diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 31fc7b0cb2935f5f03a6e27f95efb66eac8fd366..acea44f38f47d9b28b85fcd1288f249ccea7bad9 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -19,6 +19,7 @@
<variable id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</variable>
<variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="1idj3sw*{G$j`2:II{^5">v_fast</variable>
+ <variable id="vH;^OzJY7dOdepMScU1s">state</variable>
</variables>
<block type="start_block" id="1n38UCidqR*}g6g]e[!h" deletable="false" x="0" y="0">
<statement name="statement">
@@ -152,672 +153,1590 @@
</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="?^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="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="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <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="OeAZ19W_g)]s*LP0=8r,">
- <field name="OP">NEQ</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>
+ <statement name="DO0">
+ <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
+ <mutation elseif="5" 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="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="z~Da7_)q,Bo-$yJb73oH"/>
+ <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
+ <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>
- <value name="B">
- <block type="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <statement name="DO0">
+ <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
+ <field name="TEXT">ONLY_BALL</field>
</block>
</value>
- <value name="B">
- <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <next>
+ <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
+ <field name="OP">LT</field>
+ <value name="A">
+ <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=".ts{wyW$c]RydnDM,}dN">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
- <field name="NUM">1</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="Ox/XsK4e~+Q~K3.6ZN=|" inline="true">
+ <mutation name="left_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
+ <field name="OP">GT</field>
+ <value name="A">
+ <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="/*nplOY#VKPMyS,KOq3!">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="a{Dykh`c.ZHp3#QzywaK" inline="true">
+ <mutation name="right_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="t$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>
+ <statement name="DO1">
+ <block type="text_print" id="Q{ZCYfb|6,V:pY*E_~o:">
+ <value name="TEXT">
+ <shadow type="text" id="t!h(B6qXqJ1~!1X~UsG%">
+ <field name="TEXT">turn</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <value name="IF2">
+ <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$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="text_print" id="-QNu$mGl!qCxqMjTX:`~">
+ <value name="TEXT">
+ <shadow type="text" id="be.9t#Dm^sd1QKvcb~,z">
+ <field name="TEXT">touch</field>
+ </shadow>
+ </value>
+ <next>
+ <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>
+ </next>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
</block>
- </value>
- <value name="B">
- <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
- </value>
+ </next>
</block>
- </value>
- <value name="B">
- <block type="logic_compare" id=";P}d!ou6kF,_]Y}2c}oU">
- <field name="OP">NEQ</field>
+ </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="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="D3C[P^f3vp}xb!,-2#r5">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <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="*p.1tBx0!3(A,.#v~}gR">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="logic_compare" id="|rcsXSAUj_o}mh1L:hw3">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="V1Jj,Q+-!7UMu,ag}Y2#">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="b7),FwxGz-g+3(2a:iAH"/>
+ </value>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="controls_if" id="KJ#o$M|scI;Nb]boFDzc">
- <mutation elseif="1" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Hvw%^q~Hu5/N%}1^$97E">
- <field name="OP">LT</field>
- <value name="A">
- <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
- <field name="NUM">1</field>
+ <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="s5?^~_8K{8Ds{9:#%k6@">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O/m@rtsP1-]GZu;z!Kd7">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="AHQ$-$-`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="logic_compare" id="ppt3KZ(DNQQ?lul~f,#i">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <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>
+ <value name="B">
+ <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
+ </value>
+ </block>
+ </value>
</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="/Dyv@Uq8HyBO`zJkGf%H" inline="true">
