diff --git a/lib/camera.py b/lib/camera.py
index 64e21ac46bbd4547b6d578310f221cd3b547636e..d9a6e1d94c0650ae5fd680291b756834c61f1882 100644
--- a/lib/camera.py
+++ b/lib/camera.py
@@ -17,9 +17,9 @@ TXT_M_USB_1_camera.add_blocked_area(blocked_area_right)
blocked_area_left = txt_factory.camera_factory.create_blocked_area(0, 190, 80, 50)
TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
-ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [203,163,120], 25)
+ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [214,169,52], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
-ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [69,110,52], 25)
+ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [90,156,81], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_left)
diff --git a/lib/camera.xml b/lib/camera.xml
index 552d554c94034eed3495512c6e26b9b8b385fdb8..5614dd9d81f01635d668663e6e786db83d10b84d 100644
--- a/lib/camera.xml
+++ b/lib/camera.xml
@@ -1 +1 @@
-<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#e1927c</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#cba378</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#456e34</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
+<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#e1927c</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#d6a934</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#5a9c51</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</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 b0827325b5c53917ea2519d4f23c045fd8406b45..762bd452dd2d2138fab89e2079f180a4cd07cb9c 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -23,6 +23,8 @@
<variable id="09n]XF2CKURQs)nHOfam">y_ball_near</variable>
<variable id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</variable>
<variable id="1idj3sw*{G$j`2:II{^5">v_fast</variable>
+ <variable id="v0BvP7[91TGaMpQG$r0f">goal_width</variable>
+ <variable id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</variable>
<variable id="vH;^OzJY7dOdepMScU1s">state</variable>
</variables>
<block type="start_block" id="1n38UCidqR*}g6g]e[!h" deletable="false" x="0" y="0">
@@ -137,248 +139,218 @@
</block>
</value>
<next>
- <block type="variables_set" id="^^;w:J4Fa?h,#*%To;{+">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <block type="variables_set" id="siEn)/PP4ow+$+;v/3DX">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
<value name="VALUE">
- <block type="lists_create_with" id="1k[v{tojVArtdZ^%5v;1">
- <mutation items="4"/>
- <value name="ADD0">
- <block type="counter_get_value" id="GohWJgM]B+R*n;%2J2t[">
- <field name="instance_name">TXT_M_C1_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="counter_get_value" id="Bb1N_HOP|)`|I9^$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$">
- <field name="instance_name">TXT_M_C4_motor_step_counter</field>
- </block>
- </value>
+ <block type="math_number" id="NQ:~;QX9f2Xsrr91{7//">
+ <field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_set" id="hc)5l^82a8Q6o[fFnE0c">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
<value name="VALUE">
- <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
+ <block type="math_number" id="~Ueydi[Pm-G]oO2Y*H_~">
+ <field name="NUM">0</field>
+ </block>
</value>
<next>
- <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_set" id="^^;w:J4Fa?h,#*%To;{+">
+ <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
<value name="VALUE">
- <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
+ <block type="lists_create_with" id="1k[v{tojVArtdZ^%5v;1">
+ <mutation items="4"/>
+ <value name="ADD0">
+ <block type="counter_get_value" id="GohWJgM]B+R*n;%2J2t[">
+ <field name="instance_name">TXT_M_C1_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="counter_get_value" id="Bb1N_HOP|)`|I9^$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$">
+ <field name="instance_name">TXT_M_C4_motor_step_counter</field>
+ </block>
+ </value>
+ </block>
</value>
<next>
- <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
- <field name="TIME">MILLISECOND</field>
- </block>
+ <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
</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="aF_J-4Iq4Jy=)dS.]:62">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
- <field name="TIME">MILLISECOND</field>
- </block>
+ <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
</value>
<next>
- <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
<value name="VALUE">
- <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
- <field name="BOOL">TRUE</field>
+ <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
+ <field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
<value name="VALUE">
- <block type="text" id="V.-^bs67=#+RFV.YX~P,">
- <field name="TEXT">NONE</field>
+ <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <field name="TIME">MILLISECOND</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>
+ <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
<value name="VALUE">
- <block type="text" id="vc4C]$ok!Yk@_eIUD8L)">
- <field name="TEXT">NONE</field>
+ <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
+ <field name="BOOL">TRUE</field>
</block>
</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>
+ <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="V.-^bs67=#+RFV.YX~P,">
+ <field name="TEXT">NONE</field>
+ </block>
</value>
<next>
- <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
- <statement name="DO">
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeouts"/>
+ <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]$ok!Yk@_eIUD8L)">
+ <field name="TEXT">NONE</field>
+ </block>
+ </value>
+ <next>
+ <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
+ <field name="format">s</field>
+ <value name="value">
+ <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
<next>
- <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
- <value name="IF0">
- <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
- <field name="instance_name">txt_switch_active</field>
- <field name="property_name">checked</field>
- </block>
- </value>
- <statement name="DO0">
- <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
- <mutation elseif="6" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="xiIzl/p_!nb4$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>
- <value name="B">
- <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$">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="~GuPJ/(BunJIEuttSlw5">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="B~Ic{tkFNcdReHWMqxf6">
- <field name="NUM">1</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="Il7jHRe($kU8GqYG+eR#">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=",RX#r,ztOfES#y;BmliI">
