diff --git a/lib/display.qml b/lib/display.qml
index 3261861d9aa6dbbaca7b90190026042f8c5eb79f..477ad3f11e5a5a3f18846aaa289724796c897a01 100644
--- a/lib/display.qml
+++ b/lib/display.qml
@@ -18,7 +18,7 @@ TXTWindow {
enabled: true
checked: true
x: 60
- y: 171
+ y: 178
width: 100
height: 40
}
@@ -28,7 +28,7 @@ TXTWindow {
font.pixelSize: 16
elide: Text.ElideRight
x: 60
- y: 70
+ y: 20
width: 179
height: 40
}
@@ -38,7 +38,7 @@ TXTWindow {
font.pixelSize: 16
elide: Text.ElideRight
x: 60
- y: 120
+ y: 80
width: 180
height: 40
}
@@ -48,7 +48,7 @@ TXTWindow {
font.pixelSize: 16
elide: Text.ElideRight
x: 20
- y: 70
+ y: 20
width: 40
height: 40
}
@@ -58,28 +58,18 @@ TXTWindow {
font.pixelSize: 16
elide: Text.ElideRight
x: 20
- y: 120
- width: 40
- height: 40
- }
- TXTLabel {
- id: txt_label_counters_
- text: "C1...4"
- font.pixelSize: 16
- elide: Text.ElideRight
- x: 20
- y: 20
+ y: 80
width: 40
height: 40
}
TXTLabel {
- id: txt_label_counters
+ id: txt_label_goal_x
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
x: 60
- y: 20
- width: 100
+ y: 120
+ width: 180
height: 40
}
}
diff --git a/lib/display.xml b/lib/display.xml
index 10a85930e4dcf456eb88079fd790833bb92a9f08..503a00da799e0faf73aa49e84651de3f0e989b20 100644
--- a/lib/display.xml
+++ b/lib/display.xml
@@ -1 +1 @@
-<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>true</checked><text>START</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>70</y><width>179</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>120</y><width>180</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>70</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>120</y><width>40</width><height>40</height></geometry></item><item id="9" class="TXTLabel"><name>txt_label_counters_</name><text>C1...4</text><geometry><x>20</x><y>20</y><width>40</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_counters</name><text>-</text><geometry><x>60</x><y>20</y><width>100</width><height>40</height></geometry></item></xml>
\ No newline at end of file
+<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>true</checked><text>START</text><geometry><x>60</x><y>178</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>20</y><width>179</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>80</y><width>180</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>20</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>80</y><width>40</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_goal_x</name><text>-</text><geometry><x>60</x><y>120</y><width>180</width><height>40</height></geometry></item></xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index e2090dccf88c969cfe77ba6858241b8882bdfd4c..0171ba07333129f8bb680f1c1f43559860ddc2e6 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -14,7 +14,6 @@
<variable id="S4.mduNQC(va3iR{oSdB">posx_ball</variable>
<variable id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</variable>
<variable id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</variable>
- <variable id="5@U(%o_ghQ1;jiB#odH8">counters</variable>
<variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
<variable id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</variable>
<variable id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</variable>
@@ -160,1058 +159,1023 @@
</block>
</value>
<next>
- <block type="variables_set" id="^^;w:J4Fa?h,#*%To;{+">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
<value name="VALUE">
- <block type="lists_create_with" id="1k[v{tojVArtdZ^%5v;1">
- <mutation items="4"/>
- <value name="ADD0">
- <block type="counter_get_value" id="GohWJgM]B+R*n;%2J2t[">
- <field name="instance_name">TXT_M_C1_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="counter_get_value" id="Bb1N_HOP|)`|I9^$Ctm?">
- <field name="instance_name">TXT_M_C2_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD2">
- <block type="counter_get_value" id="ugC,Ex(62_HcLx`w;(}s">
- <field name="instance_name">TXT_M_C3_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="counter_get_value" id="0({ry;ZO6]g*8c(EP^h$">
- <field name="instance_name">TXT_M_C4_motor_step_counter</field>
- </block>
- </value>
- </block>
+ <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
</value>
<next>
- <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
<value name="VALUE">
- <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
+ <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
</value>
<next>
- <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
<value name="VALUE">
- <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
+ <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
+ <field name="TIME">MILLISECOND</field>
+ </block>
</value>
<next>
- <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
+ <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
+ <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
- <field name="TIME">MILLISECOND</field>
+ <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
+ <field name="BOOL">TRUE</field>
</block>
</value>
<next>
- <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
<value name="VALUE">
- <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
- <field name="BOOL">TRUE</field>
+ <block type="text" id="V.-^bs67=#+RFV.YX~P,">
+ <field name="TEXT">NONE</field>
</block>
</value>
<next>
- <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <block type="variables_set" id="!eP!#y!o25=Kc{0p7GDs">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
- <block type="text" id="V.-^bs67=#+RFV.YX~P,">
+ <block type="text" id="vc4C]$ok!Yk@_eIUD8L)">
<field name="TEXT">NONE</field>
</block>
</value>
<next>
- <block type="variables_set" id="!eP!#y!o25=Kc{0p7GDs">
- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
- <value name="VALUE">
- <block type="text" id="vc4C]$ok!Yk@_eIUD8L)">
- <field name="TEXT">NONE</field>
- </block>
+ <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
+ <field name="format">s</field>
+ <value name="value">
+ <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
+ <field name="NUM">2</field>
+ </shadow>
</value>
<next>
- <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
- <field name="format">s</field>
- <value name="value">
- <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
- <field name="NUM">2</field>
- </shadow>
- </value>
- <next>
- <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
- <statement name="DO">