- <mutation name="sideleft_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="0~3b0e(US%D-.mrk9B9]">
- <field name="NUM">180</field>
- </block>
- </value>
- </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>
+ <statement name="DO1">
+ <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</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 type="text" id="y/+X`X}C3$Nc/TH%3_dv">
+ <field name="TEXT">BALL_AND_GOAL_LEFT</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
- <field name="NUM">1</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="_q6X5`*YO|;FU%~(RZ2?">
+ <mutation name="turnBallLeft"/>
+ </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>
+ <value name="AT">
+ <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <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="),QhMk?KFwaoqgIh6A~w">
+ <mutation name="turnBallRight"/>
+ </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$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="QN+5a=dUZe|3;6UVwiue" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="v5iy]*Vt3nsse;Eg[EjI">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="M9wjV+z*e*Hh*PspIXEY">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="$a(P8}p#iy{V.L*Qd5S-" inline="true">
- <mutation name="sideright_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="D}g?6A6[y!i,A_?rI7vT">
- <field name="NUM">180</field>
- </block>
- </value>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="Bv(kvR*xIzb%RfmRxg3N" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="?#JnnyzAeNU`MJL^+ZOa">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="vft:66IZzutoOz+ig;R=">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="f)RPYpZoWG5Mz!bJ?IKJ"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="muiUUW_{}49WVL]?fJ8F">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="{RI1+Kc:gz]:()FPOMRR">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="7%fYG^;I?g7^n6Vy{BV5"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
- <mutation elseif="1" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="Ox/XsK4e~+Q~K3.6ZN=|" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
- <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="@i?;*nt)I.q@3:as9$CV">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="a{Dykh`c.ZHp3#QzywaK" inline="true">
- <mutation name="right_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </next>
</block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
- <field name="OP">LTE</field>
+ </statement>
+ <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="=t4?53|MsS#r1P:M`ZP4">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <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="OeAZ19W_g)]s*LP0=8r,">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="z~Da7_)q,Bo-$yJb73oH"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <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"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id=";P}d!ou6kF,_]Y}2c}oU">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <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="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="@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"/>
+ </value>
+ </block>
+ </value>
</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=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <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_AND_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>
+ </next>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
- <field name="OP">LTE</field>
+ <value name="IF3">
+ <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_operation" id="JDmD0uu$,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>
+ </value>
+ <value name="B">
+ <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$*f:B}Uv4E]8^Ao)y2"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="!WgYF}aMS$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>
+ </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="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>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="text_print" id="Q{ZCYfb|6,V:pY*E_~o:">
- <value name="TEXT">
- <shadow type="text" id="t!h(B6qXqJ1~!1X~UsG%">
- <field name="TEXT">turn</field>
- </shadow>
+ <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_AND_GOAL_BOTH</field>
+ </block>
</value>
<next>
- <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
- <mutation name="turnBallLeft"/>
+ <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>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
+ <mutation name="turnBallRight"/>
+ </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="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="fs3R{xW/!NZ+huwii|WQ">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
