From db9710fd07dc439d8d33a08500925000ef6c7ac6 Mon Sep 17 00:00:00 2001
From: Thomas Fuhrmann <thomas.fuhrmann@hds.utc.fr>
Date: Thu, 25 May 2017 08:18:00 +0200
Subject: [PATCH] Add swallow balls action + button in telecommand

---
 clients/extension/sweeper.js                        | 3 +--
 webclient/pages/telecommande/grobotdisplay.class.js | 4 ++++
 webclient/pages/telecommande/telecommande.tpl.html  | 1 +
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/clients/extension/sweeper.js b/clients/extension/sweeper.js
index bcb38aa..63119a2 100644
--- a/clients/extension/sweeper.js
+++ b/clients/extension/sweeper.js
@@ -47,8 +47,7 @@ class Sweeper extends Extension {
                 });
                 break;
             case "swallow_balls":
-                //TODO
-                this.logger.warn("TODO: make swallow_balls work");
+                this.client.send("gr", "asserv.pwm", {left : -100, right : -100, ms : 1000});
                 this.fifo.orderFinished();
                 break;
             case "send_message":
diff --git a/webclient/pages/telecommande/grobotdisplay.class.js b/webclient/pages/telecommande/grobotdisplay.class.js
index ebefa24..852234b 100644
--- a/webclient/pages/telecommande/grobotdisplay.class.js
+++ b/webclient/pages/telecommande/grobotdisplay.class.js
@@ -47,4 +47,8 @@ class GrobotDisplay extends RobotDisplay {
     seesaw() {
         this.client.send(this.name, "climb_seesaw");
     }
+
+    swallowBalls() {
+        this.client.send("sweeper", "swallow_balls");
+    }
 }
\ No newline at end of file
diff --git a/webclient/pages/telecommande/telecommande.tpl.html b/webclient/pages/telecommande/telecommande.tpl.html
index a74def2..20460ef 100644
--- a/webclient/pages/telecommande/telecommande.tpl.html
+++ b/webclient/pages/telecommande/telecommande.tpl.html
@@ -199,6 +199,7 @@ <h3>Extensions : </h3>
 				Sweeper :
 				<button type="button" class="btn" ng-click="grobot.turnOnSweeper()">Turn on</button>
 				<button type="button" class="btn" ng-click="grobot.turnOffSweeper()">Turn off</button>
+                <button type="button" class="btn" ng-click="grobot.swallowBalls()">Swallow balls</button>
 			</p>
             <p>
                 Funny action :