- <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
+ <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
+ <statement name="DO">
+ <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
+ <value name="IF0">
+ <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="aHn#xa9*3UPMZUu37%KD">
+ <mutation elseif="0" else="1"/>
<value name="IF0">
- <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
- <field name="instance_name">txt_switch_active</field>
- <field name="property_name">checked</field>
+ <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<statement name="DO0">
- <block type="controls_if" id="aHn#xa9*3UPMZUu37%KD">
- <mutation elseif="0" else="1"/>
+ <block type="controls_if" id=".azto3k]W3z}%MWyt~-e">
+ <mutation elseif="2" else="1"/>
<value name="IF0">
- <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
+ <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
<field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="B">
- <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
+ <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
<field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
<value name="B">
- <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
+ <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
</value>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="controls_if" id=".azto3k]W3z}%MWyt~-e">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
- </value>
- </block>
- </value>
+ <block type="variables_set" id="?=|7j%BS8lgVb|CMk2`B">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
+ <field name="TEXT">BALL_GOAL_BOTH</field>
</block>
</value>
- <statement name="DO0">
- <block type="variables_set" id="?=|7j%BS8lgVb|CMk2`B">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
- <field name="TEXT">BALL_GOAL_BOTH</field>
- </block>
- </value>
- <next>
- <block type="controls_if" id="*lBS$ZT#Ys7,}]I-O@k^">
- <mutation elseif="0" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="F*6cCZOW)ukbgn9K8?SO" inline="false">
- <field name="OP">AND</field>
+ <next>
+ <block type="controls_if" id="*lBS$ZT#Ys7,}]I-O@k^">
+ <mutation elseif="0" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="F*6cCZOW)ukbgn9K8?SO" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="gQMo_h|S:{G:nr]1=UW4">
+ <field name="OP">GT</field>
<value name="A">
- <block type="logic_compare" id="gQMo_h|S:{G:nr]1=UW4">
- <field name="OP">GT</field>
+ <block type="math_arithmetic" id="g#5+UTr_8H_R-F]F:wXY">
+ <field name="OP">MINUS</field>
<value name="A">
- <block type="math_arithmetic" id="g#5+UTr_8H_R-F]F:wXY">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="variables_get" id=",-pErfLng]qD$?z[[Fs7">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="@8MLRa^g0hU[CeMJ#Wdh">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
+ <block type="variables_get" id=",-pErfLng]qD$?z[[Fs7">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
</block>
</value>
<value name="B">
- <block type="math_number" id="Wzx3MWFz@%Jz9y{C/Qp1">
- <field name="NUM">-15</field>
+ <block type="variables_get" id="@8MLRa^g0hU[CeMJ#Wdh">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="8B#3C:X3GH?2=7:Pz69)">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="BVT`l59)jj8X[?{ToBh@">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="variables_get" id="r56n`}OQ/*+nk-rCW$m.">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="u,9zl8#.bgLY`eV8SG6g">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="{pD26^qSv`7.;d_.f@0c">
- <field name="NUM">-15</field>
- </block>
- </value>
+ <block type="math_number" id="Wzx3MWFz@%Jz9y{C/Qp1">
+ <field name="NUM">-15</field>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="yaFH%EQx@BB~q4Cb%;Qe">
- <mutation name="soundGoal"/>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="controls_if" id="?*]pJ{$BWYb7XOmWoq=}">
- <mutation elseif="2"/>
- <value name="IF0">
- <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
- <field name="OP">AND</field>
+ <value name="B">
+ <block type="logic_compare" id="8B#3C:X3GH?2=7:Pz69)">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="BVT`l59)jj8X[?{ToBh@">
+ <field name="OP">MINUS</field>
<value name="A">
- <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
+ <block type="variables_get" id="r56n`}OQ/*+nk-rCW$m.">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="$R,CQ$q_:mge?X159P8L">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="ru(1|is|xmE}.]MuY*xT">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
+ <block type="variables_get" id="u,9zl8#.bgLY`eV8SG6g">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="90_K~]2igif9F@eo$.5Z">
- <mutation name="stepBall">
- <arg name="shot"/>
- </mutation>
- <value name="ARG0">
- <block type="logic_boolean" id="_$3,;B)-(K-03ZzRYj!5">
- <field name="BOOL">TRUE</field>
- </block>
- </value>
+ <value name="B">
+ <block type="math_number" id="{pD26^qSv`7.;d_.f@0c">
+ <field name="NUM">-15</field>
</block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
- <field name="OP">LT</field>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="yaFH%EQx@BB~q4Cb%;Qe">
+ <mutation name="soundGoal"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="controls_if" id="?*]pJ{$BWYb7XOmWoq=}">
+ <mutation elseif="2"/>
+ <value name="IF0">
+ <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
+ <field name="OP">GT</field>
<value name="A">
- <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
+ <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
<field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="lpS.y*[{cEi1+0~K+1A0">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="@n*^wewk`x?NX#m2}EQE">
- <mutation name="turnSideLeft">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="+m}1a:ZW]JoRW2QP.n06">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="_;2gj%#h1g[wnD|7oXuo">
- <field name="NUM">20</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
- <field name="OP">GT</field>
+ <value name="B">
+ <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
+ <field name="OP">LT</field>
<value name="A">
- <block type="variables_get" id="(Dk1+3wh2]HCao.dq?PS">
+ <block type="variables_get" id="$R,CQ$q_:mge?X159P8L">
<field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="6=]nXa6@Nlp}dkXwpg6@">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="variables_get" id="ru(1|is|xmE}.]MuY*xT">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="R590b9iY$aQ~B7!m8f2l">