</next>
</block>
</statement>
- <value name="IF2">
- <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
- <field name="OP">LTE</field>
+ <value name="IF4">
+ <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" 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_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
+ <field name="OP">OR</field>
+ <value name="A">
+ <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="B">
+ <block type="logic_null" id="9d:a29Y`@{YMRdTLZH|W"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <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="B">
+ <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
+ <field name="OP">OR</field>
+ <value name="A">
+ <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="a2r-4w=%vQYhSHM`~eZ]">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="T$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>
+ </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$uo6A.8#6f">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="text_print" id="-QNu$mGl!qCxqMjTX:`~">
- <value name="TEXT">
- <shadow type="text" id="be.9t#Dm^sd1QKvcb~,z">
- <field name="TEXT">touch</field>
- </shadow>
+ <statement name="DO4">
+ <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
+ <field name="TEXT">NO_BALL</field>
+ </block>
</value>
<next>
- <block type="procedures_callnoreturn" id=",]C1bWi3P6{]+TEpo{?R">
- <mutation name="stop"/>
+ <block type="procedures_callnoreturn" id="~e,9WDXasUar9~[eQ#bq" inline="true">
+ <mutation name="left_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="a6~lQO=iKTa%P$.9vwF`">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</next>
</block>
</statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
- <mutation name="stop"/>
+ <value name="IF5">
+ <block type="logic_boolean" id="xuIk1@=PZ@V7jq%*R5t%">
+ <field name="BOOL">FALSE</field>
</block>
- </statement>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_boolean" id="xuIk1@=PZ@V7jq%*R5t%">
- <field name="BOOL">FALSE</field>
- </block>
- </value>
- <statement name="DO2">
- <block type="controls_if" id="KvGY3!$zq%]{SYcSc[7m">
- <mutation elseif="3" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="B=vu#kuU;qn.;,!Q)zvZ">
- <field name="OP">LT</field>
- <value name="A">
- <block type="lists_getIndex" id="+P.a$BTLIN[F|%}FN$_F">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="dZ4u4Y]208l5,n^p/=qf">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </value>
+ <statement name="DO5">
+ <block type="controls_if" id="KvGY3!$zq%]{SYcSc[7m">
+ <mutation elseif="3" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="B=vu#kuU;qn.;,!Q)zvZ">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="+P.a$BTLIN[F|%}FN$_F">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="dZ4u4Y]208l5,n^p/=qf">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="_d5c3vTK-dt?#mV]X%D/">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="AgRmYvSA6@z6mYB6@fFA">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="_d5c3vTK-dt?#mV]X%D/">
- <field name="NUM">1</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="+EAOut)hnbN;,CctGcIN" inline="true">
+ <mutation name="sideleft_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="k8E(D2NZYJGR/LxfRAe`">
+ <field name="NUM">180</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="AgRmYvSA6@z6mYB6@fFA">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="+EAOut)hnbN;,CctGcIN" inline="true">
- <mutation name="sideleft_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="k8E(D2NZYJGR/LxfRAe`">
- <field name="NUM">180</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="%Sv9J|%0l}R*#ixcN^Ek">
- <field name="OP">GT</field>
- <value name="A">
- <block type="lists_getIndex" id="fJJ$CZG+EKmA[pAj?`{)">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="dF-xGlJu@cqC3pN_9/V5">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="%Sv9J|%0l}R*#ixcN^Ek">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="fJJ$CZG+EKmA[pAj?`{)">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="dF-xGlJu@cqC3pN_9/V5">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="br`CrQ/t+;jQG-ikq;i{">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="6nz_eq9+/Xkxe:eT^[z@">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="br`CrQ/t+;jQG-ikq;i{">
- <field name="NUM">1</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="-JdEwEQT.ATb$i67ISiG" inline="true">
+ <mutation name="sideright_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="Vg6E?/KRoI+:^TRbYc~O">
+ <field name="NUM">180</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="6nz_eq9+/Xkxe:eT^[z@">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="-JdEwEQT.ATb$i67ISiG" inline="true">
