276 lines
9.0 KiB
JavaScript
276 lines
9.0 KiB
JavaScript
import * as Blockly from 'blockly/core';
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const ACTUATOR_HUE = 100;
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export const actuator_Servo_init = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendDummyInput()
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.appendField("初始化");
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this.appendDummyInput()
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.appendField("舵机");
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this.appendValueInput("PIN", Number)
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.appendField("管脚")
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.setCheck(Number);
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this.appendValueInput('time')
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.appendField("定时器")
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.setCheck(Number);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip();
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}
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};
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export const actuator_Servo = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendDummyInput()
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.appendField("设置");
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this.appendDummyInput()
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.appendField("舵机");
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this.appendValueInput("PIN", Number)
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.appendField("管脚")
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.setCheck(Number);
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this.appendValueInput('range')
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.appendField("角度")
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.setCheck(Number);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip();
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}
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};
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export const actuator_PAC9685_init = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendDummyInput()
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.appendField("初始化");
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this.appendDummyInput()
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.appendField("16路舵机");
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this.appendValueInput('address')
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.appendField("地址")
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.setCheck(Number);
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this.appendValueInput('SUB')
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.setCheck("var")
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.setAlign(Blockly.inputs.Align.RIGHT)
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.appendField("通信");
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip("使用PCA9685驱动16路舵机并备注IIC端口");
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}
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};
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export const actuator_PAC9685_Servo = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendDummyInput()
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.appendField("设置");
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this.appendDummyInput()
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.appendField("16路舵机");
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this.appendValueInput("index")
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.appendField("编号")
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.setCheck(Number);
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this.appendValueInput('range')
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.appendField("角度")
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.setCheck(Number);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip("使用PCA9685驱动16路舵机，输入编号机角度");
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}
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};
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export const actuator_rgb_init = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.appendField("初始化")
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.setCheck("var");
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this.appendValueInput("PIN", Number)
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.appendField("管脚")
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.setCheck(Number);
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this.appendValueInput('num')
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.appendField("灯数")
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.setCheck(Number);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip();
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}
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};
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export const actuator_rgb_set = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.appendField("")
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.setCheck("var");
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this.appendValueInput('num')
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.appendField("灯号")
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.setCheck(Number);
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this.appendValueInput('R')
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.appendField("R值")
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.setCheck(Number);
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this.appendValueInput('G')
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.appendField("G值")
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.setCheck(Number);
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this.appendValueInput('B')
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.appendField("B值")
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.setCheck(Number);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip();
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}
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};
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export const actuator_rgb_display = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.appendField("")
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.setCheck("var");
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this.appendDummyInput()
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.appendField("生效");
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip();
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}
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};
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export const actuator_ms32006_init = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.appendField("初始化")
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.setCheck("var");
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this.appendDummyInput()
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.appendField("电机驱动");
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this.appendDummyInput()
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.appendField("地址")
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.appendField(new Blockly.FieldDropdown([['A', 'ms32006.ADDRESS_A'], ['B', 'ms32006.ADDRESS_B']]), 'mode');
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this.appendValueInput('SUB1')
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.setCheck("var")
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.setAlign(Blockly.inputs.Align.RIGHT)
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.appendField("通信");
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip("初始化MS32006电机驱动，使用I2C通信");
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}
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};
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export const actuator_ms32006_dcmotor = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.appendField("直流电机")
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.setCheck("var");
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this.appendDummyInput()
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.appendField(Blockly.Msg.MIXLY_MICROBIT_Direction)
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.appendField(new Blockly.FieldDropdown([
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[Blockly.Msg.CLOCKWISE, "ms32006.MOT_CW"],
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[Blockly.Msg.ANTI_CLOCKWISE, "ms32006.MOT_CCW"],
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[Blockly.Msg.MOTOR_N, "ms32006.MOT_N"],
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[Blockly.Msg.MOTOR_P, "ms32006.MOT_P"]
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]), "direction");
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this.appendValueInput('speed')
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT)
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.appendField(Blockly.Msg.MIXLY_STEPPER_SET_SPEED);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip("设置直流电机的状态及转速(0-100)");
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}
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};
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export const actuator_ms32006_stepper = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.appendField("步进电机")
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.setCheck("var");
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this.appendDummyInput()
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.appendField("选择")
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.appendField(new Blockly.FieldDropdown([['A', 'ms32006.MOT_A'], ['B', 'ms32006.MOT_B']]), 'mode');
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this.appendDummyInput()
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.appendField(Blockly.Msg.MIXLY_MICROBIT_Direction)
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.appendField(new Blockly.FieldDropdown([
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[Blockly.Msg.CLOCKWISE, "ms32006.MOT_CW"],
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[Blockly.Msg.ANTI_CLOCKWISE, "ms32006.MOT_CCW"]
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]), "direction");
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this.appendValueInput('speed')
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT)
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.appendField("转速");
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this.appendValueInput('steps')
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT)
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.appendField("步数");
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setInputsInline(true);
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this.setTooltip("设置步进电机的状态、转速、步数(0-2047)");
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}
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};
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//-新20211221------PID算法，暂时放此处------------------------------------------//
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export const PID_init = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.setCheck("var")
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.appendField("初始化");
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this.appendValueInput("P", Number)
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.appendField("P值")
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT);
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this.appendValueInput("I", Number)
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.appendField("I值")
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT);
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this.appendValueInput("D", Number)
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.appendField("D值")
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT);
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this.setPreviousStatement(true);
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this.setNextStatement(true);
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this.setInputsInline(true);
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this.setTooltip("初始化PID算法");
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}
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};
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//-新20211221------PID算法，暂时放此处------------------------------------------//
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export const PID_get_pid = {
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init: function () {
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this.setColour(ACTUATOR_HUE);
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this.appendValueInput('SUB')
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.setCheck("var")
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.appendField("");
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this.appendDummyInput()
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.appendField("运算");
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this.appendValueInput("error")
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.appendField("偏移量")
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT);
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this.appendValueInput("scaler")
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.appendField("定标量")
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.setCheck(Number)
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.setAlign(Blockly.inputs.Align.RIGHT);
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this.setOutput(true);
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this.setInputsInline(true);
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this.setTooltip("根据参数返回运算结果");
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}
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}; |