- <mutation name="turnSideRight">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="vk%)2O)R9Ft/FMn)2yr7">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="N.3ER1#5:PMk;ocu-#q(">
- <field name="NUM">20</field>
- </block>
- </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="90_K~]2igif9F@eo$.5Z">
+ <mutation name="stepBall">
+ <arg name="shot"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="logic_boolean" id="_$3,;B)-(K-03ZzRYj!5">
+ <field name="BOOL">TRUE</field>
</block>
- </statement>
+ </value>
</block>
</statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="(jJONR?QSU;KGYM!9ymz" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="`8=+-9%Pb7y~05?n%:.-">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="yho-]F]PY=,)SpSbQPwP">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <value name="IF1">
+ <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="lpS.y*[{cEi1+0~K+1A0">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="$fM$v`jz=Gu3u5N-kvvV"/>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="@n*^wewk`x?NX#m2}EQE">
+ <mutation name="turnSideLeft">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="+m}1a:ZW]JoRW2QP.n06">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="_;2gj%#h1g[wnD|7oXuo">
+ <field name="NUM">20</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="(Dk1+3wh2]HCao.dq?PS">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="6=]nXa6@Nlp}dkXwpg6@">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ </block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="R590b9iY$aQ~B7!m8f2l">
+ <mutation name="turnSideRight">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="vk%)2O)R9Ft/FMn)2yr7">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="N.3ER1#5:PMk;ocu-#q(">
+ <field name="NUM">20</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="(jJONR?QSU;KGYM!9ymz" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="`8=+-9%Pb7y~05?n%:.-">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="yho-]F]PY=,)SpSbQPwP">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="3[c=:H.XfB-GEfuelSLT">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="variables_get" id=";ZAx96@n9~k7Pw7/~*8S">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="Dwx`oZu-Z*UMkSF2u9uU"/>
- </value>
+ <block type="logic_null" id="$fM$v`jz=Gu3u5N-kvvV"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="3[c=:H.XfB-GEfuelSLT">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id=";ZAx96@n9~k7Pw7/~*8S">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="Dwx`oZu-Z*UMkSF2u9uU"/>
+ </value>
</block>
</value>
- <statement name="DO1">
- <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="y/+X`X}C3$Nc/TH%3_dv">
- <field name="TEXT">BALL_GOAL_LEFT</field>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="y/+X`X}C3$Nc/TH%3_dv">
+ <field name="TEXT">BALL_GOAL_LEFT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="k0ElL*hZU:LP$5|:#LB?">
+ <mutation name="turnSideLeft">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="OPBK1GzGPPmCYw|3a:2R">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
- <next>
- <block type="procedures_callnoreturn" id="k0ElL*hZU:LP$5|:#LB?">
- <mutation name="turnSideLeft">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="OPBK1GzGPPmCYw|3a:2R">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="gcH1Ps(J*{a)=3pi9diY">
- <field name="NUM">10</field>
- </block>
- </value>
+ <value name="ARG1">
+ <block type="math_number" id="gcH1Ps(J*{a)=3pi9diY">
+ <field name="NUM">10</field>
</block>
- </next>
+ </value>
</block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="1;1`n[eC4,:;kuqeyYe?" inline="false">
- <field name="OP">AND</field>
+ </next>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="1;1`n[eC4,:;kuqeyYe?" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="TM_H.[_zQQ6+pVvAY1~3">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="logic_compare" id="TM_H.[_zQQ6+pVvAY1~3">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="variables_get" id="2%ig?qe,;l|V%-dz/sSa">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="nWaVJidHgA=jsdDixAN@"/>
- </value>
+ <block type="variables_get" id="2%ig?qe,;l|V%-dz/sSa">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="h2LhI}NfWS@AVx2ZO$SV">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="8moxf4Q@Tu]VF!9L|68b">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="vjJEFGVR/}C}/4mI7%g:"/>
- </value>
- </block>
+ <block type="logic_null" id="nWaVJidHgA=jsdDixAN@"/>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="variables_set" id=",9T_FbUWwGZlugNQ_c#x">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="5?`m/5fCq/Z(s/u)oR*~">
- <field name="TEXT">BALL_GOAL_RIGHT</field>
+ <value name="B">
+ <block type="logic_compare" id="h2LhI}NfWS@AVx2ZO$SV">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="8moxf4Q@Tu]VF!9L|68b">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <next>
- <block type="procedures_callnoreturn" id="+j-FQusX0T9FJ1P}u:0|">
- <mutation name="turnSideRight">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="Jx~`*{sDX:}UuM`gsZp/">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id=")k]SdR3F1bII`Mo!4Q2T">
- <field name="NUM">10</field>
- </block>
- </value>
- </block>
- </next>
+ <value name="B">
+ <block type="logic_null" id="vjJEFGVR/}C}/4mI7%g:"/>
+ </value>
</block>
- </statement>
- <statement name="ELSE">
- <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
- <field name="TEXT">BALL_NO_GOAL</field>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="variables_set" id=",9T_FbUWwGZlugNQ_c#x">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="5?`m/5fCq/Z(s/u)oR*~">
+ <field name="TEXT">BALL_GOAL_RIGHT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="+j-FQusX0T9FJ1P}u:0|">
+ <mutation name="turnSideRight">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Jx~`*{sDX:}UuM`gsZp/">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
- <next>
- <block type="procedures_callnoreturn" id=")f0^YOdfvadl{9t=j|w1">
- <mutation name="stepBall">
- <arg name="shot"/>
- </mutation>
- <value name="ARG0">
- <block type="logic_boolean" id="oi!78vnT!+MpPB1n]qMf">
- <field name="BOOL">FALSE</field>
- </block>
- </value>
+ <value name="ARG1">
+ <block type="math_number" id=")k]SdR3F1bII`Mo!4Q2T">
+ <field name="NUM">10</field>
</block>
- </next>
+ </value>