- <mutation name="sideright_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="Vg6E?/KRoI+:^TRbYc~O">
- <field name="NUM">180</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="L_I_ad:9wl}-TbpYbPOj">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="@76pQj66r^uAxD,(F4/f">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="ol/ail=b}-NHf4K|Fl9J">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="V_|wVa),nGw8gHM,NPMX" inline="true">
- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="@%Nu(|2.Fg]01{l,W#GY">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="variables_get" id="Y9pX#d1sri_Td5@bhaTb">
- <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF3">
- <block type="logic_compare" id="WSZ312,]FI|*3JtYdw:b">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="8R^4V:#9m8rQ=d4Vo30$">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="wr7|`R0V:O?5n;pG_oV~">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO3">
- <block type="procedures_callnoreturn" id="UDr4(wRdDParoZEUs:w@" inline="true">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="kx00*p[#V~+nhAVcJWd)">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="variables_get" id="G1i7[~dv_Aff}11SL/~X">
- <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="controls_if" id="1W5U1#HIVC#sFf,=}aPk">
- <mutation elseif="1" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="UG6JrG`G%RjgLMd^~Ql)">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="plWMHX+zH[B*)Z,!PdFG">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="L_I_ad:9wl}-TbpYbPOj">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="@76pQj66r^uAxD,(F4/f">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="ol/ail=b}-NHf4K|Fl9J">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="variables_get" id="d52]DnV:k]`,vbs2Owx@">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="V_|wVa),nGw8gHM,NPMX" inline="true">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="@%Nu(|2.Fg]01{l,W#GY">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="variables_get" id="Y9pX#d1sri_Td5@bhaTb">
+ <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="op;Gb+2E6qWV#_xTw%*f" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="%,dj%LP)z^+F=bAaT2y4">
- <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ </statement>
+ <value name="IF3">
+ <block type="logic_compare" id="WSZ312,]FI|*3JtYdw:b">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="8R^4V:#9m8rQ=d4Vo30$">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="wr7|`R0V:O?5n;pG_oV~">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
+ <statement name="DO3">
+ <block type="procedures_callnoreturn" id="UDr4(wRdDParoZEUs:w@" inline="true">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="kx00*p[#V~+nhAVcJWd)">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="variables_get" id="G1i7[~dv_Aff}11SL/~X">
+ <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="controls_if" id="1W5U1#HIVC#sFf,=}aPk">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="UG6JrG`G%RjgLMd^~Ql)">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="plWMHX+zH[B*)Z,!PdFG">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="d52]DnV:k]`,vbs2Owx@">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="op;Gb+2E6qWV#_xTw%*f" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="%,dj%LP)z^+F=bAaT2y4">
+ <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="Yr?8v,ne7CHC3J@.tG~K">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id=".b9fq3}BRfR%4GA[G)OY">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="C#~[c+~*VLa)Bs#/bb8e">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="{8;:MqS_MFU5y`-[u:mG" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="aqXd,2m3/|Vs0Z|8wWEn">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </statement>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="Yr?8v,ne7CHC3J@.tG~K">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id=".b9fq3}BRfR%4GA[G)OY">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </statement>
+ <next>
+ <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
+ <field name="instance_name">txt_label_ball</field>
+ <value name="value">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
+ <field name="TEXT">x:{}, y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="B">
- <block type="variables_get" id="C#~[c+~*VLa)Bs#/bb8e">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ <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>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="{8;:MqS_MFU5y`-[u:mG" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="aqXd,2m3/|Vs0Z|8wWEn">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
+ <next>
+ <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="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="1"/>
