diff --git a/lib/display.qml b/lib/display.qml
index 88ea15352d455ef290ba8a5dc459606c3c8de098..53ad8d5391570c88587d12fcd3b3d0bbede6f972 100644
--- a/lib/display.qml
+++ b/lib/display.qml
@@ -16,7 +16,7 @@ TXTWindow {
text: "active"
font.pixelSize: 16
enabled: true
- checked: false
+ checked: true
x: 60
y: 171
width: 100
diff --git a/lib/display.xml b/lib/display.xml
index 22cb52cd9760f1dd710ae44ea011d7cdaa439bff..cf1b4205f2c980c0bfae80c45ade432dda8aa5b2 100644
--- a/lib/display.xml
+++ b/lib/display.xml
@@ -1 +1 @@
-<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>false</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>100</y><width>40</width><height>40</height></geometry></item></xml>
\ No newline at end of file
+<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>true</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>100</y><width>40</width><height>40</height></geometry></item></xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 54284845620163da181c123fdc3ef75fabea11fb..5677788ae0b99a1e3cfb0f23fe50a44a559856bd 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -9,13 +9,14 @@
<variable id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</variable>
<variable id="S4.mduNQC(va3iR{oSdB">posx_ball</variable>
<variable id="AnbD2s`i`niJf7bj:WR.">dist_x</variable>
- <variable id=";S3?%3)**s[[l~Aq3*,{">speed_y</variable>
+ <variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
<variable id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</variable>
+ <variable id=";S3?%3)**s[[l~Aq3*,{">speed_y</variable>
<variable id="=2ARo+;2DS07SU~j29Fk">posx_goal</variable>
- <variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
<variable id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</variable>
- <variable id="}*jl@)UA_Hjh5rc,Gt)c">y_min</variable>
- <variable id="xjf5O*w9;IZf$n55ytVF">y_max</variable>
+ <variable id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</variable>
+ <variable id="09n]XF2CKURQs)nHOfam">y_ball_near</variable>
+ <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>
</variables>
@@ -37,40 +38,40 @@
</block>
</value>
<next>
- <block type="variables_set" id="]%ml*lOalIadLPpR7ile">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
+ <block type="variables_set" id="/3.38rZxsC*ejKOW0%9:">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
<value name="VALUE">
- <block type="math_number" id="cR-GPTpe,aC(~]x%10m)">
- <field name="NUM">300</field>
+ <block type="math_number" id="@Esp)^vGnSXO=QsK)N9~">
+ <field name="NUM">-3</field>
</block>
</value>
<next>
- <block type="variables_set" id="/3.38rZxsC*ejKOW0%9:">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <block type="variables_set" id="(ig6:SZ(u%_^VsKLJN=l">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
<value name="VALUE">
- <block type="math_number" id="@Esp)^vGnSXO=QsK)N9~">
- <field name="NUM">-3</field>
+ <block type="math_number" id="[r2m=DpI#8/tg+.FmdbN">
+ <field name="NUM">3</field>
</block>
</value>
<next>
- <block type="variables_set" id="(ig6:SZ(u%_^VsKLJN=l">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ <block type="variables_set" id="OMK@?HIgcaISEF?)F38m">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
<value name="VALUE">
- <block type="math_number" id="[r2m=DpI#8/tg+.FmdbN">
- <field name="NUM">3</field>
+ <block type="math_number" id="+Lh~UibuYaJ$9i{V2?E5">
+ <field name="NUM">7</field>
</block>
</value>
<next>
- <block type="variables_set" id="OMK@?HIgcaISEF?)F38m">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_min</field>
+ <block type="variables_set" id="S2nwP`o+%u[9kc]ctSrQ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
<value name="VALUE">
- <block type="math_number" id="+Lh~UibuYaJ$9i{V2?E5">
- <field name="NUM">7</field>
+ <block type="math_number" id="7S}[)qBEl/AotP|IAi0!">
+ <field name="NUM">50</field>
</block>
</value>
<next>
<block type="variables_set" id="4)f*C0^w#HD@8ffuS.}.">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_max</field>
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
<value name="VALUE">
<block type="math_number" id="LM`a65R18{B1Q,ON@MsQ">
<field name="NUM">74</field>
@@ -81,7 +82,7 @@
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
<value name="VALUE">
<block type="math_number" id="WI$:pL{1wYx/-L0!4NgB">
- <field name="NUM">300</field>
+ <field name="NUM">200</field>
</block>
</value>
<next>
@@ -93,571 +94,712 @@
</block>
</value>
<next>
- <block type="variables_set" id="08j[^aKhj-mzD-up%28Q">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_set" id="${6w(je.)JDx9*IU-]X%">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
<value name="VALUE">
- <block type="lists_create_with" id=")t9;_o5:Uk`S#-x6ceH.">
- <mutation items="2"/>
- <value name="ADD0">
- <block type="logic_null" id="x$j.V#h.,j3GQ?l*m7.^"/>
- </value>
- <value name="ADD1">
- <block type="logic_null" id="I%tVa0ny05XAmaVV:F.b"/>
- </value>
+ <block type="math_number" id="HE{Fb0.3#.+inUWR}#c]">
+ <field name="NUM">512</field>
</block>
</value>
<next>
- <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_set" id="08j[^aKhj-mzD-up%28Q">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
<value name="VALUE">
- <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