- <field name="NUM">2</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
- <field name="TEXT">BALL_NO_GOAL</field>
+ <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
+ <statement name="DO">
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeouts"/>
+ <next>
+ <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
+ <value name="IF0">
+ <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
</block>
</value>
- <next>
- <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
- <mutation elseif="2" else="1"/>
+ <statement name="DO0">
+ <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
+ <mutation elseif="6" else="1"/>
<value name="IF0">
- <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
- <field name="OP">GTE</field>
+ <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <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="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
+ </value>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
- <field name="OP">LTE</field>
+ <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="~GuPJ/(BunJIEuttSlw5">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="B~Ic{tkFNcdReHWMqxf6">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="Il7jHRe($kU8GqYG+eR#">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=",RX#r,ztOfES#y;BmliI">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
+ </value>
</block>
</value>
</block>
@@ -386,1249 +358,1289 @@
</block>
</value>
<statement name="DO0">
- <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
- <mutation elseif="3" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
- </block>
- </value>
+ <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
+ <field name="TEXT">BALL_NO_GOAL</field>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
- <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ <next>
+ <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
+ <statement name="DO0">
+ <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
+ <mutation elseif="3" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
+ <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="L/RedQ[=!jNwBI,ivSt/">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="qkncjacBYB1~0@aF1Q[x">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <value name="IF3">
+ <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO3">
+ <block type="procedures_callnoreturn" id=";$*URO!$mNp;(}~rEzSA" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="[3C}+lMgr=zfSwjcYdsJ">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
<field name="OP">GT</field>
<value name="A">
- <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="L/RedQ[=!jNwBI,ivSt/">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
- <field name="OP">LTE</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="Do:{V-Htoxi(Ky;5q%7)">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="O(GD0npMQ5}pU7S_p6Fw" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="EmeRL7tak./N9g?B@nFs">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="($1]A%(r+nV+-me@mi{*">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="5*ed5[K7:%|#-rdvwe2p">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="ex%*G*X[(1UM%,lV]FfW">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="nqm#GPG6WTZ|}UMKIt!{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
+ <field name="OP">LT</field>
<value name="A">
- <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="#7@$9Gz4rn?uePi|!w5H">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="W3t]erG4jM/-7Ha9Rz8=" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id=";7U*){*?kwgf!k^}}5GA">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="ii5E[ARI)`Bgg5KUe]}u">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="_rWdYF]99IuNPR?jeS*v">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="fC}]TN}rkpW?/cte-Bp]">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="8+tZg^1UjmO}E,sNn-t{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
- </value>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="K2~d9j?nrPh-CWpCKZ^I">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
+ </next>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="B~L1BuQh-S6uKm^YJSgH" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_operation" id="4bB{1Bu{%4*rAe!/uepL" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
- <field name="OP">GT</field>
+ <block type="logic_compare" id="*p.1tBx0!3(A,.#v~}gR">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
- </block>
+ <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
- <field name="OP">LTE</field>
+ <block type="logic_compare" id="|rcsXSAUj_o}mh1L:hw3">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <block type="variables_get" id="V1Jj,Q+-!7UMu,ag}Y2#">
<field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="qkncjacBYB1~0@aF1Q[x">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
- </block>
+ <block type="logic_null" id="b7),FwxGz-g+3(2a:iAH"/>
</value>
</block>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
- <mutation name="turnBallLeft"/>
- </block>
- </statement>
- <value name="IF3">
- <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
- <field name="OP">LTE</field>
+ <value name="B">
+ <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="s5?^~_8K{8Ds{9:#%k6@">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O/m@rtsP1-]GZu;z!Kd7">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="AHQ$-$-`kl9D]lvFKqEw">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="c0`hO)W_@*rN3v3J#n/b"/>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
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<value name="A">
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- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
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- <value name="VALUE">
- <block type="variables_get" id="BBBFnF[e5`GyH[7wiUs#">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
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- <block type="math_number" id="vC3tOvv+vwtnqY^-oVd,">
- <field name="NUM">2</field>
- </block>
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- <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- </block>
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- <statement name="DO0">
- <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
- <mutation name="turnBallRight"/>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="Y-@u6Td#HTIS8}mNdpK3">
- <field name="OP">GT</field>
- <value name="A">
- <block type="lists_getIndex" id="d]*F5d_Lln-:DXn6cPxb">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