+ <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>
+ </block>
+ </value>
</block>
</value>
+ <next>
+ <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
+ <value name="TEXT">
+ <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
+ <field name="TEXT"/>
+ </shadow>
+ <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
+ <mutation items="7"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}: GOAL_x: {}, {} BALL_pos:{},{} dist_x:{} speed_y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <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="ADD2">
+ <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="ADD3">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD4">
+ <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="ADD5">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
+ </block>
+ </value>
+ <value name="ADD6">
+ <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</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">100</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
- </statement>
- </block>
- </statement>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="~e,9WDXasUar9~[eQ#bq" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="a6~lQO=iKTa%P$.9vwF`">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- </block>
- </statement>
- <next>
- <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
- <field name="instance_name">txt_label_ball</field>
- <value name="value">
- <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
- <field name="TEXT">x:{}, y:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="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="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="1"/>
- <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>
- </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">10</field>
- </shadow>
- </value>
+ </next>
</block>
</next>
</block>
</next>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -853,7 +1772,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="2491">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="4739">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -999,7 +1918,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="2944">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="5192">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -1120,46 +2039,55 @@
</block>
</value>
<next>
- <block type="text_print" id="BJX)Y@c~/.?haP/7.z2]">
- <value name="TEXT">
- <shadow type="text" id="~J2+aH%uDJT(D8FADKKR">
- <field name="TEXT"/>
- </shadow>
- <block type="text_format" id="fte{F@.%K7ohDj=l1(R3">
- <mutation items="4"/>
- <value name="value">
- <shadow type="text" id="l2A3xrw.^!j6.QD:k]?b">
- <field name="TEXT">ball posx:{} posy:{} dist_x:{} speed_y:{}</field>
+ <block type="controls_if" id="H.~sZNdFqbg-l|x*LtxJ">
+ <value name="IF0">
+ <block type="logic_boolean" id=",*H;S(mS^E$SEi|I^akI">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="text_print" id="BJX)Y@c~/.?haP/7.z2]">
+ <value name="TEXT">
+ <shadow type="text" id="~J2+aH%uDJT(D8FADKKR">
+ <field name="TEXT"/>
</shadow>
- </value>
- <value name="ADD0">
- <block type="camera_ball_get_value" id="3FY5_MtPbRbYe*vw-Z;:">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="RT_#~Jk|2e/8P--T7hO}"/>
+ <block type="text_format" id="fte{F@.%K7ohDj=l1(R3">
+ <mutation items="4"/>
+ <value name="value">
+ <shadow type="text" id="l2A3xrw.^!j6.QD:k]?b">
+ <field name="TEXT">ball posx:{} posy:{} dist_x:{} speed_y:{}</field>
+ </shadow>
</value>
- </block>
- </value>
- <value name="ADD1">
- <block type="camera_ball_get_value" id="GD)}7I6X3@2).B0XA(Cp">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="g}rfN`jqBda2sqH}dwl}"/>
+ <value name="ADD0">
+ <block type="camera_ball_get_value" id="3FY5_MtPbRbYe*vw-Z;:">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="RT_#~Jk|2e/8P--T7hO}"/>
+ </value>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="camera_ball_get_value" id="GD)}7I6X3@2).B0XA(Cp">
+ <field name="dropdown_event">y</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="g}rfN`jqBda2sqH}dwl}"/>
+ </value>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="variables_get" id="yhW7j_H)=SS)hjSg~G|d">
+ <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="lD6;*mn|mX!,^4V=D13M">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
+ </block>
</value>
- </block>
- </value>
- <value name="ADD2">
- <block type="variables_get" id="yhW7j_H)=SS)hjSg~G|d">
- <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="variables_get" id="lD6;*mn|mX!,^4V=D13M">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
</block>
</value>
</block>
- </value>
+ </statement>
</block>
</next>
</block>