</block>
- </statement>
+ </next>
</block>
</statement>
<statement name="ELSE">
- <block type="controls_if" id=":+;zyZF]7c#-QBh8$DW^">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="T;e37h:tRmDfk=i;=KUw" inline="false">
- <field name="OP">AND</field>
+ <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
+ <field name="TEXT">BALL_NO_GOAL</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id=")f0^YOdfvadl{9t=j|w1">
+ <mutation name="stepBall">
+ <arg name="shot"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="logic_boolean" id="oi!78vnT!+MpPB1n]qMf">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="controls_if" id=":+;zyZF]7c#-QBh8$DW^">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="T;e37h:tRmDfk=i;=KUw" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="J?P(P(GS*(XS.u3,^gDH">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="logic_compare" id="J?P(P(GS*(XS.u3,^gDH">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="%=:pZSNhgSS#}A7RFb-m">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="Krr)V8_2jy)QKT|Uy)A`"/>
- </value>
+ <block type="variables_get" id="%=:pZSNhgSS#}A7RFb-m">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="ffs5T2N@HW6q,YD7+=4y">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="~_Q+EdEV/6ho6B-lM|e.">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="Xec|5GQgP=8o:@`Scn4C"/>
- </value>
- </block>
+ <block type="logic_null" id="Krr)V8_2jy)QKT|Uy)A`"/>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="variables_set" id="u#?[x*W2[}s=7T+@kGX3">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
- <field name="TEXT">NO_BALL_GOAL_BOTH</field>
+ <value name="B">
+ <block type="logic_compare" id="ffs5T2N@HW6q,YD7+=4y">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="~_Q+EdEV/6ho6B-lM|e.">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <next>
- <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
- <field name="OP">AND</field>
+ <value name="B">
+ <block type="logic_null" id="Xec|5GQgP=8o:@`Scn4C"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="u#?[x*W2[}s=7T+@kGX3">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
+ <field name="TEXT">NO_BALL_GOAL_BOTH</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
+ <field name="OP">GTE</field>
<value name="A">
- <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="CDb^~4feXbvngdh004${">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
+ <block type="variables_get" id="CDb^~4feXbvngdh004${">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="z~zx!V^G#Ywd}HPCLcCn">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
+ <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="controls_if" id="#R16p?0!Rt1}82Q_5zO2">
- <mutation elseif="1" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="UzXI%rAMZA[}UE*cbXUd">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="@5%T+t9W1)BZT@oXqnww">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="Wb8s[K5@WIquU`@,7c@w">
- <field name="NUM">130</field>
- </block>
- </value>
+ <value name="B">
+ <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="z~zx!V^G#Ywd}HPCLcCn">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="pu3s6{_T@bDFusTBxc)c">
- <mutation name="fwd">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="v0c-z!Z^U6/IWhKEPnE*">
- <field name="NUM">10</field>
- </block>
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- </block>
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- <value name="IF1">
- <block type="logic_compare" id="XoLsJ}.)nZb?`6tpIqv-">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="9NAs7T{MBx/=YP5BpW43">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="|2@A]z`Rs0UlH}Ovv9`T">
- <field name="NUM">40</field>
- </block>
- </value>
+ <value name="B">
+ <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="Y6^M7Oqd:JSsRteXXtVD">
- <mutation name="bwd">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id="8F$+J#P35!A!gFI[:AHU">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="dFB2rRWf.tj`$C?![{FH">
- <field name="NUM">10</field>
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- </statement>
</block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="#R16p?0!Rt1}82Q_5zO2">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="UzXI%rAMZA[}UE*cbXUd">
<field name="OP">LT</field>
<value name="A">
- <block type="variables_get" id="D`d-ScN5}NDq#So6U%2M">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="variables_get" id="@5%T+t9W1)BZT@oXqnww">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <block type="math_number" id="Wb8s[K5@WIquU`@,7c@w">
+ <field name="NUM">130</field>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
- <mutation name="left">
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="pu3s6{_T@bDFusTBxc)c">
+ <mutation name="fwd">
<arg name="v"/>
<arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
+ <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<value name="ARG1">
- <block type="math_number" id="xRlPd!,I^P3`5.OAFO-L">
+ <block type="math_number" id="v0c-z!Z^U6/IWhKEPnE*">
<field name="NUM">10</field>
</block>
</value>
</block>
</statement>
- <value name="IF2">
- <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
+ <value name="IF1">
+ <block type="logic_compare" id="XoLsJ}.)nZb?`6tpIqv-">
<field name="OP">GT</field>
<value name="A">
- <block type="variables_get" id="-;*b3g{dTtQ{%@$gw6P)">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="variables_get" id="9NAs7T{MBx/=YP5BpW43">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ <block type="math_number" id="|2@A]z`Rs0UlH}Ovv9`T">
+ <field name="NUM">40</field>
</block>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="oGweCRo;|ZbP%1KR7B]a">
- <mutation name="right">
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="Y6^M7Oqd:JSsRteXXtVD">
+ <mutation name="bwd">
<arg name="v"/>
<arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="Vc7Fp*A$WDu^X7t.%1`9">
+ <block type="variables_get" id="8F$+J#P35!A!gFI[:AHU">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<value name="ARG1">
- <block type="math_number" id="E-tWBnGP,8}Za*a95_6n">
+ <block type="math_number" id="dFB2rRWf.tj`$C?![{FH">
<field name="NUM">10</field>
</block>
</value>
</block>
</statement>
</block>
- </next>
- </block>
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- <value name="IF1">