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- <block type="variables_get" id="%ykvuZ~kV2+~os0o2k{?">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=";]Yk({gn.(Ha3=/nM5`]">
- <field name="NUM">2</field>
+ <block type="lists_getIndex" id="*LHs;5s*!AaP%zlD5e]o">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="%*W`_VauA#TUT8Bhr(l[">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="2~D!AD)saoFre@h_@fqZ">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="=$ulk!vkDhWA^fYK?b*b">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- </block>
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- <statement name="DO1">
- <block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
- <mutation name="turnBallLeft"/>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="faLX{cmn%m5GLE$Qa$jP">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="p/ukr6sWeNnUPhQlK[{B">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="}Tawuqa_TE/qeAVT.RC5">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="$Z+:;,t[mQ]aaUe_UNhM" inline="true">
- <mutation name="bwd_v">
- <arg name="v"/>
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- <value name="ARG0">
- <block type="variables_get" id="|eX:`Adtu3l.8ZaYcgJF">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="bi9hG~0MI@s}v(fCd[tp">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF3">
- <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="JDmD0uu$,6*6XI.*8Y=T" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="JvLUnlLulIk{o},vW~}y">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="$-jleAiV2GHR%[$RfY4I">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
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- <value name="B">
- <block type="logic_null" id="TvSq3M9?{oeuq~TW*ihg"/>
- </value>
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- <value name="B">
- <block type="logic_compare" id="9/b,vDMaH:m,r{gleX7O">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="F!:=i0jN5fR[{l7EwBYG">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="lP$*f:B}Uv4E]8^Ao)y2"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="!WgYF}aMS$sC-.xB$JAg">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id=",+(z.@/%C`r?(v8{Xk6?">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="l]wQ?}.TM,m@sJl.9c$4">
- <field name="NUM">1</field>
- </block>
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- <value name="B">
- <block type="logic_null" id="%PXc[::|r[K5tThFGgi."/>
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- <value name="B">
- <block type="logic_compare" id="RoSQV[2xNmOan/JtAO~{">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="jw),#3VHMem^tEQX|.;1">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="k9g4HbL]=_@lVwgYM*{e">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="lm,[gP|qh0[95%Rr2M|@">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
+ </value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
- </value>
</block>
</value>
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- <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="mBr6R|Ld1(7@wFK@LEc%">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Ef@EH~LEo9ldV~aTkL)v">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="eNn.jAQuZB`.!|a-}8Bm">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
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- <value name="B">
- <block type="variables_get" id="Vn}:ap@@leJ;ERn5!ulQ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <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>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="ug]~pSocMN6aC`I.!9FY" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
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- <block type="variables_get" id="3-Iarkq=#yiSq^]Squ6+">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <next>
+ <block type="controls_if" id="*BrJG}XZ76}TB4xGqW~`">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id=";t5FsnVMWwTmT^NniB|e">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="T7qB~%1Qe1a.P*MQs$Ij">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="D)b~KYP=}7Q`ujSBZJyh">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="3TBW}iU2UgA?brmPI5+J" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="bLDCOqV7YSx,/UkFj)T%">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id=".k[+$zFZm_;CFMOBjQ=U">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="iY/UC$Qo23IduI}_6|fy">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="NF,/T;m.#62@CZQe#+[`">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="KJ#o$M|scI;Nb]boFDzc">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Hvw%^q~Hu5/N%}1^$97E">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")Y^E1(LwkP6u5Zr]E#v/">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="yIp~#Cn:I`9g1gyN4|22">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="tchE8Qc)Kp|9?UE;Fpe%">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
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+ <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
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+ <block type="variables_get" id="M9wjV+z*e*Hh*PspIXEY">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="4!};}Pi@kx7+v]x,}fg2">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="Bl$M.GwPg~+!37[;`0o2">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="hk4|9x7W)79Bt`+.QJ}h">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="lFZoL.IQB6RM@%_m9*-3">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="QN+5a=dUZe|3;6UVwiue" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="v5iy]*Vt3nsse;Eg[EjI">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
+ </next>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="Gm+JczBwo$*$lI1hn(bE">
- <field name="OP">LTE</field>
+ <value name="IF2">
+ <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="}m|a8Yo5TtRP74mP_mv`">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
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- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
- <field name="OP">GT</field>
+ <block type="logic_compare" id="OeAZ19W_g)]s*LP0=8r,">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
+ <block type="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
<field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="Gk1Ni~yuA0xqGVB)m$,r">
+ <block type="logic_null" id="z~Da7_)q,Bo-$yJb73oH"/>
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+ <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
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+ </value>
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+ </value>