@@ -1173,7 +2101,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="3505">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="5795">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -1207,36 +2135,45 @@
</block>
</value>
<next>
- <block type="text_print" id="pRGkR~HGW:+!/Ls,ueY}">
- <value name="TEXT">
- <shadow type="text">
- <field name="TEXT"/>
- </shadow>
- <block type="text_format" id="o]il@/;)K@URUswz3ur=">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="rn8gG`@nHnj8?V~]/`8Z">
- <field name="TEXT">goal left: posx:{} posy:{}</field>
+ <block type="controls_if" id="nxYMxA/BU%!6NBBUR2cH">
+ <value name="IF0">
+ <block type="logic_boolean" id="VP{|qMim2(s!C23]V~1A">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="text_print" id="pRGkR~HGW:+!/Ls,ueY}">
+ <value name="TEXT">
+ <shadow type="text">
+ <field name="TEXT"/>
</shadow>
- </value>
- <value name="ADD0">
- <block type="camera_ball_get_value" id="dQPs|JB?,oM9RM$!:}gA">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="OZ3kH~IF#i]:%pGpbDBj"/>
+ <block type="text_format" id="o]il@/;)K@URUswz3ur=">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="rn8gG`@nHnj8?V~]/`8Z">
+ <field name="TEXT">goal left: posx:{} posy:{}</field>
+ </shadow>
</value>
- </block>
- </value>
- <value name="ADD1">
- <block type="camera_ball_get_value" id="}%|u0lSMt.@-GDS2piU8">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="(efF42~rdQ,u^GZ]K/3Q"/>
+ <value name="ADD0">
+ <block type="camera_ball_get_value" id="dQPs|JB?,oM9RM$!:}gA">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="OZ3kH~IF#i]:%pGpbDBj"/>
+ </value>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="camera_ball_get_value" id="}%|u0lSMt.@-GDS2piU8">
+ <field name="dropdown_event">y</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="(efF42~rdQ,u^GZ]K/3Q"/>
+ </value>
+ </block>
</value>
</block>
</value>
</block>
- </value>
+ </statement>
</block>
</next>
</block>
@@ -1244,7 +2181,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="3766">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="6098">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -1278,36 +2215,45 @@
</block>
</value>
<next>
- <block type="text_print" id="q2(^p4SyTCB3V9x$qufL">
- <value name="TEXT">
- <shadow type="text">
- <field name="TEXT"/>
- </shadow>
- <block type="text_format" id="pcQS07Q^!C|~pVid{}Ev">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="hWEmmvBo)?2YN$R3?}1C">
- <field name="TEXT">goal right: posx:{} posy:{}</field>
+ <block type="controls_if" id="i.[Ryx%b6A^=xnE[Xx$A">
+ <value name="IF0">
+ <block type="logic_boolean" id="aA:DS!?msA@zHkOczhXx">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="text_print" id="q2(^p4SyTCB3V9x$qufL">
+ <value name="TEXT">
+ <shadow type="text">
+ <field name="TEXT"/>
</shadow>
- </value>
- <value name="ADD0">
- <block type="camera_ball_get_value" id="oYhV*54ObZ(bGW#uT|FB">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="*^dJE~J_!XF_5.jU]mhZ"/>
+ <block type="text_format" id="pcQS07Q^!C|~pVid{}Ev">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="hWEmmvBo)?2YN$R3?}1C">
+ <field name="TEXT">goal right: posx:{} posy:{}</field>
+ </shadow>
</value>
- </block>
- </value>
- <value name="ADD1">
- <block type="camera_ball_get_value" id="_L:jweTen.9z!a~w#+bl">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="qo7;3$`+qC4Qpg/`.~+W"/>
+ <value name="ADD0">
+ <block type="camera_ball_get_value" id="oYhV*54ObZ(bGW#uT|FB">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="*^dJE~J_!XF_5.jU]mhZ"/>
+ </value>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="camera_ball_get_value" id="_L:jweTen.9z!a~w#+bl">
+ <field name="dropdown_event">y</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="qo7;3$`+qC4Qpg/`.~+W"/>
+ </value>
+ </block>
</value>
</block>
</value>
</block>
- </value>
+ </statement>
</block>
</next>
</block>
@@ -1315,7 +2261,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="4027">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="6401">
<value name="condition">
<block type="input_photo_transistor_if_state" id="dX]-jf`=2/tNnEnHfKvx">
<field name="instance_name">TXT_M_I8_photo_transistor</field>
@@ -1338,7 +2284,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" collapsed="true" x="0" y="4164">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" collapsed="true" x="0" y="6538">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
@@ -1452,7 +2398,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="4231">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="6605">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