+ <block type="lists_create_with" id=")t9;_o5:Uk`S#-x6ceH.">
+ <mutation items="2"/>
+ <value name="ADD0">
+ <block type="logic_null" id="x$j.V#h.,j3GQ?l*m7.^"/>
+ </value>
+ <value name="ADD1">
+ <block type="logic_null" id="I%tVa0ny05XAmaVV:F.b"/>
+ </value>
+ </block>
</value>
<next>
- <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
<value name="VALUE">
- <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
+ <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
</value>
<next>
- <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
- <field name="TIME">MILLISECOND</field>
- </block>
+ <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
</value>
<next>
- <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
+ <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
- <statement name="DO">
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeouts"/>
- <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="1" else="1"/>
+ <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <value name="VALUE">
+ <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <next>
+ <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
+ <statement name="DO">
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeouts"/>
+ <next>
+ <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
<value name="IF0">
- <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
+ <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="OeAZ19W_g)]s*LP0=8r,">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_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_null" id="z~Da7_)q,Bo-$yJb73oH"/>
+ <block type="logic_compare" id="d9U8).!K)LC)*3RzV-$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="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </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_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
+ <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>
- <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>
+ <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^$97E">
+ <field name="OP">LT</field>
<value name="A">
- <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
+ <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
+ <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="3~ZXLDV~ZSV8RX_^%[6]">
+ <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
<field name="NUM">1</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
+ <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>
- <value name="B">
- <block type="logic_compare" id=";P}d!ou6kF,_]Y}2c}oU">
- <field name="OP">NEQ</field>
+ <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="9qxZzDB=dlHB#35+H*!N">
+ <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="D3C[P^f3vp}xb!,-2#r5">
+ <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="@69b4byUu7@Wfx)U/;Xp">
- <field name="NUM">2</field>
+ <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
+ <field name="NUM">1</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
+ <block type="variables_get" id="M9wjV+z*e*Hh*PspIXEY">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
</value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- </mutation>
- <value name="ARG0">
- <block type="math_number" id="k8E(D2NZYJGR/LxfRAe`">
- <field name="NUM">180</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="$a(P8}p#iy{V.L*Qd5S-" inline="true">
+ <mutation name="sideright_v">
+ <arg name="v"/>
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+ <value name="ARG0">
+ <block type="math_number" id="D}g?6A6[y!i,A_?rI7vT">
+ <field name="NUM">180</field>
+ </block>
+ </value>
</block>
- </value>
+ </statement>
</block>
</statement>
<value name="IF1">
- <block type="logic_compare" id="%Sv9J|%0l}R*#ixcN^Ek">
- <field name="OP">GT</field>
+ <block type="logic_operation" id="Bv(kvR*xIzb%RfmRxg3N" inline="false">
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<value name="A">
- <block type="variables_get" id="gUF.?VCJ.+dlQ|PNR1eF">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="?#JnnyzAeNU`MJL^+ZOa">
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+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
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</block>
</value>
<value name="B">
- <block type="variables_get" id="6nz_eq9+/Xkxe:eT^[z@">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ <block type="logic_compare" id="muiUUW_{}49WVL]?fJ8F">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="{RI1+Kc:gz]:()FPOMRR">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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+ <block type="logic_null" id="7%fYG^;I?g7^n6Vy{BV5"/>
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</block>
</value>
</block>
</value>
<statement name="DO1">
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- </value>
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- <statement name="ELSE">
- <block type="controls_if" id="1W5U1#HIVC#sFf,=}aPk">
+ <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
<mutation elseif="1" else="1"/>
<value name="IF0">
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+ <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
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<value name="A">
