From fe9c3c066fd2c7a19500209c1e552c5d64e96995 Mon Sep 17 00:00:00 2001
From: c0repwn3r <core@coredoes.dev>
Date: Tue, 23 May 2023 11:55:18 -0400
Subject: [PATCH] imu blocks

---
 blocks_vertical/default_toolbox.js |  25 ++++++
 blocks_vertical/imu.js             | 124 ++++++++++++++++++++++++++++-
 2 files changed, 147 insertions(+), 2 deletions(-)

diff --git a/blocks_vertical/default_toolbox.js b/blocks_vertical/default_toolbox.js
index 8516e0db..781a5f46 100644
--- a/blocks_vertical/default_toolbox.js
+++ b/blocks_vertical/default_toolbox.js
@@ -64,6 +64,31 @@ Blockly.Blocks.defaultToolbox = '<xml id="toolbox-categories" style="display: no
       '<block type="hub_imu_roll" id="hub_imu_roll"></block>' +
       '<block type="hub_imu_accel" id="hub_imu_accel"></block>' +
       '<block type="hub_imu_avel" id="hub_imu_avel"></block>' +
+      '<block type="hub_imu_yaw" id="hub_imu_yaw"></block>' +
+      '<block type="hub_imu_reset_yaw" id="hub_imu_reset_yaw"></block>' +
+      '<block type="hub_imu_reset_yaw_to" id="hub_imu_reset_yaw_to">' +
+        '<value name="DEGREES">' +
+          '<shadow type="math_integer">' +
+            '<field name="NUM">90</field>' +
+          '</shadow>' +
+        '</value>' +
+      '</block>' +
+      '<block type="hub_imu_accel_t" id="hub_imu_accel_t"></block>' +
+      '<block type="hub_imu_avel_t" id="hub_imu_avel_t"></block>' +
+      '<block type="hub_imu_set_avel_t" id="hub_imu_set_avel_t">' +
+        '<value name="THRESHOLD">' +
+          '<shadow type="math_number">' +
+            '<field name="NUM">1.0</field>' +
+          '</shadow>' +
+        '</value>' +
+      '</block>' +
+      '<block type="hub_imu_set_accel_t" id="hub_imu_set_accel_t">' +
+        '<value name="THRESHOLD">' +
+          '<shadow type="math_number">' +
+            '<field name="NUM">1.0</field>' +
+          '</shadow>' +
+        '</value>' +
+      '</block>' +
     '</category>' +
     '<category name="%{BKY_CATEGORY_SOUND}" id="sound" colour="#FFBF00" secondaryColour="#3373CC">' +
     '</category>' +
diff --git a/blocks_vertical/imu.js b/blocks_vertical/imu.js
index 0e09a248..9215efdd 100644
--- a/blocks_vertical/imu.js
+++ b/blocks_vertical/imu.js
@@ -87,7 +87,7 @@ Blockly.Blocks['hub_imu_accel'] = {
         }
       ],
       "category": Blockly.Categories.imu,
-      "extensions": ["colours_imu", "output_boolean"]
+      "extensions": ["colours_imu", "output_number"]
     });
   }
 };
@@ -112,7 +112,127 @@ Blockly.Blocks['hub_imu_avel'] = {
         }
       ],
       "category": Blockly.Categories.imu,
-      "extensions": ["colours_imu", "output_boolean"]
+      "extensions": ["colours_imu", "output_number"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_yaw'] = {
+  /**
+   * Block to get the approximate yaw angle
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_YAW,
+      "args0": [],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "output_number"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_reset_yaw'] = {
+  /**
+   * Block to reset the yaw angle to 0
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_RESET_YAW,
+      "args0": [],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "shape_statement"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_reset_yaw_to'] = {
+  /**
+   * Block to reset the yaw angle to given degrees
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_RESET_YAW_TO,
+      "args0": [
+        {
+          "name": "DEGREES",
+          "type": "input_value"
+        }
+      ],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "shape_statement"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_accel_t'] = {
+  /**
+   * Block to get the acceleration stillness threshold
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_ACCE_THRESHOLD,
+      "args0": [],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "output_number"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_avel_t'] = {
+  /**
+   * Block to get the angular velocity stillness threshold
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_AVEL_THRESHOLD,
+      "args0": [],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "output_number"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_set_accel_t'] = {
+  /**
+   * Block to set the acceleration stillness threshold to a different value
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_SET_ACCE_THRESHOLD,
+      "args0": [
+        {
+          "name": "THRESHOLD",
+          "type": "input_value"
+        }
+      ],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "shape_statement"]
+    });
+  }
+};
+
+Blockly.Blocks['hub_imu_set_avel_t'] = {
+  /**
+   * Block to set the angular velocity stillness threshold to a different value
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.jsonInit({
+      "message0": Blockly.Msg.HUB_IMU_SET_AVEL_THRESHOLD,
+      "args0": [
+        {
+          "name": "THRESHOLD",
+          "type": "input_value"
+        }
+      ],
+      "category": Blockly.Categories.imu,
+      "extensions": ["colours_imu", "shape_statement"]
     });
   }
 };
-- 
2.40.1