diff --git a/lib/camera.py b/lib/camera.py
index d5572230e9849e28ed9542aeea7e4f4e02aa46b2..64e21ac46bbd4547b6d578310f221cd3b547636e 100644
--- a/lib/camera.py
+++ b/lib/camera.py
@@ -8,7 +8,7 @@ TXT_M_USB_1_camera.set_width(320)
TXT_M_USB_1_camera.set_fps(15)
TXT_M_USB_1_camera.start()
-ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 5, 80, -100, 100, [230,133,82], 20)
+ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 5, 80, -100, 100, [225,146,124], 20)
TXT_M_USB_1_camera.add_detector(ball_detector)
blocked_area_right = txt_factory.camera_factory.create_blocked_area(240, 190, 80, 50)
@@ -17,9 +17,9 @@ TXT_M_USB_1_camera.add_blocked_area(blocked_area_right)
blocked_area_left = txt_factory.camera_factory.create_blocked_area(0, 190, 80, 50)
TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
-ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [182,142,47], 25)
+ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [203,163,120], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
-ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [157,31,43], 25)
+ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [69,110,52], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_left)
diff --git a/lib/camera.xml b/lib/camera.xml
index 3aafaeea72ed9e46eadd4ee3455b7e2e950a4be2..552d554c94034eed3495512c6e26b9b8b385fdb8 100644
--- a/lib/camera.xml
+++ b/lib/camera.xml
@@ -1 +1 @@
-<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#e68552</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#b68e2f</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#9d1f2b</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
+<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#e1927c</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#cba378</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#456e34</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 1b2c15a8fb9d4e4be7b05e5da5ab17dda21dc956..b0827325b5c53917ea2519d4f23c045fd8406b45 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -6,16 +6,17 @@
<variable id="v3eHF0atAL+ouaa{W$=m">ts_ball</variable>
<variable id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</variable>
<variable id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</variable>
+ <variable id="fPH`.@]riH+=v{,A)bP5">cmd</variable>
<variable id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</variable>
<variable id="S4.mduNQC(va3iR{oSdB">posx_ball</variable>
- <variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="5@U(%o_ghQ1;jiB#odH8">counters</variable>
- <variable id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</variable>
<variable id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</variable>
<variable id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</variable>
<variable id="=2ARo+;2DS07SU~j29Fk">posx_goal</variable>
- <variable id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
+ <variable id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</variable>
+ <variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
+ <variable id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
<variable id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</variable>
<variable id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</variable>
<variable id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</variable>
@@ -216,1441 +217,1561 @@
</block>
</value>
<next>
- <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
- <field name="format">s</field>
- <value name="value">
- <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
- <field name="NUM">2</field>
- </shadow>
+ <block type="variables_set" id="!eP!#y!o25=Kc{0p7GDs">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="vc4C]$ok!Yk@_eIUD8L)">
+ <field name="TEXT">NONE</field>
+ </block>
</value>
<next>
- <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
- <statement name="DO">
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeouts"/>
- <next>
- <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
- <value name="IF0">
- <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
- <field name="instance_name">txt_switch_active</field>
- <field name="property_name">checked</field>
- </block>
- </value>
- <statement name="DO0">
- <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
- <mutation elseif="5" else="1"/>
+ <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
+ <field name="format">s</field>
+ <value name="value">
+ <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
+ <statement name="DO">
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeouts"/>
+ <next>
+ <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
<value name="IF0">
- <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
+ <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
+ <mutation elseif="6" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
- <field name="OP">EQ</field>
+ <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="lists_getIndex" id="~GuPJ/(BunJIEuttSlw5">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="B~Ic{tkFNcdReHWMqxf6">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="Il7jHRe($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$?r)#f">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id=",RX#r,ztOfES#y;BmliI">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
- </value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
- <field name="TEXT">ONLY_BALL</field>
- </block>
- </value>
- <next>
- <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <value name="B">
+ <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
- <field name="OP">GTE</field>
+ <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="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="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
+ <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
- <field name="OP">LTE</field>
+ <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="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="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
+ <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
</value>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
- <mutation elseif="3" else="1"/>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
+ <field name="TEXT">BALL_NO_GOAL</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
+ <mutation elseif="2" else="1"/>
<value name="IF0">
- <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
- <field name="OP">LTE</field>
+ <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
- <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
- <field name="OP">GT</field>
+ <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
+ <mutation elseif="3" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
+ <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="L/RedQ[=!jNwBI,ivSt/">
+ <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>
- <value name="B">
- <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