+ <value name="B">
+ <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
+ <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="Yjz]w]~(6fa5M=#WKCa0">
+ <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
<field name="NUM">1</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
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</block>
</value>
<value name="B">
- <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
- <field name="OP">LT</field>
+ <block type="logic_compare" id=";P}d!ou6kF,_]Y}2c}oU">
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<value name="A">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="lists_getIndex" id="7$6J3IxJ7|`Pjsi)y#ph">
+ <block type="lists_getIndex" id="9qxZzDB=dlHB#35+H*!N">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="-/6oVeveklwv!S}e852|">
+ <block type="variables_get" id="D3C[P^f3vp}xb!,-2#r5">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="oJ]4?$gJ]C@;,f%ql6dR">
+ <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
<field name="NUM">2</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
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</block>
</value>
</block>
</value>
- <statement name="DO0">
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- <value name="ARG0">
- <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </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="controls_if" id="oOSLtR1E1%!.Oz+LD*|O">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="{AkiSJ!:M-e{%|_5,Va{">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="u2W_3eBph941yf[`AO1:">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="m`EhNfvklFtISL#l0*_4">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="]2;?=Iy9hHyC!C}^y~h~" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ytx*_*[sy$_4eoX:jjS#">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="rWZfl+Ze,4+*KK/_Y|f2">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id=".K(H|%8UHLv-,l~)q36:">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="~UptJA?^oJ2DWj=i2Yfh">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="s(!f@_5wN)RYM`|~CC8r">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="!5NG0L6Qc4L9!/ENQ#^6">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="hPhr1/4Q89owPRmZ4=A@">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="BBBFnF[e5`GyH[7wiUs#">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="vC3tOvv+vwtnqY^-oVd,">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="Y-@u6Td#HTIS8}mNdpK3">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="d]*F5d_Lln-:DXn6cPxb">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="%ykvuZ~kV2+~os0o2k{?">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=";]Yk({gn.(Ha3=/nM5`]">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="=$ulk!vkDhWA^fYK?b*b">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="faLX{cmn%m5GLE$Qa$jP">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="p/ukr6sWeNnUPhQlK[{B">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="}Tawuqa_TE/qeAVT.RC5">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="$Z+:;,t[mQ]aaUe_UNhM" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="|eX:`Adtu3l.8ZaYcgJF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="bi9hG~0MI@s}v(fCd[tp">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
+ </next>
+ </block>
+ </statement>
+ <value name="IF3">
+ <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_operation" id="JDmD0uu$,6*6XI.*8Y=T" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
- <field name="OP">LT</field>
+ <block type="logic_compare" id="JvLUnlLulIk{o},vW~}y">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
+ <block type="variables_get" id="$-jleAiV2GHR%[$RfY4I">
<field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="m?]jjfWt9tUIy,F_m%}i">
+ <block type="logic_null" id="TvSq3M9?{oeuq~TW*ihg"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="9/b,vDMaH:m,r{gleX7O">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="F!:=i0jN5fR[{l7EwBYG">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="lP$*f:B}Uv4E]8^Ao)y2"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="!WgYF}aMS$sC-.xB$JAg">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="awS7kY(J(0{xSv!/NOei">
+ <block type="variables_get" id=",+(z.@/%C`r?(v8{Xk6?">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
+ <block type="math_number" id="l]wQ?}.TM,m@sJl.9c$4">
<field name="NUM">1</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="%PXc[::|r[K5tThFGgi."/>
+ </value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="-I~|7,G,H7p/(=+cA3L}">
- <field name="OP">LT</field>
+ <block type="logic_compare" id="RoSQV[2xNmOan/JtAO~{">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="g-:OONj{*4WfXZ](X!%a">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="lists_getIndex" id="H3fd}ZOe,bwQPX(LV4rW">
+ <block type="lists_getIndex" id="jw),#3VHMem^tEQX|.;1">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="O4%TBS/MO3[pyE`r5us3">
+ <block type="variables_get" id="k9g4HbL]=_@lVwgYM*{e">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
+ <block type="math_number" id="lm,[gP|qh0[95%Rr2M|@">
<field name="NUM">2</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
+ </value>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
- <mutation name="turnBallLeft"/>
+ </block>
+ </value>
+ <statement name="DO3">
+ <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>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="Z{tUKy/pPWJWfeWiqZqa">
- <field name="OP">GT</field>
+ </value>
+ <next>
+ <block type="controls_if" id="mBr6R|Ld1(7@wFK@LEc%">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Ef@EH~LEo9ldV~aTkL)v">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="1MDI2fR,ALRZOi}FccVJ">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="eNn.jAQuZB`.!|a-}8Bm">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Vn}:ap@@leJ;ERn5!ulQ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="ug]~pSocMN6aC`I.!9FY" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="3-Iarkq=#yiSq^]Squ6+">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="Gm+JczBwo$*$lI1hn(bE">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="}m|a8Yo5TtRP74mP_mv`">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="$#D6FdXJ6/Dl!OW3tB3d">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="u:~b5-PiU+[pu_1,Xa98">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="Gk1Ni~yuA0xqGVB)m$,r">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="Yjz]w]~(6fa5M=#WKCa0">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </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="lists_getIndex" id="7$6J3IxJ7|`Pjsi)y#ph">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="-/6oVeveklwv!S}e852|">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="oJ]4?