@@ -1464,7 +2410,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" collapsed="true" x="0" y="4298">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" collapsed="true" x="0" y="6672">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -1492,7 +2438,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" collapsed="true" x="0" y="4365">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" collapsed="true" x="0" y="6739">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -1520,7 +2466,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" collapsed="true" x="0" y="4432">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" collapsed="true" x="0" y="6806">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1548,7 +2494,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" collapsed="true" x="0" y="4499">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" collapsed="true" x="0" y="6873">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1576,7 +2522,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="4566">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="6940">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1604,7 +2550,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="4633">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="7007">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1632,7 +2578,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="4700">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="7074">
<mutation>
<arg name="v" varid="DfDz@$]?^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{"/>
@@ -1698,7 +2644,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="4767">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="7141">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -1764,7 +2710,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" collapsed="true" x="0" y="4834">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" collapsed="true" x="0" y="7208">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -1830,7 +2776,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" collapsed="true" x="0" y="4901">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" collapsed="true" x="0" y="7275">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -1896,18 +2842,18 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="4968">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="7342">
<field name="NAME">turnBallLeft</field>
<statement name="STACK">
<block type="encodermotor_set_speed" id="I[S{vjf1EdjHVhk32Irr">
<mutation syncBlocks="1"/>
<field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CCW</field>
+ <field name="direction_0">Motor.CW</field>
<field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
+ <field name="direction_1">Motor.CCW</field>
<value name="speed">
<shadow type="motor_number" id="KbM1XwSZ`0p4OfObK%2d">
- <field name="MOTOR_NUM">0</field>
+ <field name="MOTOR_NUM">200</field>
</shadow>
</value>
<next>
@@ -1927,18 +2873,18 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="5161">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="7535">
<field name="NAME">turnBallRight</field>
<statement name="STACK">
<block type="encodermotor_set_speed" id="c8~SXys:o35ETKj;GX?m">
<mutation syncBlocks="1"/>
<field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CW</field>
+ <field name="direction_0">Motor.CCW</field>
<field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
+ <field name="direction_1">Motor.CW</field>
<value name="speed">
<shadow type="motor_number" id="dD.1u9Pwx-^rnKZyWQx/">
- <field name="MOTOR_NUM">0</field>
+ <field name="MOTOR_NUM">200</field>
</shadow>
</value>
<next>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 97c5b095737acd900f2824b2eddc0561add8b1ad..a8ac9965b2f964bddd31cb88374d60be9405dbae 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -26,8 +26,9 @@ y_ball_near = None
y_ball_touch = None
v_slow = None
v_fast = None
+state = None
def checkTimeouts():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
@@ -39,37 +40,40 @@ def checkTimeouts():
def ball_callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
ts_ball = (time.time() * 1000)
dist_x = round(math.fabs(event.value.x) * factor_x)
speed_y = round(min(max(math.fabs(event.value.y) * factor_y + v_slow, 0), 512))
posx_ball = event.value.x
posy_ball = event.value.y
- print('ball posx:{} posy:{} dist_x:{} speed_y:{}'.format(event.value.x, event.value.y, dist_x, speed_y))
+ if False:
+ print('ball posx:{} posy:{} dist_x:{} speed_y:{}'.format(event.value.x, event.value.y, dist_x, speed_y))
ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
ts_goal_left = (time.time() * 1000)
posx_goal[0] = event.value.x
- print('goal left: posx:{} posy:{}'.format(event.value.x, event.value.y))
+ if False:
+ print('goal left: posx:{} posy:{}'.format(event.value.x, event.value.y))
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, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
ts_goal_right = (time.time() * 1000)
