Add include robot

Taskfile.yaml

@@ -29,6 +29,8 @@ tasks:
     - cd scratch-prg-extensions/extensions/src/arduino_basics && pnpm install
     - ln -s $PWD/scratch-prg-extensions/extensions/src/arduino_modulino $PWD/prg-raise-playground/extensions/src/arduino_modulino
     - cd scratch-prg-extensions/extensions/src/arduino_modulino && pnpm install
+    - ln -s $PWD/scratch-prg-extensions/extensions/src/arduino_include_robot $PWD/prg-raise-playground/extensions/src/arduino_include_robot
+    - cd scratch-prg-extensions/extensions/src/arduino_include_robot && pnpm install
 
   app:upload:
     desc: "Build,and Upload zip file to Arduino board, unzip and deploy to /home/arduino/ArduinoApps"
@@ -84,7 +86,7 @@ tasks:
 
   scratch:watch:
     cmds:
-      - cd prg-raise-playground && pnpm dev -i arduino_basics arduino_modulino
+      - cd prg-raise-playground && pnpm dev -i arduino_basics arduino_modulino arduino_include_robot
 
   python:watch:
     desc: "Watch Python folder for changes and auto-upload/restart"

python/main.py

@@ -12,6 +12,7 @@ def on_matrix_draw(_, data):
 
 
 ui.on_message("matrix_draw", on_matrix_draw)
+ui.on_message("robot_forward_for_steps", lambda _, data: Bridge.call("robot_forward_for_steps", data.get("steps")))
 
 
 def on_modulino_button_pressed(btn):

scratch-prg-extensions/extensions/src/arduino_include_robot/.gitignore

@@ -0,0 +1 @@
+node_modules

scratch-prg-extensions/extensions/src/arduino_include_robot/index.test.ts

@@ -0,0 +1,7 @@
+import { createTestSuite } from "$testing";
+import Extension from ".";
+
+createTestSuite({ Extension, __dirname }, {
+  unitTests: undefined,
+  integrationTests: undefined,
+});

scratch-prg-extensions/extensions/src/arduino_include_robot/index.ts

@@ -0,0 +1,57 @@
+import {
+  type Environment,
+  extension,
+  scratch
+} from "$common";
+
+// import { io, type Socket } from "socket.io-client";
+
+// Get Arduino board IP or hostname from URL parameter
+const getArduinoBoardHost = () => {
+  const urlParams = new URLSearchParams(window.location.search);
+  const boardHost = urlParams.get("host");
+  if (boardHost) {
+    return boardHost;
+  }
+  return window.location.hostname;
+};
+
+export default class IncludeRobot extends extension({
+  name: "Include Robot",
+  description: "A programmable robot designed to teach junior students about robotics in a simple and funny way.",
+//   iconURL: "include-robot.png", // png
+//   insetIconURL: "include-robot-buttons.svg", // svg
+  tags: ["Arduino UNO Q"],
+  blockColor: "#00878F",
+  menuColor: "#8C7965",
+  menuSelectColor: "#62AEB2",
+}) {
+//   private socket: Socket | null = null;
+
+  init(env: Environment) {
+    const arduinoBoardHost = getArduinoBoardHost();
+    var serverURL = `wss://${arduinoBoardHost}:7000`;
+
+    // this.socket = io(serverURL, {
+    //   path: "/socket.io",
+    //   transports: ["polling", "websocket"],
+    //   autoConnect: true,
+    // });
+
+    // this.socket.on("connect", () => {
+    //   console.log(`Connected to Arduino UNO Q`, serverURL);
+    // });
+
+    // this.socket.on("disconnect", (reason) => {
+    //   console.log(`Disconnected from Arduino UNO Q: ${reason}`);
+    // });
+  }
+
+    @(scratch.command`Move robot forward for ${"number"} steps`)
+    robotForwardForSteps(steps: number) {
+        if (this.socket) {
+            this.socket.emit("robot_forward_for_steps", { steps: steps });
+        }
+    }
+
+}