$gJ]C@;,f%ql6dR">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="sZ-Q381UDm_7-@_=u,Nb" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <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="lists_getIndex" id="m?]jjfWt9tUIy,F_m%}i">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="awS7kY(J(0{xSv!/NOei">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="-I~|7,G,H7p/(=+cA3L}">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="g-:OONj{*4WfXZ](X!%a">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="H3fd}ZOe,bwQPX(LV4rW">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O4%TBS/MO3[pyE`r5us3">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="lists_getIndex" id="{/rW*q)WC4YJAc_{6zEv">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="[=.-l*d|=LkB@kx^g=zQ">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="Z{tUKy/pPWJWfeWiqZqa">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="1MDI2fR,ALRZOi}FccVJ">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="{/rW*q)WC4YJAc_{6zEv">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="[=.-l*d|=LkB@kx^g=zQ">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="*X%si/+l#z3E95A1SS{L">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="*X%si/+l#z3E95A1SS{L">
- <field name="NUM">1</field>
+ <value name="B">
+ <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="lists_getIndex" id="b*n2dt}`Z4Ea^z3!_-k#">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="ag@C3!BdIHxH`fg9pah1">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
- <value name="B">
- <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
- <field name="OP">GT</field>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="cn5,`k@5*q#XXj0ugN64">
+ <field name="OP">LTE</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 type="variables_get" id="%s03s#6dgd9,gsBFI%jB">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="b*n2dt}`Z4Ea^z3!_-k#">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="ag@C3!BdIHxH`fg9pah1">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
- <field name="NUM">2</field>
- </block>
- </value>
+ <block type="variables_get" id="[p/x;`ab/;Bg4Kn8589%">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
- <mutation name="turnBallRight"/>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
- <mutation name="stop"/>
- </block>
- </statement>
+ </next>
</block>
</statement>
- <value name="IF2">
- <block type="logic_compare" id="cn5,`k@5*q#XXj0ugN64">
- <field name="OP">LTE</field>
+ <value name="IF4">
+ <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="%s03s#6dgd9,gsBFI%jB">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="a2r-4w=%vQYhSHM`~eZ]">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="T$V8$ZEi|{};;VR5guWF">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="CkEN:gECzR=^Fe$@:9TJ">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="o5dj.]+Z)07l-FMKaT%{"/>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="[p/x;`ab/;Bg4Kn8589%">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
- <mutation name="bwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF4">
- <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="a2r-4w=%vQYhSHM`~eZ]">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="T$V8$ZEi|{};;VR5guWF">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="CkEN:gECzR=^Fe$@:9TJ">
- <field name="NUM">1</field>
+ <block type="logic_compare" id="L1~%)SdSHa$uo6A.8#6f">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
+ </value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="o5dj.]+Z)07l-FMKaT%{"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="L1~%)SdSHa$uo6A.8#6f">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
+ <statement name="DO4">
+ <block type="variables_set" id="u#?[x*W2[}s=7T+@kGX3">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
<value name="VALUE">
- <block type="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
- <field name="NUM">2</field>
+ <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
+ <field name="TEXT">NO_BALL_GOAL_BOTH</field>
</block>
</value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO4">
- <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$aV~zkMY*tl" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
- <field name="OP">LT</field>
- <value name="A">
+ <next>
+ <block type="variables_set" id="[N80,Pt{V6fUM/*V.[V,">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ <value name="VALUE">
<block type="math_arithmetic" id="stzng{bs`Stm,oBHUX4!" inline="false">
<field name="OP">MINUS</field>
<value name="A">
@@ -1667,612 +1679,592 @@
</value>
</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>
- </value>
- <value name="B">
- <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="4Y=iZrdYGWmqI3n^Qia^" inline="false">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="lists_getIndex" id="1ChGpLd?q.BTzqaV^%Kd">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="$3]ihsX$QqGH0*uM8$0}">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <next>
+ <block type="variables_set" id="VutK`C):{nbAi#Axhu!x">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ <value name="VALUE">
+ <block type="math_arithmetic" id="(KM3-N3=G5B(T:(!4_lq">
+ <field name="OP">ADD</field>
+ <value name="A">
+ <block type="lists_getIndex" id="O5iD_F}AP}iER@R$NK33">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="bS|/)kwXja$*IpF01zL/">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=":4|cpDZKz*Q32q4rCR4[">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="!`XkfPY{Xf%.#?+~LDkZ">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="math_arithmetic" id="X;-9(dOX5-El:hAx$.=B">
+ <field name="OP">DIVIDE</field>
+ <value name="A">
+ <block type="variables_get" id="Z4=3XhJOodeLD~q6l?{4">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="+%Vyps+4_*q%/:(:2j+E">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="lists_getIndex" id="^h3?BJeP34MIrWaZ9@rY">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="4[dCFY5H/eN@cFMa{f^Y">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <next>
+ <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="fn=DRPVeg$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="variables_get" id="CDb^~4feXbvngdh004${">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_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>
+ </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[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="b@F!?=;Ry:$m$S6*-q%?">