- <field name="OP">LTE</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
+ <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="L/RedQ[=!jNwBI,ivSt/">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
- <field name="OP">GT</field>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="qkncjacBYB1~0@aF1Q[x">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <value name="IF3">
+ <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
<field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <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="qkncjacBYB1~0@aF1Q[x">
+ <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
<field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
+ <statement name="DO3">
+ <block type="procedures_callnoreturn" id=";$*URO!$mNp;(}~rEzSA" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="[3C}+lMgr=zfSwjcYdsJ">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="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="DO2">
- <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
- <mutation name="turnBallLeft"/>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="Do:{V-Htoxi(Ky;5q%7)">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="O(GD0npMQ5}pU7S_p6Fw" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="EmeRL7tak./N9g?B@nFs">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="($1]A%(r+nV+-me@mi{*">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="5*ed5[K7:%|#-rdvwe2p">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="ex%*G*X[(1UM%,lV]FfW">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="nqm#GPG6WTZ|}UMKIt!{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</statement>
- <value name="IF3">
- <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
- <field name="OP">LTE</field>
+ <value name="IF2">
+ <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
+ <field name="OP">LT</field>
<value name="A">
- <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
- <statement name="DO3">
- <block type="procedures_callnoreturn" id=";$*URO!$mNp;(}~rEzSA" inline="true">
- <mutation name="bwd_v">
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="#7@$9Gz4rn?uePi|!w5H">
+ <mutation name="left">
<arg name="v"/>
+ <arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="[3C}+lMgr=zfSwjcYdsJ">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="W3t]erG4jM/-7Ha9Rz8=" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id=";7U*){*?kwgf!k^}}5GA">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="ii5E[ARI)`Bgg5KUe]}u">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="_rWdYF]99IuNPR?jeS*v">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="fC}]TN}rkpW?/cte-Bp]">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="8+tZg^1UjmO}E,sNn-t{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
</block>
</value>
</block>
</statement>
<statement name="ELSE">
- <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
+ <block type="procedures_callnoreturn" id="K2~d9j?nrPh-CWpCKZ^I">
<mutation name="stop"/>
</block>
</statement>
</block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
- <field name="OP">GT</field>
+ </next>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="B~L1BuQh-S6uKm^YJSgH" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_operation" id="4bB{1Bu{%4*rAe!/uepL" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="*p.1tBx0!3(A,.#v~}gR">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="Do:{V-Htoxi(Ky;5q%7)">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ <block 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>
- <value name="ARG1">
- <block type="math_constrain" id="O(GD0npMQ5}pU7S_p6Fw" inline="false">
- <value name="VALUE">
- <block type="math_arithmetic" id="EmeRL7tak./N9g?B@nFs">
- <field name="OP">MULTIPLY</field>
- <value name="A">
- <block type="variables_get" id="($1]A%(r+nV+-me@mi{*">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="s5?^~_8K{8Ds{9:#%k6@">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O/m@rtsP1-]GZu;z!Kd7">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
- <value name="B">
- <block type="variables_get" id="5*ed5[K7:%|#-rdvwe2p">
- <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ <value name="AT">
+ <block type="math_number" id="AHQ$-$-`kl9D]lvFKqEw">
+ <field name="NUM">1</field>
</block>
</value>
</block>
</value>
- <value name="LOW">
- <block type="math_number" id="ex%*G*X[(1UM%,lV]FfW">
- <field name="NUM">3</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="c0`hO)W_@*rN3v3J#n/b"/>
</value>
- <value name="HIGH">
- <block type="math_number" id="nqm#GPG6WTZ|}UMKIt!{">
- <field name="NUM">100</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="ppt3KZ(DNQQ?lul~f,#i">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="*LHs;5s*!AaP%zlD5e]o">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="%*W`_VauA#TUT8Bhr(l[">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="2~D!AD)saoFre@h_@fqZ">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
+ </value>
</block>
</value>
</block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="y/+X`X}C3$Nc/TH%3_dv">
+ <field name="TEXT">BALL_GOAL_LEFT</field>
+ </block>
+ </value>
+ <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$Ij">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="D)b~KYP=}7Q`ujSBZJyh">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <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>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="#7@$9Gz4rn?uePi|!w5H">
- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id=".k[+$zFZm_;CFMOBjQ=U">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="iY/UC$Qo23IduI}_6|fy">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="NF,/T;m.#62@CZQe#+[`">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
</block>
</value>
- <value name="ARG1">
- <block type="math_constrain" id="W3t]erG4jM/-7Ha9Rz8=" inline="false">
- <value name="VALUE">
- <block type="math_arithmetic" id=";7U*){*?kwgf!k^}}5GA">
- <field name="OP">MULTIPLY</field>
+ <statement name="DO1">
+ <block type="controls_if" id="KJ#o$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="variables_get" id="ii5E[ARI)`Bgg5KUe]}u">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")Y^E1(LwkP6u5Zr]E#v/">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="yIp~#Cn:I`9g1gyN4|22">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="tchE8Qc)Kp|9?UE;Fpe%">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <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="_rWdYF]99IuNPR?jeS*v">
- <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ <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>
- <value name="LOW">
- <block type="math_number" id="fC}]TN}rkpW?/cte-Bp]">
- <field name="NUM">3</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="4!};}Pi@kx7+v]x,}fg2">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="Bl$M.GwPg~+!37[;`0o2">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="hk4|9x7W)79Bt`+.QJ}h">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="HIGH">