- <block type="logic_operation" id="OODzyK;qukR-n-DzK/{V" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="RXI-@2_E6Wh|wxbt$s,I">
- <field name="OP">NEQ</field>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
+ <field name="OP">LT</field>
<value name="A">
- <block type="variables_get" id="do13adT([f7eV=#H|B[K">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <block type="variables_get" id="D`d-ScN5}NDq#So6U%2M">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="xRlPd!,I^P3`5.OAFO-L">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="-;*b3g{dTtQ{%@$gw6P)">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
</block>
</value>
<value name="B">
- <block type="logic_null" id="fizI-!+UN#8/mWI*%=W]"/>
+ <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
</value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="oGweCRo;|ZbP%1KR7B]a">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Vc7Fp*A$WDu^X7t.%1`9">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="E-tWBnGP,8}Za*a95_6n">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="OODzyK;qukR-n-DzK/{V" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="RXI-@2_E6Wh|wxbt$s,I">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="do13adT([f7eV=#H|B[K">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="fizI-!+UN#8/mWI*%=W]"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="xrJIK[zPx+}zKlkzTc#w">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="pc9J=b0[$xVE!_ya2}(Z">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="N19OOSab2Qlki*P#1DVj"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
+ <field name="TEXT">NO_BALL_GOAL_LEFT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="U96^i60j(oeYzU8kTgU}">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="NNO?/UcvB5S=//YOQ51j">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="_v5Xu{_@Lx/yhwcczyYw">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="_ffH*UYCZwP#p@(u*vKt" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="FuFu?Z[*41)=3e8JR]J;">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="SqF~a0kV,A7s{_^N9^ux">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
<value name="B">
- <block type="logic_compare" id="xrJIK[zPx+}zKlkzTc#w">
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- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="N19OOSab2Qlki*P#1DVj"/>
- </value>
- </block>
+ <block type="logic_null" id="!SjW++O0oh^QU(]FB5$#"/>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
- <field name="TEXT">NO_BALL_GOAL_LEFT</field>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="U96^i60j(oeYzU8kTgU}">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id="NNO?/UcvB5S=//YOQ51j">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
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- </value>
- <value name="ARG1">
- <block type="math_number" id="_v5Xu{_@Lx/yhwcczyYw">
- <field name="NUM">10</field>
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- </value>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="_ffH*UYCZwP#p@(u*vKt" inline="false">
- <field name="OP">AND</field>
+ <value name="B">
+ <block type="logic_compare" id="aX7B2KBJ)s)ba|pbt7pB">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="logic_compare" id="FuFu?Z[*41)=3e8JR]J;">
- <field name="OP">EQ</field>
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- <block type="variables_get" id="SqF~a0kV,A7s{_^N9^ux">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="!SjW++O0oh^QU(]FB5$#"/>
- </value>
+ <block type="variables_get" id="+_/Dc,$asRE]ha^Ka).9">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="aX7B2KBJ)s)ba|pbt7pB">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="+_/Dc,$asRE]ha^Ka).9">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="tA?4Q8nb1Np=Ih}SVJbo"/>
- </value>
- </block>
+ <block type="logic_null" id="tA?4Q8nb1Np=Ih}SVJbo"/>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="variables_set" id="zX@s(@}$N7L6cM*{mc:{">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Zw4*=firw67G(Xw@?.}|">
- <field name="TEXT">NO_BALL_GOAL_RIGHT</field>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="variables_set" id="zX@s(@}$N7L6cM*{mc:{">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Zw4*=firw67G(Xw@?.}|">
+ <field name="TEXT">NO_BALL_GOAL_RIGHT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="Wizmeh4`g4Fgmk1A|sV@">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="s+91j;@jAXoyAP!%ls#{">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
- <next>
- <block type="procedures_callnoreturn" id="Wizmeh4`g4Fgmk1A|sV@">
- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="s+91j;@jAXoyAP!%ls#{">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="xovp]RW^z_.J8r09vIYb">
- <field name="NUM">10</field>
- </block>
- </value>
+ <value name="ARG1">
+ <block type="math_number" id="xovp]RW^z_.J8r09vIYb">
+ <field name="NUM">10</field>
</block>
- </next>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
+ <field name="TEXT">NONE</field>
</block>
- </statement>
- <statement name="ELSE">
- <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ </value>
+ <next>
+ <block type="variables_set" id="[XyQyt*v|[_TPm5C]YnP">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
- <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
+ <block type="text" id="IaVZ-uIe[M@`VD!(z-d1">
<field name="TEXT">NONE</field>
</block>
</value>
- <next>
- <block type="variables_set" id="[XyQyt*v|[_TPm5C]YnP">
- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
- <value name="VALUE">
- <block type="text" id="IaVZ-uIe[M@`VD!(z-d1">
- <field name="TEXT">NONE</field>
- </block>
- </value>
- </block>
- </next>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
</statement>
+ </block>
+ </statement>
+ <next>
+ <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
+ <field name="instance_name">txt_label_ball</field>
+ <value name="value">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
+ <field name="TEXT">x:{}, y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
<next>
- <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
- <field name="instance_name">txt_label_ball</field>
+ <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
+ <field name="instance_name">txt_label_goal</field>
<value name="value">
- <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
+ <shadow type="text">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
- <mutation items="2"/>
