From 6f1343649ec0e5b1beb5197a5cee5f09f5f004d3 Mon Sep 17 00:00:00 2001
From: ft-Demo <fischertechnik-team@fischer.de>
Date: Mon, 25 Oct 2021 08:09:37 +0000
Subject: [PATCH] commit by robo pro coding
---
omniwheels_x4_soccer_goal.blockly | 154 +++++++++++++++++++++---------
omniwheels_x4_soccer_goal.py | 26 ++---
2 files changed, 120 insertions(+), 60 deletions(-)
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 762bd45..0763965 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -517,7 +517,7 @@
</value>
<statement name="DO2">
<block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
- <mutation name="turnBallLeft"/>
+ <mutation name="turnSideLeft"/>
</block>
</statement>
<value name="IF3">
@@ -853,7 +853,7 @@
</value>
<statement name="DO0">
<block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
- <mutation name="turnBallRight"/>
+ <mutation name="turnSideRight"/>
</block>
</statement>
<value name="IF1">
@@ -885,7 +885,7 @@
</value>
<statement name="DO1">
<block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
- <mutation name="turnBallLeft"/>
+ <mutation name="turnSideLeft"/>
</block>
</statement>
<statement name="ELSE">
@@ -1107,7 +1107,7 @@
</value>
<statement name="DO0">
<block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
- <mutation name="turnBallRight"/>
+ <mutation name="turnSideRight"/>
</block>
</statement>
<value name="IF1">
@@ -1139,7 +1139,7 @@
</value>
<statement name="DO1">
<block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
- <mutation name="turnBallLeft"/>
+ <mutation name="turnSideLeft"/>
</block>
</statement>
<statement name="ELSE">
@@ -1463,8 +1463,8 @@
</block>
</value>
<statement name="DO1">
- <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
- <mutation name="turnBallLeft"/>
+ <block type="procedures_callnoreturn" id="|6(M2ayv;Mt,H:l*)L@e">
+ <mutation name="turnSideLeft"/>
</block>
</statement>
<value name="IF2">
@@ -1527,8 +1527,8 @@
</block>
</value>
<statement name="DO2">
- <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
- <mutation name="turnBallRight"/>
+ <block type="procedures_callnoreturn" id="R590b9iY$aQ~B7!m8f2l">
+ <mutation name="turnSideRight"/>
</block>
</statement>
<statement name="ELSE">
@@ -1785,13 +1785,43 @@
</block>
</value>
<statement name="DO1">
- <block type="procedures_callnoreturn" id="xH1rS2h$??lsC(b5|}S%" inline="true">
- <mutation name="left_v">
+ <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
+ <mutation name="left">
<arg name="v"/>
+ <arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="J/%Oa`9f,Y13y_bOs_ef">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="@In6j?EErn]hK})TS[jd" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="9e@Xpj!L)E*5)/BWxD;,">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="|5*]zYtMm]955K1])q46">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="#5;psA_RhR%yG7b(w2_o">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="JYPL-h1Mqs4eUAnK^1.:">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="M2ZTdr0Emu8qUo79k/Mh">
+ <field name="NUM">100</field>
+ </block>
+ </value>
</block>
</value>
</block>
@@ -1812,13 +1842,43 @@
</block>
</value>
<statement name="DO2">
- <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
- <mutation name="right_v">
+ <block type="procedures_callnoreturn" id="oGweCRo;|ZbP%1KR7B]a">
+ <mutation name="right">
<arg name="v"/>
+ <arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="nCzWllccVaUk{$/gd9*b">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <block type="variables_get" id="Vc7Fp*A$WDu^X7t.%1`9">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="e7X.Xy9YU#DtGWto8(nZ" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="i.w=wor*D`.oFqZ~n,,=">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="KZSMf^5ZkNQv1qqwiZd3">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="*Sc|AprtAT]]mE.FST|Z">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="BoQu)s$L=Rc2L5S(D@ma">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id=".!t|yj:@W/3s;L{GOC@@">
+ <field name="NUM">100</field>
+ </block>
+ </value>
</block>
</value>
</block>
@@ -2328,7 +2388,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6171">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6395">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -2474,7 +2534,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6624">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6848">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2675,7 +2735,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7291">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7515">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2755,7 +2815,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7594">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7818">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2835,7 +2895,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7897">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="8121">
<value name="condition">
<shadow type="counter_if_value" id="9`P*eh,|:Wnytp?G[|;{">
<field name="instance_name">TXT_M_C1_motor_step_counter</field>
@@ -2883,7 +2943,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="8044">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="8268">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2931,7 +2991,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8191">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8415">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -2979,7 +3039,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8338">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8562">
<value name="condition">
<shadow type="counter_if_value" id="N9]b*Kn_Nxk}[I9e!^Z.">
<field name="instance_name">TXT_M_C4_motor_step_counter</field>
@@ -3027,7 +3087,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8485">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8709">
<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>