- <block type="variables_get" id="plWMHX+zH[B*)Z,!PdFG">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
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</block>
</value>
<value name="B">
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- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_min</field>
+ <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
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</block>
</value>
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</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="op;Gb+2E6qWV#_xTw%*f" inline="true">
- <mutation name="fwd_v">
+ <block type="procedures_callnoreturn" id="Ox/XsK4e~+Q~K3.6ZN=|" inline="true">
+ <mutation name="left_v">
<arg name="v"/>
</mutation>
<value name="ARG0">
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- <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
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</block>
</value>
</block>
</statement>
<value name="IF1">
- <block type="logic_compare" id="Yr?8v,ne7CHC3J@.tG~K">
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+ <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
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<value name="A">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
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</block>
</value>
<value name="B">
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- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_max</field>
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</block>
</value>
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</value>
<statement name="DO1">
- <block type="procedures_callnoreturn" id="{8;:MqS_MFU5y`-[u:mG" inline="true">
- <mutation name="fwd_v">
+ <block type="procedures_callnoreturn" id="a{Dykh`c.ZHp3#QzywaK" inline="true">
+ <mutation name="right_v">
<arg name="v"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="aqXd,2m3/|Vs0Z|8wWEn">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">speed_y</field>
+ <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
</block>
</statement>
+ <statement name="ELSE">
+ <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
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+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
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+ <statement name="DO0">
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+ <mutation name="fwd_v">
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+ <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
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+ </value>
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+ <value name="IF1">
+ <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
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+ <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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+ <value name="B">
+ <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
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+ <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>
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+ <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!">
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+ <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>
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+ <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
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+ </value>
+ </block>
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+ <statement name="DO2">
+ <block type="text_print" id="-QNu$mGl!qCxqMjTX:`~">
+ <value name="TEXT">
+ <shadow type="text" id="be.9t#Dm^sd1QKvcb~,z">
+ <field name="TEXT">touch</field>
+ </shadow>
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+ </statement>
+ </block>
+ </statement>
</block>
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </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$_F">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="dZ4u4Y]208l5,n^p/=qf">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="_d5c3vTK-dt?#mV]X%D/">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="AgRmYvSA6@z6mYB6@fFA">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="+EAOut)hnbN;,CctGcIN" inline="true">
+ <mutation name="sideleft_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="k8E(D2NZYJGR/LxfRAe`">
+ <field name="NUM">180</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="%Sv9J|%0l}R*#ixcN^Ek">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="fJJ$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>
+ </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$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="-JdEwEQT.ATb$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>
+ </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>
+ <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$.9vwF`">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
</block>
- </value>
+ </statement>
<next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal</field>
+ <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
+ <field name="instance_name">txt_label_ball</field>
<value name="value">
- <shadow type="text">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="1"/>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">x:{}</field>