- <field name="NUM">1</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="Hv;PVkTzhtVls=i_!Gc@" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="D`d-ScN5}NDq#So6U%2M">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="xH1rS2h$??lsC(b5|}S%" inline="true">
+ <mutation name="left_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="J/%Oa`9f,Y13y_bOs_ef">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</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[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
+ <mutation name="right_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="nCzWllccVaUk{$/gd9*b">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </next>
</block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="Hv;PVkTzhtVls=i_!Gc@" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <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>
+ </next>
</block>
- </value>
+ </next>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
- <field name="OP">LT</field>
+ <value name="IF5">
+ <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="math_arithmetic" id="Ai7:`$F~9O2YGCqE}7]%" inline="false">
- <field name="OP">MINUS</field>
+ <block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="lists_getIndex" id=";}IGw$j4`qR]-V6y1F{C">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="qeaIcn2J!s[tLnzs1-TD">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="R$,3LHh`g+6Wa:m#*[Ys">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="rwEBIEg)#f$fNY):g16?">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="$@C}!!6KJsxT:/2%*qFq">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="9d:a29Y`@{YMRdTLZH|W"/>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="R=vnD6%qBZ6oMp]rsnuD">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="4$hv.8aI05y@,%h(#M!|">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="chjUw+0f?gW,C~KalQZQ">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="J;t`p`a%Tr`zE:+/Lx%x">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="ATE$C[5@_7i#/$0#A=C,">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
</value>
</block>
</value>
</block>
</value>
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- <block type="math_arithmetic" id="|7Z%Ki.3uN~;7c7dD[@e" inline="false">
- <field name="OP">MINUS</field>
+ <block type="logic_operation" id="w[--Ee4II.j.3yFUzaHC" inline="false">
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<value name="A">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
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</value>
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</value>
</block>
</value>
<value name="B">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="w[W/2lkK6=`$]ikD=RR|">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <statement name="DO5">
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+ <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
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</block>
</value>
- <value name="B">
- <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
- </value>
+ <next>
+ <block type="procedures_callnoreturn" id="Vzc:}E8,Hsc_h7}a.*Sh" inline="true">
+ <mutation name="right_v">
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+ <value name="ARG0">
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</block>
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- <block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
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+ </statement>
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+ <block type="logic_operation" id="@A84Nx^IpXz%LCYDf+3a" inline="false">
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<value name="A">
- <block type="lists_getIndex" id="0+*2|0;-#|/B`S;lfIBC">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_operation" id="9{.L1,^dK`cx%gkekh((" inline="false">
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</block>
</value>
- <value name="AT">
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+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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</value>
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<value name="B">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_operation" id="/CB,rxMtGbnS.o4@P$H9" inline="false">
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</value>
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</value>
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</value>
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <statement name="DO6">
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</block>
</value>
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- <field name="NUM">1</field>
+ <next>
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</value>
</block>
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- <value name="AT">
- <block type="math_number" id="neYV=.Td3fuL+NU,#Tfy">
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+ </statement>
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+ <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
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+ <next>
+ <block type="procedures_callnoreturn" id="_X-|0l5pe^4k**|RuSSZ" inline="true">
+ <mutation name="search_ball_rot">
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</value>
</block>
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- <value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">x:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </next>
</block>
- </value>
+ </statement>
</block>
- </value>
+ </statement>
<next>
- <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
- <field name="instance_name">txt_label_counters</field>
+ <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">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
- <mutation items="1"/>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
- <field name="TEXT">{}</field>
+ <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="XdyZ*L#*0E`A`0/3UYf~">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <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="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"/>
+ <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">
+ <field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="8"/>
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="3"/>
<value name="value">
- <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{}:{} GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">x:{}, {}, w:{}</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 type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</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 type="variables_get" id="#`/5m819@:#HS;yIM[b0">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
