package com.ardublock.translator.block.makeblock;
import com.ardublock.translator.Translator;
import com.ardublock.translator.block.TranslatorBlock;
import com.ardublock.translator.block.exception.SocketNullException;
import com.ardublock.translator.block.exception.SubroutineNotDeclaredException;
public class MeStepperMotor extends TranslatorBlock {
public MeStepperMotor(Long blockId, Translator translator, String codePrefix, String codeSuffix, String label) {
super(blockId, translator, codePrefix, codeSuffix, label);
}
@Override
public String toCode() throws SocketNullException, SubroutineNotDeclaredException {
translator.addHeaderFile("Makeblock.h");
translator.addHeaderFile("SoftwareSerial.h");
translator.addHeaderFile("Wire.h");
TranslatorBlock portBlock = this.getRequiredTranslatorBlockAtSocket(0);
String ret = "MeStepperMotor stepper"+portBlock.toCode()+"(PORT_"+portBlock.toCode()+");";
translator.addDefinitionCommand(ret);
TranslatorBlock speedBlock = this.getRequiredTranslatorBlockAtSocket(1);
TranslatorBlock accelerationBlock = this.getRequiredTranslatorBlockAtSocket(2);
translator.addSetupCommand("stepper"+portBlock.toCode()+".begin(STP_SIXTEENTH,"+speedBlock.toCode()+","+accelerationBlock.toCode()+");");
TranslatorBlock moveToBlock = this.getRequiredTranslatorBlockAtSocket(3);
TranslatorBlock execBlock = getTranslatorBlockAtSocket(4);
ret = "stepper"+portBlock.toCode()+".moveTo("+moveToBlock.toCode()+");\n";
ret += "int distance = stepper"+portBlock.toCode()+".distanceToGo();\n";
ret += "if(distance==0){\n";
String exec = "";
while (execBlock != null)
{
exec += "\t"+ execBlock.toCode()+"\n";
execBlock = execBlock.nextTranslatorBlock();
}
ret += exec+"\n}";
return ret;
}
}