+ <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
+ <field name="TEXT">x:{}, y:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
</block>
</value>
<next>
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
+ <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
+ <field name="instance_name">txt_label_goal</field>
<value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">100</field>
+ <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>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -665,9 +807,9 @@
</block>
</next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -691,9 +833,155 @@
</block>
</next>
</block>
- </next>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="2455">
+ <field name="NAME">checkTimeouts</field>
+ <statement name="STACK">
+ <block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
+ <value name="IF0">
+ <block type="logic_compare" id="yaTkeEV~1|XTU#NgT)j7" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="zgksfhhp2%*/nv0kv]6k">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="j-xyUfRHV,b}kCz08o+m">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="w|9iU`@W=6$!Dl%9u-Y@">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="5_ryZ94QfcJv2_:O]/?g">
+ <field name="NUM">500</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="Z:~u5a?M/hcKIufGbk]L">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <value name="VALUE">
+ <block type="logic_null" id="6nvUE+P$gKwIm:+6*sP!"/>
+ </value>
+ <next>
+ <block type="variables_set" id="$`MFfO6i!mT/klG+$:H]">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <value name="VALUE">
+ <block type="logic_null" id="FHu):3h?Msu%QttHEtj]"/>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <next>
+ <block type="controls_if" id="TB*rcFM~i@*D%Dwtx/?U">
+ <value name="IF0">
+ <block type="logic_compare" id="gPw1GMDTD1_[][5luwe;" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="THgFqXlrn6V_SnFEL,qY">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="uw^6{2#8iqZO7RG;YaY7">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="HKOfg8b$oR@vts;7DObj">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=".b=S3huhD!|a4Hsf^rGL">
+ <field name="NUM">500</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="lists_setIndex" id="TkR|_blx2$,hT.aKkf~O">
+ <mutation at="true"/>
+ <field name="MODE">SET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="LIST">
+ <block type="variables_get" id="3#3BiP+h9}[ccaIDKlj/">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="YWwjvCGqfBBv67F+ib58">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ <value name="TO">
+ <block type="logic_null" id="cM8^dckuY:nW*9,QoDS%"/>
+ </value>
+ </block>
+ </statement>
+ <next>
+ <block type="controls_if" id="3O$%2WU}~L29)rJb:dRd">
+ <value name="IF0">
+ <block type="logic_compare" id="KdN#iJT(!{.3f(:7.mAV" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="o?sdoD{y^2G_me0TF$8d">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="N%$;|Spy3LX-7f1.cFC$">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="bpKR0|hoi*mdX]v*_:W7">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=".+UfY)W[?!t8Vr%!Xs/v">
+ <field name="NUM">500</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="lists_setIndex" id="~83Uj0HPT|J(,3W!LWCL">
+ <mutation at="true"/>
+ <field name="MODE">SET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="LIST">
+ <block type="variables_get" id="3?9q,AoE6r,fRB}w,{]i">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=";;rL@zk@9)hLoS)Vv_A?">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ <value name="TO">
+ <block type="logic_null" id="GUm3tRkD[}|mB@r#$q~4"/>
+ </value>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
@@ -701,7 +989,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="2039">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="2908">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -831,7 +1119,7 @@
<mutation items="4"/>
<value name="value">
<shadow type="text" id="l2A3xrw.^!j6.QD:k]?b">
- <field name="TEXT">posx:{} posy:{} dist_x:{} speed_y:{}</field>
+ <field name="TEXT">ball posx:{} posy:{} dist_x:{} speed_y:{}</field>
</shadow>
</value>
<value name="ADD0">
@@ -875,7 +1163,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="2600">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="3469">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -946,7 +1234,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="2861">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="3730">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -1017,153 +1305,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="3122">
- <field name="NAME">checkTimeouts</field>
- <statement name="STACK">
- <block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
- <value name="IF0">
- <block type="logic_compare" id="yaTkeEV~1|XTU#NgT)j7" inline="false">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="zgksfhhp2%*/nv0kv]6k">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="j-xyUfRHV,b}kCz08o+m">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="w|9iU`@W=6$!Dl%9u-Y@">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="5_ryZ94QfcJv2_:O]/?g">