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="4"/>
<value name="value">
- <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
- <field name="TEXT">x:{}, y:{}</field>
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">left:{} {}, right:{} {}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="ADD1">
- <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="Fe?~n3W$cZh6_K]^Dsyx">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="variables_get" id="^dcWdBa0xHuSF#~S44{U">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="kuo|)Aebqd#k+PebfFA^">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
</block>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal</field>
+ <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
+ <field name="instance_name">txt_label_goal_x</field>
<value name="value">
- <shadow type="text">
+ <shadow type="text" id="}wMC[[!{mYT9LBcx}EtT">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="6"/>
+ <block type="text_format" id="zV,[,3k$`H2B5D[4-c.d">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">left:{} {}, right:{} {}, p:{}, w:{}</field>
+ <shadow type="text" id="pLr%-2L|$X9_^)k~m;J(">
+ <field name="TEXT">p:{}, w:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="variables_get" id="Fe?~n3W$cZh6_K]^Dsyx">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
- </value>
- <value name="ADD2">
- <block type="variables_get" id="^dcWdBa0xHuSF#~S44{U">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="variables_get" id="kuo|)Aebqd#k+PebfFA^">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
- </block>
- </value>
- <value name="ADD4">
- <block type="variables_get" id="#`/5m819@:#HS;yIM[b0">
+ <block type="variables_get" id="1/;a8^BqFI^^?=Ea;HdL">
<field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
</block>
</value>
- <value name="ADD5">
- <block type="variables_get" id="FtuJ6v[UEy/YEuJ3qlsr">
+ <value name="ADD1">
+ <block type="variables_get" id="CD]^^%xF/1z=fT)6mSMr">
<field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
</block>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
- <field name="instance_name">txt_label_counters</field>
- <value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
+ <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
+ <value name="TEXT">
+ <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
+ <field name="TEXT"/>
</shadow>
- <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
- <mutation items="1"/>
+ <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
+ <mutation items="12"/>
<value name="value">
- <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
- <field name="TEXT">{}</field>
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="XdyZ*L#*0E`A`0/3UYf~">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="kiYnqn=QqrO`bh^F{AQ#">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD4">
+ <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id=",3+x;7D(bN-41WySQn.v">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD6">
+ <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD7">
+ <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="ADD8">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD9">
+ <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="ADD10">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ADD11">
+ <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
</block>
</value>
</block>
</value>
<next>
- <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
- <value name="TEXT">
- <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
- <field name="TEXT"/>
- </shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="12"/>
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeoutsSetGoalBoth"/>
+ <next>
+ <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
+ <field name="format">ms</field>
<value name="value">
- <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
+ <field name="NUM">80</field>
</shadow>
</value>
- <value name="ADD0">
- <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
- </block>
- </value>
- <value name="ADD2">
- <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="variables_get" id="kiYnqn=QqrO`bh^F{AQ#">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
- </value>
- <value name="ADD4">
- <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="ADD5">
- <block type="variables_get" id=",3+x;7D(bN-41WySQn.v">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
- </block>
- </value>
- <value name="ADD6">
- <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="ADD7">
- <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
- </value>
- <value name="ADD8">
- <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD9">
- <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="ADD10">
- <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
- </value>
- <value name="ADD11">
- <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeoutsSetGoalBoth"/>
- <next>
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">80</field>
- </shadow>
- </value>
- </block>
- </next>
</block>
</next>
</block>
@@ -1223,9 +1187,9 @@
</block>
</next>
</block>
- </statement>
+ </next>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
@@ -1281,7 +1245,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="4239">
+ <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="4119">
<mutation>
<arg name="shot" varid="ymkMx:g,wGvcvRtYUanL" argid=":62/?4I]sXmWy2!AnMxj"/>
</mutation>
@@ -1646,10 +1610,11 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5478">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5358">
<field name="NAME">checkTimeoutsSetGoalBoth</field>
<statement name="STACK">
- <block type="controls_if" id="63FfwOqK(iF!2~DVc~`p">
+ <block type="controls_if" id="fRY+n0,2r=7:t9`dVQYz">
+ <mutation elseif="0" else="1"/>
<value name="IF0">
<block type="logic_operation" id="L/E/`yRU.kw4/D+HP-F[" inline="false">
<field name="OP">AND</field>
@@ -1731,6 +1696,22 @@
</next>
</block>
</statement>
+ <statement name="ELSE">
+ <block type="variables_set" id="*JOq_(7.hU!xqY=q+|pP">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ <value name="VALUE">
+ <block type="logic_null" id="c%XG[e/MPkRx/,9jseN!"/>
+ </value>
+ <next>
+ <block type="variables_set" id="DBZi_Q9eAo3s#q*X==jX">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <value name="VALUE">
+ <block type="logic_null" id="W019CrRkesv+3sHR8OVd"/>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