scratch-prg-extensions/extensions/src/arduino_include_robot/package.json

@@ -0,0 +1,18 @@
+{
+  "name": "arduino_include_robot-extension",
+  "version": "1.0.0",
+  "description": "An extension created using the PRG AI Blocks framework",
+  "main": "index.ts",
+  "scripts": {
+    "directory": "echo arduino_include_robot",
+    "test": "pnpm --filter prg-extension-root test arduino_include_robot/index.test.ts",
+    "dev": "pnpm --filter prg-extension-root dev --include arduino_include_robot",
+    "add:ui": "pnpm --filter prg-extension-root add:ui arduino_include_robot",
+    "add:arg": "pnpm --filter prg-extension-root add:arg arduino_include_robot"
+  },
+  "author": "",
+  "license": "ISC",
+  "dependencies": {
+    "socket.io-client": "^4.8.1"
+  }
+}

sketch/robot.cpp

@@ -0,0 +1,48 @@
+#include "robot.h"
+#include <Servo.h>
+
+
+void Robot::moveForward(const int steps, const uint16_t for_ms) {
+  for (int i = 0; i < steps; i++) {
+    this->rightWheel.write(90 + this->speed);
+    this->leftWheel.write(90 - this->speed);
+    delay(for_ms);
+    this->rightWheel.write(90);
+    this->leftWheel.write(90);
+    delay(500);
+  }
+}
+
+void Robot::moveBackward(const int steps, const uint16_t for_ms) {
+  for (int i = 0; i < steps; i++) {
+    this->rightWheel.write(90 - this->speed);
+    this->leftWheel.write(90 + this->speed);
+    delay(for_ms);
+    this->rightWheel.write(90);
+    this->leftWheel.write(90);
+    delay(500);
+  }
+}
+
+void Robot::turnRight(const uint16_t for_ms) {
+  this->rightWheel.write(90 + 10);
+  this->leftWheel.write(90 + 10);
+  delay(for_ms);
+  this->rightWheel.write(90);
+  this->leftWheel.write(90);
+}
+
+void Robot::turnLeft(const uint16_t for_ms) {
+  this->rightWheel.write(90 - 10);
+  this->leftWheel.write(90 - 10);
+  delay(for_ms);
+  this->rightWheel.write(90);
+  this->leftWheel.write(90);
+}
+
+// set the speed of the robot. From 0 (no speed) to 100 (max speed)
+void Robot::setSpeed(int speed) {
+  speed = constrain(speed, 0, 100);
+  speed = map(speed, 0, 100, 0, 90);
+  this->speed = speed;
+}

sketch/robot.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include <Arduino.h>
+#include <Servo.h>
+
+class Robot {
+  Servo rightWheel;
+  Servo leftWheel;
+  int speed;
+
+public:
+  Robot() {}  // Empty constructor
+  Robot(int rightWheelPin, int leftWheelPin) {
+    this->rightWheel = Servo();
+    this->leftWheel = Servo();
+    this->rightWheel.attach(rightWheelPin);
+    this->leftWheel.attach(leftWheelPin);
+    this->setSpeed(10);
+  }
+
+  void setSpeed(const int steps);
+  void moveForward(const int steps, const uint16_t for_ms);
+  void moveBackward(const int steps, const uint16_t for_ms);
+  void turnRight(const uint16_t for_ms);
+  void turnLeft(const uint16_t for_ms);
+};

sketch/sketch.ino

@@ -1,10 +1,15 @@
 #include <Arduino_RouterBridge.h>
 #include "Arduino_LED_Matrix.h"
 #include <Arduino_Modulino.h>
+#include "robot.h"
 
 Arduino_LED_Matrix matrix;
 ModulinoButtons buttons;
 
+uint8_t rservo = 9;
+uint8_t lservo = 8;
+Robot myra = Robot(rservo, lservo);
+
 void setup() {
   matrix.begin();
   Bridge.begin();
@@ -28,6 +33,11 @@ void setup() {
   buttons.setLeds(true, true, true);
   Bridge.provide("matrix_draw", matrix_draw);
   Bridge.provide("set_led_rgb", set_led_rgb);
+  Bridge.provide("robot_forward_for_steps", robot_forward_for_steps);
+}
+
+void robot_forward_for_steps(uint8_t steps){
+    myra.moveForward(steps, 1000);
 }
 
 void loop() {

sketch/sketch.yaml

@@ -14,4 +14,5 @@ profiles:
       - STM32duino VL53L4ED (1.0.1)
       - Arduino_LSM6DSOX (1.1.2)
       - Arduino_LPS22HB (1.0.2)
+      - Servo (1.3.0)
 default_profile: default