posx_goal[1] = event.value.x
- print('goal right: posx:{} posy:{}'.format(event.value.x, event.value.y))
+ if False:
+ print('goal right: posx:{} posy:{}'.format(event.value.x, event.value.y))
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, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -79,7 +83,7 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CCW)
@@ -109,12 +113,12 @@ def shotBall():
def stop():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
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, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
@@ -123,7 +127,7 @@ def fwd_v(v):
def bwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
@@ -132,7 +136,7 @@ def bwd_v(v):
def left_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
@@ -141,7 +145,7 @@ def left_v(v):
def right_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
@@ -150,7 +154,7 @@ def right_v(v):
def sideleft_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
@@ -159,7 +163,7 @@ def sideleft_v(v):
def sideright_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
@@ -168,7 +172,7 @@ def sideright_v(v):
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -182,7 +186,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -196,7 +200,7 @@ def bwd(v, ticks):
def left(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -210,7 +214,7 @@ def left(v, ticks):
def right(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -224,9 +228,9 @@ def right(v, ticks):
def turnBallLeft():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
- TXT_M_M1_encodermotor.set_speed(int(0), Motor.CCW)
- TXT_M_M2_encodermotor.set_speed(int(0), Motor.CW)
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ TXT_M_M1_encodermotor.set_speed(int(200), Motor.CW)
+ TXT_M_M2_encodermotor.set_speed(int(200), Motor.CCW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
@@ -234,9 +238,9 @@ def turnBallLeft():
def turnBallRight():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast
- TXT_M_M1_encodermotor.set_speed(int(0), Motor.CW)
- TXT_M_M2_encodermotor.set_speed(int(0), Motor.CCW)
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, x_min, posy_ball, speed_y, posx_goal, x_max, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ TXT_M_M1_encodermotor.set_speed(int(200), Motor.CCW)
+ TXT_M_M2_encodermotor.set_speed(int(200), Motor.CW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
@@ -259,17 +263,13 @@ posy_ball = None
ts_ball = (time.time() * 1000)
ts_goal_left = (time.time() * 1000)
ts_goal_right = (time.time() * 1000)
+state = 'NONE'
+time.sleep(2)
while True:
checkTimeouts()
if display.get_attr("txt_switch_active.checked"):
- if posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] != None:
- if posx_goal[0] < posx_ball:
- sideleft_v(180)
- elif posx_goal[0] > x_max:
- sideright_v(180)
- else:
- pass
- elif posx_ball != None and posy_ball != None:
+ if posx_ball != None and posy_ball != None and posx_goal[0] == None and posx_goal[1] == None:
+ state = 'ONLY_BALL'
if posx_ball < x_min:
left_v(v_slow)
elif posx_ball > x_max:
@@ -282,9 +282,52 @@ while True:
turnBallLeft()
elif posy_ball <= y_ball_touch:
print('touch')
+ bwd_v(v_slow)
+ else:
+ stop()
+ elif posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] == None:
+ state = 'BALL_AND_GOAL_LEFT'
+ if posy_ball <= y_ball_far:
+ fwd_v(v_slow)
+ elif posy_ball <= y_ball_near:
+ if posx_goal[0] < posx_ball:
+ turnBallLeft()
+ elif posx_goal[0] > posx_ball:
+ turnBallRight()
+ else:
stop()
+ elif posy_ball <= y_ball_touch:
+ bwd_v(v_slow)
+ else:
+ stop()
+ elif posx_ball != None and posy_ball != None and posx_goal[0] == None and posx_goal[1] != None:
+ state = 'BALL_AND_GOAL_RIGHT'
+ if posy_ball <= y_ball_far:
+ fwd_v(v_slow)
+ elif posy_ball <= y_ball_near:
+ if posx_goal[1] < posx_ball:
+ turnBallRight()
+ elif posx_goal[1] > posx_ball:
+ turnBallLeft()
else:
stop()
+ elif posy_ball <= y_ball_touch:
+ bwd_v(v_slow)
+ else:
+ stop()
+ elif posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] != None:
+ state = 'BALL_AND_GOAL_BOTH'
+ if posx_ball > posx_goal[0] and posx_ball < posx_goal[1]:
+ fwd_v(v_slow)
+ elif posx_ball < posx_goal[0] and posx_ball < posx_goal[1]:
+ turnBallRight()
+ elif posx_ball > posx_goal[0] and posx_ball > posx_goal[1]:
+ turnBallLeft()
+ else:
+ stop()
+ elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] != None):
+ state = 'NO_BALL'
+ left_v(v_slow)
elif False:
if posx_goal[0] < x_min:
sideleft_v(180)
@@ -302,9 +345,10 @@ while True:
else:
pass
else:
- left_v(v_slow)
+ pass
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)))
- time.sleep(0.01)
+ print('{}: GOAL_x: {}, {} BALL_pos:{},{} dist_x:{} speed_y:{}'.format(state, posx_goal[0], posx_goal[1], posx_ball, posy_ball, dist_x, speed_y))
+ time.sleep(0.1)