- <field name="NUM">500</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="variables_set" id="Z:~u5a?M/hcKIufGbk]L">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- <value name="VALUE">
- <block type="logic_null" id="6nvUE+P$gKwIm:+6*sP!"/>
- </value>
- <next>
- <block type="variables_set" id="$`MFfO6i!mT/klG+$:H]">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- <value name="VALUE">
- <block type="logic_null" id="FHu):3h?Msu%QttHEtj]"/>
- </value>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="controls_if" id="TB*rcFM~i@*D%Dwtx/?U">
- <value name="IF0">
- <block type="logic_compare" id="gPw1GMDTD1_[][5luwe;" inline="false">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="THgFqXlrn6V_SnFEL,qY">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="uw^6{2#8iqZO7RG;YaY7">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="HKOfg8b$oR@vts;7DObj">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id=".b=S3huhD!|a4Hsf^rGL">
- <field name="NUM">500</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="lists_setIndex" id="TkR|_blx2$,hT.aKkf~O">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="3#3BiP+h9}[ccaIDKlj/">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="YWwjvCGqfBBv67F+ib58">
- <field name="NUM">1</field>
- </block>
- </value>
- <value name="TO">
- <block type="logic_null" id="cM8^dckuY:nW*9,QoDS%"/>
- </value>
- </block>
- </statement>
- <next>
- <block type="controls_if" id="3O$%2WU}~L29)rJb:dRd">
- <value name="IF0">
- <block type="logic_compare" id="KdN#iJT(!{.3f(:7.mAV" inline="false">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="o?sdoD{y^2G_me0TF$8d">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="N%$;|Spy3LX-7f1.cFC$">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="bpKR0|hoi*mdX]v*_:W7">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id=".+UfY)W[?!t8Vr%!Xs/v">
- <field name="NUM">500</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="lists_setIndex" id="~83Uj0HPT|J(,3W!LWCL">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="3?9q,AoE6r,fRB}w,{]i">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=";;rL@zk@9)hLoS)Vv_A?">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="TO">
- <block type="logic_null" id="GUm3tRkD[}|mB@r#$q~4"/>
- </value>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="3575">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="3991">
<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>
@@ -1173,10 +1315,20 @@
<statement name="statement">
<block type="procedures_callnoreturn" id="5g}yP+C``b}R[T#xBtg|">
<mutation name="shotBall"/>
+ <next>
+ <block type="util_wait_for" id="@8txnh!Ya]x^TH^rCQ[`">
+ <field name="format">s</field>
+ <value name="value">
+ <shadow type="math_number" id="~EE*}gb]K3*yvGqjvkYb">
+ <field name="NUM">5</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="3684">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" collapsed="true" x="0" y="4128">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
@@ -1290,7 +1442,19 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" collapsed="true" x="0" y="4242">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="4195">
+ <field name="NAME">stop</field>
+ <statement name="STACK">
+ <block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" collapsed="true" x="0" y="4262">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -1318,7 +1482,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" collapsed="true" x="0" y="4309">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" collapsed="true" x="0" y="4329">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -1346,7 +1510,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" collapsed="true" x="0" y="4376">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" collapsed="true" x="0" y="4396">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1374,19 +1538,19 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="4443">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" collapsed="true" x="0" y="4463">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
- <field name="NAME">sideleft_v</field>
+ <field name="NAME">right_v</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="pLk^0]/}JZa5O5XBdTkw">
+ <block type="encodermotor_set_speed" id="nx1gdpc@IPQ^`H:CbI[*">
<mutation syncBlocks="3"/>
<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>
<field name="instance_name_2">TXT_M_M3_encodermotor</field>
<field name="direction_2">Motor.CW</field>
<field name="instance_name_3">TXT_M_M4_encodermotor</field>
@@ -1395,26 +1559,26 @@
<shadow type="motor_number">
<field name="MOTOR_NUM">512</field>
</shadow>
- <block type="variables_get" id="+]RiX%o.`5?mErIL~B$V">
+ <block type="variables_get" id="$@n1C^pw7z*pgx,V+kbX">
<field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" collapsed="true" x="0" y="4510">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="4530">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
- <field name="NAME">right_v</field>
+ <field name="NAME">sideleft_v</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="nx1gdpc@IPQ^`H:CbI[*">
+ <block type="encodermotor_set_speed" id="pLk^0]/}JZa5O5XBdTkw">
<mutation syncBlocks="3"/>
<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>
