop',
diff --git a/src/playground/blocks/hardware/block_robotisRBHumanoid.js b/src/playground/blocks/hardware/block_robotisRBHumanoid.js
index fb289009ca..5a38d78398 100644
--- a/src/playground/blocks/hardware/block_robotisRBHumanoid.js
+++ b/src/playground/blocks/hardware/block_robotisRBHumanoid.js
@@ -85,6 +85,7 @@ Entry.Robotis_rb_H.blockMenuBlocks = [
'robotis_RB_detectPose',
'robotis_RB_cm_buzzer_index',
+
'robotis_RB_cm_screen',
'robotis_RB_cm_anim_screen',
'robotis_RB_rsp_screen',
@@ -100,6 +101,11 @@ Entry.Robotis_rb_H.blockMenuBlocks = [
'robotis_RB_record',
'robotis_RB_playRecord',
+ 'robotis_RB_car_screen',
+ 'robotis_RB_car_anim_screen',
+ 'robotis_RB_kkokdu_screen',
+ 'robotis_RB_kkokdu_anim_screen',
+
'robotis_RB_cm_motion',
'robotis_RB_cm_motion2',
'robotis_RB_cm_motion_custom',