<next>
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
<value name="IF0">
@@ -1869,7 +1850,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6143">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6093">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2070,7 +2051,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6810">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6760">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2151,7 +2132,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7141">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7091">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2232,199 +2213,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7472">
- <value name="condition">
- <shadow type="counter_if_value" id="9`P*eh,|:Wnytp?G[|;{">
- <field name="instance_name">TXT_M_C1_motor_step_counter</field>
- <field name="compare_operation">>=</field>
- <value name="value">
- <shadow type="math_number" id="5Xl(_Jtmh*kkjV@06sU4">
- <field name="NUM">0</field>
- </shadow>
- </value>
- </shadow>
- </value>
- <statement name="statement">
- <block type="lists_setIndex" id="+*/p)biB@:ZE)7i/D*eN">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="tm1$ukIcJ0D!/GLak4Ut">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="HUZdEA9c!MBYE/=;9c4,">
- <field name="NUM">1</field>
- </block>
- </value>
- <value name="TO">
- <block type="counter_get_value" id="HJ8AeDsgADK_]_Zx:(rx">
- <field name="instance_name">TXT_M_C1_motor_step_counter</field>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="U]A5v^]#*i_{o(=_~m#9">
- <field name="instance_name">txt_label_counters</field>
- <value name="value">
- <shadow type="text" id=":[wX!6o2X57KB5_uW$?g">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="variables_get" id="jk2Cakj:3K*LVEx9fO#9">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7619">
- <value name="condition">
- <shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
- <field name="instance_name">TXT_M_C2_motor_step_counter</field>
- <field name="compare_operation">>=</field>
- <value name="value">
- <shadow type="math_number" id="}v;NEU2I-b+XB;eJb_8^">
- <field name="NUM">0</field>
- </shadow>
- </value>
- </shadow>
- </value>
- <statement name="statement">
- <block type="lists_setIndex" id="F3O6H[o7DeuMc4EYIlK7">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="SrzEHb)xO0~tZ_L;;:*6">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="t/d4)oJyn4/xDN_H+Gc$">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="TO">
- <block type="counter_get_value" id="TyyeB9r=L2Axv9:)!99P">
- <field name="instance_name">TXT_M_C2_motor_step_counter</field>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="^$c%DR+x0]1{?8B+._e[">
- <field name="instance_name">txt_label_counters</field>
- <value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="variables_get" id="yxoB?]I`o1i,GZZxsT99">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7766">
- <value name="condition">
- <shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
- <field name="instance_name">TXT_M_C3_motor_step_counter</field>
- <field name="compare_operation">>=</field>
- <value name="value">
- <shadow type="math_number" id="wad2)m_Xkx5}`^R4pZJf">
- <field name="NUM">0</field>
- </shadow>
- </value>
- </shadow>
- </value>
- <statement name="statement">
- <block type="lists_setIndex" id="SbWu+L,iw0_ij(;+FMEt">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="r*vZ!`+v(7UQG]?uJ`H~">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="iU9Ld7bh=+wGqLS.r-WO">
- <field name="NUM">3</field>
- </block>
- </value>
- <value name="TO">
- <block type="counter_get_value" id="gT;9PeIm8kcUEZ@,M]y#">
- <field name="instance_name">TXT_M_C3_motor_step_counter</field>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="39cs2hab8c0]XI,eCzQT">
- <field name="instance_name">txt_label_counters</field>
- <value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="variables_get" id="e8uqOpay*)3CoYXGpAcZ">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7913">
- <value name="condition">
- <shadow type="counter_if_value" id="N9]b*Kn_Nxk}[I9e!^Z.">
- <field name="instance_name">TXT_M_C4_motor_step_counter</field>
- <field name="compare_operation">>=</field>
- <value name="value">
- <shadow type="math_number" id="tuFr25CcTXx3l$!b){%{">
- <field name="NUM">0</field>
- </shadow>
- </value>
- </shadow>
- </value>
- <statement name="statement">
- <block type="lists_setIndex" id="eb6^}]rpfB@?MRu8-g}K">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="rl=7;!=vM{2]GEWoJ~ws">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="2)wsT9dj3mq=ai?m!eD5">
- <field name="NUM">4</field>
- </block>
- </value>
- <value name="TO">
- <block type="counter_get_value" id="*sHixWWo*TJ-^N9/}Hh#">
- <field name="instance_name">TXT_M_C4_motor_step_counter</field>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="{=2n9bd|c|$3;uM@}m~B">
- <field name="instance_name">txt_label_counters</field>
- <value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="variables_get" id="}~Ru`N3Z!CY/K,tcV{N$">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
- </block>
- </value>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8060">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="7422">
<value name="condition">
<block type="input_photo_transistor_if_state" id="dX]-jf`=2/tNnEnHfKvx">
<field name="instance_name">TXT_M_I8_photo_transistor</field>
@@ -2447,7 +2236,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8197">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="7559">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -2559,7 +2348,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="8754">
+ <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="8116">
<field name="NAME">soundGoal</field>
<statement name="STACK">
<block type="variables_set" id="o^c1yss2pIv%8YmX`=6X">
@@ -2600,7 +2389,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8948">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8310">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="-fFb#6a:h}yA(|L+pf*l"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="h?@dWX*~x|BDzo:O{is["/>
@@ -2697,7 +2486,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="9361">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="8723">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="k6At@e}Qga_x|SmVlf6C"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="~VyZflQ+9HCPP`ynQ/=Y"/>