<field name="instance_name_2">TXT_M_M3_encodermotor</field>
<field name="direction_2">Motor.CW</field>
<field name="instance_name_3">TXT_M_M4_encodermotor</field>
@@ -1423,14 +1587,14 @@
<shadow type="motor_number">
<field name="MOTOR_NUM">512</field>
</shadow>
- <block type="variables_get" id="$@n1C^pw7z*pgx,V+kbX">
+ <block type="variables_get" id="+]RiX%o.`5?mErIL~B$V">
<field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="4577">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="4597">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1458,19 +1622,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="4644">
- <field name="NAME">stop</field>
- <statement name="STACK">
- <block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- </block>
- </statement>
- </block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="4711">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="4664">
<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{"/>
@@ -1536,7 +1688,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="4778">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="4731">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -1602,7 +1754,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" collapsed="true" x="0" y="4845">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" collapsed="true" x="0" y="4798">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -1668,7 +1820,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" collapsed="true" x="0" y="4912">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" collapsed="true" x="0" y="4865">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -1734,99 +1886,63 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" collapsed="true" x="0" y="4979">
- <field name="NAME">turnLeft</field>
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="4932">
+ <field name="NAME">turnBallLeft</field>
<statement name="STACK">
- <block type="procedures_callnoreturn" id="n2^-(/I;nyLq_t.8g0Hh" inline="true">
- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="L]KBm_q}pUYcN_R9$Td*">
- <field name="NUM">512</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="XL@`?$Meb0G?=O^(bcN`">
- <field name="NUM">100</field>
- </block>
+ <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="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="KbM1XwSZ`0p4OfObK%2d">
+ <field name="MOTOR_NUM">150</field>
+ </shadow>
</value>
<next>
- <block type="util_wait_for" id="R(dhDnY~?k[7gqG+2x~g">
- <field name="format">s</field>
- <value name="value">
- <shadow type="math_number" id="3]SXvlb7u^(WBc%.4WHy">
- <field name="NUM">2</field>
+ <block type="encodermotor_set_speed" id="?-}PDl2[=K?(SrBgJg-U">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M3_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M4_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="=efoF`lj-~A7g]Ka]qr.">
+ <field name="MOTOR_NUM">512</field>
</shadow>
</value>
- <next>
- <block type="procedures_callnoreturn" id="BSxVt0)n-UE(][{}Zt;^" inline="true">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="hv[6sv=-hB.R^tw#]Gz=">
- <field name="NUM">512</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="P]X~f;N4(]+(%xPouOI7">
- <field name="NUM">100</field>
- </block>
- </value>
- </block>
- </next>
</block>
</next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="$nY7HNz^i}wlpk/f(Dja" collapsed="true" x="0" y="5046">
- <field name="NAME">turnRight</field>
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="5125">
+ <field name="NAME">turnBallRight</field>
<statement name="STACK">
- <block type="procedures_callnoreturn" id="%_T=@p6r8~Uq5{@hAFr2" inline="true">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="bw3[f)0Q(9PF,!}X!x{/">
- <field name="NUM">512</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="+5OU#:=YOM`vK{]flY`%">
- <field name="NUM">100</field>
- </block>
+ <block type="encodermotor_set_speed" id="c8~SXys:o35ETKj;GX?m">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="dD.1u9Pwx-^rnKZyWQx/">
+ <field name="MOTOR_NUM">150</field>
+ </shadow>
</value>
<next>
- <block type="util_wait_for" id="/W7.[SC_c4y$_}LjB86s">
- <field name="format">s</field>
- <value name="value">
- <shadow type="math_number" id="6;@I%dFl,h,%#D)ZIbaq">
- <field name="NUM">2</field>
+ <block type="encodermotor_set_speed" id="b:w42I;ulm2~l(S-#ER(">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M3_encodermotor</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M4_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id=";zG8,Fnh@=jNAT#Br68/">
+ <field name="MOTOR_NUM">512</field>
</shadow>
</value>
- <next>
- <block type="procedures_callnoreturn" id="YGQ{1/dmc!iFfIy.x/2m" inline="true">
- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="OMM56z]B8;G//6yQPVOc">
- <field name="NUM">512</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="=Y*_@^k,{$YH-`gO^nSk">
- <field name="NUM">100</field>
- </block>
- </value>
- </block>
- </next>
</block>
</next>
</block>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index b19ca943b301ef258ddd89a25a7e33bc746212e1..3614165f589286f5fee460add7fd2c9c983cb0bc 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -16,17 +16,18 @@ ts_goal_right = None
factor_y = None
posx_ball = None
dist_x = None
-speed_y = None