</block>
</value>
<value name="ADD2">
- <block type="lists_getIndex" id=";CdZ:9!xf(3gc%Mh;He0">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
+ <block type="variables_get" id="FtuJ6v[UEy/YEuJ3qlsr">
+ <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>
+ </shadow>
+ <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
+ <mutation items="1"/>
+ <value name="value">
+ <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
+ <field name="TEXT">{}</field>
+ </shadow>
</value>
- <value name="AT">
- <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
- <field name="NUM">1</field>
+ <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>
</value>
</block>
</value>
- <value name="ADD3">
- <block type="lists_getIndex" id="a4ca)9;+OLbvk6YkfibR">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <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="10"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}:{} GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</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="lists_getIndex" id=";CdZ:9!xf(3gc%Mh;He0">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="lists_getIndex" id="a4ca)9;+OLbvk6YkfibR">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="ADD4">
+ <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="ADD6">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD7">
+ <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="ADD8">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ADD9">
+ <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
- <field name="NUM">2</field>
+ <next>
+ <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
+ <field name="NUM">70</field>
+ </shadow>
+ </value>
</block>
- </value>
+ </next>
</block>
- </value>
- <value name="ADD4">
- <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD5">
- <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="ADD6">
- <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="ADD7">
- <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="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">70</field>
- </shadow>
- </value>
+ </next>
</block>
</next>
</block>
@@ -2282,11 +2274,11 @@
</block>
</next>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -2336,7 +2328,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6071">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6171">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -2482,7 +2474,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6524">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6624">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2683,7 +2675,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7191">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7291">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2763,7 +2755,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7494">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7594">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2843,7 +2835,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7797">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7897">
<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>
@@ -2891,7 +2883,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7944">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="8044">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2939,7 +2931,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8091">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8191">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -2987,7 +2979,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8238">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8338">
<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>
@@ -3035,7 +3027,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8385">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8485">
<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>
@@ -3058,7 +3050,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8522">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8622">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -3193,7 +3185,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9136">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9236">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="variables_set" id="0lb+=KDkMxl8Q(.f(!U4">
@@ -3215,7 +3207,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9357">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9457">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3253,7 +3245,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9606">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9706">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3291,7 +3283,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9855">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9955">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3329,7 +3321,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10104">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10204">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3367,7 +3359,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10353">
+ <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10453">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3418,7 +3410,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10622">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10722">
<field name="NAME">turnBallLeft</field>
<statement name="STACK">
<block type="variables_set" id="nf?K,a/5MLaj.5?J/IGs">
@@ -3465,7 +3457,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10843">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10943">
<field name="NAME">turnBallRight</field>
<statement name="STACK">
<block type="variables_set" id="$K=E,g/}k}au~ZyqB!+S">
@@ -3512,7 +3504,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11064">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11164">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3550,7 +3542,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11313">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11413">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3588,7 +3580,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11562">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11662">
<mutation>
<arg name="v" varid="DfDz@$]?^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{"/>