@@ -3050,7 +3110,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8622">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8846">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -3185,7 +3245,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9236">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9460">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="variables_set" id="0lb+=KDkMxl8Q(.f(!U4">
@@ -3207,7 +3267,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9457">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9681">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3245,7 +3305,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9706">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9930">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3283,7 +3343,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9955">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="10179">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3321,7 +3381,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10204">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10428">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3359,7 +3419,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10453">
+ <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10677">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3410,14 +3470,14 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10722">
- <field name="NAME">turnBallLeft</field>
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10946">
+ <field name="NAME">turnSideLeft</field>
<statement name="STACK">
<block type="variables_set" id="nf?K,a/5MLaj.5?J/IGs">
<field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
<block type="text" id="?Di@nJ_~eE%u(u]_u-7U">
- <field name="TEXT">turnBallLeft</field>
+ <field name="TEXT">turnSideLeft</field>
</block>
</value>
<next>
@@ -3457,14 +3517,14 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10943">
- <field name="NAME">turnBallRight</field>
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="11167">
+ <field name="NAME">turnSideRight</field>
<statement name="STACK">
<block type="variables_set" id="$K=E,g/}k}au~ZyqB!+S">
<field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
<block type="text" id="Zx@baj[/7x8~`_@h3IgQ">
- <field name="TEXT">turnBallRight</field>
+ <field name="TEXT">turnSideRight</field>
</block>
</value>
<next>
@@ -3504,7 +3564,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11164">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11388">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3542,7 +3602,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11413">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11637">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3580,7 +3640,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11662">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11886">
<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{"/>
@@ -3656,7 +3716,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="12047">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="12271">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -3732,7 +3792,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12432">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12656">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3808,7 +3868,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="12817">
+ <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="13041">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3880,7 +3940,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="13146">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="13370">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -3956,7 +4016,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13531">
+ <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13755">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 3e0d996..154036c 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -215,9 +215,9 @@ def search_ball_rot(v):
right_v(v)
-def turnBallLeft():
+def turnSideLeft():
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
- cmd = 'turnBallLeft'
+ cmd = 'turnSideLeft'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
@@ -226,9 +226,9 @@ def turnBallLeft():
TXT_M_M3_encodermotor.start_sync(TXT_M_M4_encodermotor)
-def turnBallRight():
+def turnSideRight():
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
- cmd = 'turnBallRight'
+ cmd = 'turnSideRight'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CCW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
@@ -379,7 +379,7 @@ while True:
elif posy_ball > y_ball_far and posy_ball <= y_ball_near:
fwd_v(v_slow)
elif posy_ball > y_ball_near and posy_ball <= y_ball_touch:
- turnBallLeft()
+ turnSideLeft()
elif posy_ball <= y_ball_touch:
bwd_v(v_slow)
else:
@@ -396,9 +396,9 @@ while True:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
if posx_goal[0] < posx_ball:
- turnBallRight()
+ turnSideRight()
elif posx_goal[0] > posx_ball:
- turnBallLeft()
+ turnSideLeft()
else:
stop()
elif posy_ball <= y_ball_touch:
@@ -411,9 +411,9 @@ while True:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
if posx_goal[1] < posx_ball:
- turnBallRight()
+ turnSideRight()
elif posx_goal[1] > posx_ball:
- turnBallLeft()
+ turnSideLeft()
else:
stop()
elif posy_ball <= y_ball_touch:
@@ -428,9 +428,9 @@ while True:
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]:
- turnBallLeft()
+ turnSideLeft()
elif posx_ball > posx_goal[0] and posx_ball > posx_goal[1]:
- turnBallRight()
+ turnSideRight()
else:
stop()
elif posy_ball <= y_ball_touch:
@@ -444,9 +444,9 @@ while True:
if pos_goal_both >= x_min and pos_goal_both <= x_max:
fwd_v(v_slow)
elif pos_goal_both < x_min:
- left_v(v_slow)
+ left(v_var_ball_xpos, min(max(goal_width * factor_ball_rot, 3), 100))
elif pos_goal_both > x_max:
- right_v(v_slow)
+ right(v_var_ball_xpos, min(max(goal_width * factor_ball_rot, 3), 100))
else:
stop()
elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] == None):
--
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