+x_min = None
posy_ball = None
+speed_y = None
posx_goal = None
-x_min = None
x_max = None
-y_min = None
-y_max = None
+y_ball_far = None
+y_ball_near = None
+y_ball_touch = None
v_slow = None
v_fast = None
def checkTimeouts():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
@@ -38,19 +39,19 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
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('posx:{} posy:{} dist_x:{} speed_y:{}'.format(event.value.x, event.value.y, dist_x, speed_y))
+ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
ts_goal_left = (time.time() * 1000)
posx_goal[0] = event.value.x
print('goal left: posx:{} posy:{}'.format(event.value.x, event.value.y))
@@ -59,7 +60,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
ts_goal_right = (time.time() * 1000)
posx_goal[1] = event.value.x
print('goal right: posx:{} posy:{}'.format(event.value.x, event.value.y))
@@ -68,16 +69,17 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
+ time.sleep(5)
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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
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)
@@ -106,8 +108,13 @@ def shotBall():
time.sleep(0.010)
+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
+ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
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)
@@ -116,7 +123,7 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
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)
@@ -125,7 +132,7 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
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)
@@ -133,26 +140,26 @@ def left_v(v):
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
-def sideleft_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
- TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+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
+ 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)
TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
-def right_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
- TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
+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
+ 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)
TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
def sideright_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
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)
@@ -160,13 +167,8 @@ def sideright_v(v):
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
-def stop():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- TXT_M_M1_encodermotor.stop_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
-
-
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -180,7 +182,7 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -194,7 +196,7 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -208,7 +210,7 @@ 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, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -221,29 +223,36 @@ def right(v, ticks):
time.sleep(0.010)
-def turnLeft():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- left(512, 100)
- time.sleep(2)
- right(512, 100)
+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(150), Motor.CCW)
+ TXT_M_M2_encodermotor.set_speed(int(150), Motor.CW)
+ 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)
+ TXT_M_M3_encodermotor.start_sync(TXT_M_M4_encodermotor)
-def turnRight():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- right(512, 100)
- time.sleep(2)
- left(512, 100)
+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(150), Motor.CW)
+ TXT_M_M2_encodermotor.set_speed(int(150), Motor.CCW)
+ 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)
+ TXT_M_M3_encodermotor.start_sync(TXT_M_M4_encodermotor)
factor_x = 0.2
factor_y = 3.5
-speed_y = 300
x_min = -3
x_max = 3
-y_min = 7
-y_max = 74
-v_slow = 300
+y_ball_far = 7
+y_ball_near = 50
+y_ball_touch = 74
+v_slow = 200
v_fast = 512
+speed_y = 512
posx_goal = [None, None]
posx_ball = None
posy_ball = None
@@ -254,29 +263,40 @@ 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 < posx_ball:
+ if posx_goal[0] < posx_ball:
sideleft_v(180)
- elif posx_goal > x_max:
+ elif posx_goal[0] > x_max:
sideright_v(180)
- elif posx_ball < x_min:
- left(v_slow, dist_x)
- elif posx_ball > x_max:
- right(v_slow, dist_x)
else:
pass
elif posx_ball != None and posy_ball != None:
- if posx_goal < x_min:
+ if posx_ball < x_min:
+ left_v(v_slow)
+ elif posx_ball > x_max:
+ right_v(v_slow)
+ else:
+ if posy_ball <= y_ball_far:
+ fwd_v(v_slow)
+ elif posy_ball <= y_ball_near:
+ print('turn')
+ turnBallLeft()
+ elif posy_ball <= y_ball_touch:
+ print('touch')
+ else:
+ pass
+ elif False:
+ if posx_goal[0] < x_min:
sideleft_v(180)
- elif posx_goal > x_max:
+ elif posx_goal[0] > x_max:
sideright_v(180)
elif posx_ball < x_min:
left(v_slow, dist_x)
elif posx_ball > x_max:
right(v_slow, dist_x)
else:
- if posy_ball >= y_min:
+ if posy_ball >= y_ball_far:
fwd_v(v_fast)
- elif posy_ball < y_max:
+ elif posy_ball < y_ball_touch:
fwd_v(speed_y)
else:
pass
@@ -284,6 +304,6 @@ while True:
left_v(v_slow)
display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
display.set_attr("txt_label_goal.text", str('x:{}'.format(posx_goal)))
- time.sleep(0.1)
+ time.sleep(0.01)