@@ -3664,7 +3656,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="11947">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="12047">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -3740,7 +3732,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12332">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12432">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3816,7 +3808,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="12717">
+ <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="12817">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3888,7 +3880,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="13046">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="13146">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -3964,7 +3956,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13431">
+ <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13531">
<mutation>
<arg name="v" varid="DfDz@$]?^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 c2fc77a0c70b25cef31fbf45387dd16acbb0f97a..3e0d996892d18f1e7a5df1e1544dcbd76971d755 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -30,9 +30,11 @@ y_ball_far = None
y_ball_near = None
y_ball_touch = None
v_fast = None
+goal_width = None
+pos_goal_both = None
state = None
def checkTimeouts():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
@@ -44,7 +46,7 @@ def checkTimeouts():
def ball_callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -57,7 +59,7 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
ts_goal_left = (time.time() * 1000)
posx_goal[0] = event.value.x
if False:
@@ -67,7 +69,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
ts_goal_right = (time.time() * 1000)
posx_goal[1] = event.value.x
if False:
@@ -77,7 +79,7 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
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))
@@ -87,7 +89,7 @@ TXT_M_C1_motor_step_counter.add_change_listener("count", callback)
def callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
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))
@@ -97,7 +99,7 @@ TXT_M_C2_motor_step_counter.add_change_listener("count", callback2)
def callback3(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
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))
@@ -107,7 +109,7 @@ TXT_M_C3_motor_step_counter.add_change_listener("count", callback3)
def callback4(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
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))
@@ -117,7 +119,7 @@ TXT_M_C4_motor_step_counter.add_change_listener("count", callback4)
def callback5(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -127,7 +129,7 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback5)
def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'shotBall'
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
@@ -159,13 +161,13 @@ def shotBall():
def stop():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'stop'
TXT_M_M1_encodermotor.stop_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
def fwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'fwd_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -175,7 +177,7 @@ def fwd_v(v):
def bwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'bwd_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -185,7 +187,7 @@ def bwd_v(v):
def left_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'left_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -195,7 +197,7 @@ def left_v(v):
def right_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'right_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -205,7 +207,7 @@ def right_v(v):
def search_ball_rot(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'search_ball_rot'
if search_dir_left:
left_v(v)
@@ -214,7 +216,7 @@ def search_ball_rot(v):
def turnBallLeft():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'turnBallLeft'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CW)
@@ -225,7 +227,7 @@ def turnBallLeft():
def turnBallRight():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'turnBallRight'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CCW)
@@ -236,7 +238,7 @@ def turnBallRight():
def sideleft_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'sideleft_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -246,7 +248,7 @@ def sideleft_v(v):
def sideright_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'sideright_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -256,7 +258,7 @@ def sideright_v(v):
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'fwd'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -271,7 +273,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'bwd'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -286,7 +288,7 @@ def bwd(v, ticks):
def left(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'left'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -301,7 +303,7 @@ def left(v, ticks):
def left2(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'left2'
if ticks > 0:
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -314,7 +316,7 @@ def left2(v, ticks):
def right(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'right'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -329,7 +331,7 @@ def right(v, ticks):
def right2(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'right2'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -354,6 +356,8 @@ v_fast = 512
v_var_ball_xpos = 512
v_var_ball_ypos = 512
posx_goal = [None, None]
+goal_width = 0
+pos_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
@@ -435,11 +439,13 @@ while True:
stop()
elif posx_goal[0] != None and posx_goal[1] != None:
state = 'NO_BALL_GOAL_BOTH'
- if posx_goal[1] - posx_goal[0] < x_min and posx_goal[1] - posx_goal[0] > x_min:
+ goal_width = posx_goal[1] - posx_goal[0]
+ pos_goal_both = posx_goal[0] + goal_width / 2
+ if pos_goal_both >= x_min and pos_goal_both <= x_max:
fwd_v(v_slow)
- elif posx_goal[1] - posx_goal[0] < x_min:
+ elif pos_goal_both < x_min:
left_v(v_slow)
- elif posx_goal[1] - posx_goal[0] > x_min:
+ elif pos_goal_both > x_max:
right_v(v_slow)
else:
stop()
@@ -453,9 +459,9 @@ while True:
state = 'NONE'
search_ball_rot(v_slow)
display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
- display.set_attr("txt_label_goal.text", str('x:{}'.format(posx_goal)))
+ display.set_attr("txt_label_goal.text", str('x:{}, {}, w:{}'.format(posx_goal, pos_goal_both, goal_width)))
display.set_attr("txt_label_counters.text", str('{}'.format(counters)))
- print('{}:{} GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal[0], posx_goal[1], posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
+ print('{}:{} GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal[0], posx_goal[1], pos_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
time.sleep(0.07)