From 66d4839f81bac6caf7791a8d803ebe694c80dfba Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 21 Dec 2022 20:56:44 +0300
Subject: [PATCH] Use set_yaw in blocks

---
 clover_blocks/www/python.js | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/clover_blocks/www/python.js b/clover_blocks/www/python.js
index 35c089c0..a614e5e3 100644
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -83,6 +83,9 @@ function generateROSDefinitions() {
 		if (rosDefinitions.navigateGlobal) {
 			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
 		}
+		if (rosDefinitions.setYaw) {
+			code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
+		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -276,10 +279,11 @@ Blockly.Python.angle = function(block) {
 }
 
 Blockly.Python.set_yaw = function(block) {
+	rosDefinitions.setYaw = true;
 	simpleOffboard();
 	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
 	let frameId = buildFrameId(block);
-	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
+	let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
 	if (block.getFieldValue('WAIT') == 'TRUE') {
 		rosDefinitions.waitYaw = true;
 		simpleOffboard();