@@ -2794,7 +2583,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="9774">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="9136">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="K)Z,8|d5@gck+Q]pnW01"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="(Id`t]O(jxfZJay}20X{"/>
@@ -2870,7 +2659,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="10159">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="9521">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -2946,7 +2735,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10544">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="9906">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3037,7 +2826,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="10985">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="10347">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 21f192cfb756f47a9ec71fbd5427c963bee0d2dd..9f1bc42cd7974801606f74abbdbfdb18362d4d24 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -21,7 +21,6 @@ goal_width = None
posx_ball = None
posx_goal_left = None
posx_goal_right = None
-counters = None
x_min = None
posx_goal_both = None
posy_ball = None
@@ -37,10 +36,13 @@ y_ball_touch = None
y_ball_near = None
search_dir_left = None
def checkTimeoutsSetGoalBoth():
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if posx_goal_left != None and posx_goal_right != None:
goal_width = posx_goal_right - posx_goal_left
posx_goal_both = posx_goal_left + goal_width / 2
+ else:
+ goal_width = None
+ posx_goal_both = None
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
@@ -54,7 +56,7 @@ def checkTimeoutsSetGoalBoth():
def stepBall(shot):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
state = 'stepBall'
if posx_ball < x_min:
left(v_slow, round(math.fabs(posx_ball) * 0.07))
@@ -76,7 +78,7 @@ def stepBall(shot):
def ball_callback(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -89,7 +91,7 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
ts_goal_left = (time.time() * 1000)
posx_goal_left = event.value.x
posy_goal_left = event.value.y
@@ -100,7 +102,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
ts_goal_right = (time.time() * 1000)
posx_goal_right = event.value.x
posy_goal_right = event.value.y
@@ -111,57 +113,17 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
- if TXT_M_C1_motor_step_counter.get_count() >= 0:
- counters[0] = TXT_M_C1_motor_step_counter.get_count()
- display.set_attr("txt_label_counters.text", str(counters))
-
-
-TXT_M_C1_motor_step_counter.add_change_listener("count", callback)
-
-
-def callback2(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
- if TXT_M_C2_motor_step_counter.get_count() >= 0:
- counters[1] = TXT_M_C2_motor_step_counter.get_count()
- display.set_attr("txt_label_counters.text", str(counters))
-
-
-TXT_M_C2_motor_step_counter.add_change_listener("count", callback2)
-
-
-def callback3(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
- if TXT_M_C3_motor_step_counter.get_count() >= 0:
- counters[2] = TXT_M_C3_motor_step_counter.get_count()
- display.set_attr("txt_label_counters.text", str(counters))
-
-
-TXT_M_C3_motor_step_counter.add_change_listener("count", callback3)
-
-
-def callback4(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
- if TXT_M_C4_motor_step_counter.get_count() >= 0:
- counters[3] = TXT_M_C4_motor_step_counter.get_count()
- display.set_attr("txt_label_counters.text", str(counters))
-
-
-TXT_M_C4_motor_step_counter.add_change_listener("count", callback4)
-
-
-def callback5(event):
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
-TXT_M_I8_photo_transistor.add_change_listener("dark", callback5)
+TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
def shotBall():
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'shotBall'
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
@@ -188,7 +150,7 @@ def shotBall():
def soundGoal():
- global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'soundGOAL'
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
display.set_attr("txt_switch_active.checked", str(False).lower())
@@ -199,7 +161,7 @@ def soundGoal():
def turnSideLeft(v, ticks):
- global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'turnSideLeft'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
@@ -215,7 +177,7 @@ def turnSideLeft(v, ticks):
def turnSideRight(v, ticks):
- global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'turnSideRight'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
@@ -231,7 +193,7 @@ def turnSideRight(v, ticks):
def fwd(v, ticks):
- global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'fwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -246,7 +208,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'bwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -261,7 +223,7 @@ def bwd(v, ticks):
def left(v, ticks):
- global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'left ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -276,7 +238,7 @@ def left(v, ticks):
def right(v, ticks):
- global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'right ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -307,7 +269,6 @@ posx_goal_right = None
posy_goal_right = None
goal_width = 0
posx_goal_both = 0
-counters = [TXT_M_C1_motor_step_counter.get_count(), TXT_M_C2_motor_step_counter.get_count(), TXT_M_C3_motor_step_counter.get_count(), TXT_M_C4_motor_step_counter.get_count()]
posx_ball = None
posy_ball = None
ts_ball = (time.time() * 1000)
@@ -366,8 +327,8 @@ while True:
state = 'NONE'
cmd = 'NONE'
display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
- display.set_attr("txt_label_goal.text", str('left:{} {}, right:{} {}, p:{}, w:{}'.format(posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right, posx_goal_both, goal_width)))
- display.set_attr("txt_label_counters.text", str('{}'.format(counters)))
+ display.set_attr("txt_label_goal.text", str('left:{} {}, right:{} {}'.format(posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right)))
+ display.set_attr("txt_label_goal_x.text", str('p:{}, w:{}'.format(posx_goal_both, goal_width)))
print('{}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right, posx_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
checkTimeoutsSetGoalBoth()
time.sleep(0.08)