- <block type="math_number" id="8+tZg^1UjmO}E,sNn-t{">
- <field name="NUM">100</field>
+ <value name="B">
+ <block type="variables_get" id="lFZoL.IQB6RM@%_m9*-3">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="K2~d9j?nrPh-CWpCKZ^I">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="B~L1BuQh-S6uKm^YJSgH" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="4bB{1Bu{%4*rAe!/uepL" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="*p.1tBx0!3(A,.#v~}gR">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <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>
- </value>
- <value name="B">
- <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
- </value>
- </block>
- </value>
- <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>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
+ <mutation name="stop"/>
</block>
- </value>
- <value name="B">
- <block type="logic_null" id="b7),FwxGz-g+3(2a:iAH"/>
- </value>
+ </statement>
</block>
- </value>
+ </next>
</block>
- </value>
- <value name="B">
- <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
+ </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="logic_compare" id="@zlHHSd5%+h?_A?s;121">
- <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="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 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$K?+~7cG|vO,;">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="AHQ$-$-`kl9D]lvFKqEw">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="z~Da7_)q,Bo-$yJb73oH"/>
</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 type="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="2~D!AD)saoFre@h_@fqZ">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="y/+X`X}C3$Nc/TH%3_dv">
- <field name="TEXT">BALL_AND_GOAL_LEFT</field>
- </block>
- </value>
- <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="B">
+ <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="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^$97E">
- <field name="OP">LT</field>
+ <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
+ <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
+ <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
+ <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
<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>
+ <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
- <mutation name="turnBallRight"/>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
- <field name="OP">GT</field>
+ <value name="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="yIp~#Cn:I`9g1gyN4|22">
+ <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="tchE8Qc)Kp|9?UE;Fpe%">
+ <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="saTD#QpS5Cx+?U!E/:[:">
- <field name="NUM">1</field>
+ <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
+ <field name="NUM">2</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>
+ <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
- <mutation name="turnBallLeft"/>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="4!};}Pi@kx7+v]x,}fg2">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="Bl$M.GwPg~+!37[;`0o2">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="hk4|9x7W)79Bt`+.QJ}h">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="lFZoL.IQB6RM@%_m9*-3">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
- </block>
- </value>
</block>
</value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="QN+5a=dUZe|3;6UVwiue" inline="true">
- <mutation name="bwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="v5iy]*Vt3nsse;Eg[EjI">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
- <mutation name="stop"/>
- </block>
- </statement>
</block>
- </next>
- </block>
- </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="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-$z">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
- </value>
+ </value>
+ <statement name="DO2">
+ <block type="variables_set" id=",9T_FbUWwGZlugNQ_c#x">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="5?`m/5fCq/Z(s/u)oR*~">
+ <field name="TEXT">BALL_GOAL_RIGHT</field>
</block>
</value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <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="AT">
- <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
- <field name="NUM">1</field>
+ <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>
- <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>
+ <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$_4eoX:jjS#">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
- <field name="NUM">2</field>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="rWZfl+Ze,4+*KK/_Y|f2">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id=".K(H|%8UHLv-,l~)q36:">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="~UptJA?^oJ2DWj=i2Yfh">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="variables_set" id=",9T_FbUWwGZlugNQ_c#x">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="5?`m/5fCq/Z(s/u)oR*~">
- <field name="TEXT">BALL_AND_GOAL_RIGHT</field>
- </block>
- </value>
- <next>
- <block type="controls_if" id="oOSLtR1E1%!.Oz+LD*|O">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="{AkiSJ!:M-e{%|_5,Va{">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="u2W_3eBph941yf[`AO1:">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="m`EhNfvklFtISL#l0*_4">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="]2;?=Iy9hHyC!C}^y~h~" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="Ytx*_*[sy$_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>
+ <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="AT">
- <block type="math_number" id="vC3tOvv+vwtnqY^-oVd,">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
+ <mutation name="turnBallRight"/>
</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>
+ </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="AT">
- <block type="math_number" id=";]Yk({gn.(Ha3=/nM5`]">
- <field name="NUM">2</field>
+ <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="=$ulk!vkDhWA^fYK?b*b">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="}Tawuqa_TE/qeAVT.RC5">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
- <mutation name="turnBallLeft"/>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="$Z+:;,t[mQ]aaUe_UNhM" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="|eX:`Adtu3l.8ZaYcgJF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<statement name="ELSE">
- <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
+ <block type="procedures_callnoreturn" id="bi9hG~0MI@s}v(fCd[tp">
<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>
+ </next>
</block>
- </next>
- </block>
- </statement>
- <value name="IF3">
- <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="JDmD0uu$,6*6XI.*8Y=T" inline="false">
+ </statement>
+ <value name="IF3">
+ <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="JvLUnlLulIk{o},vW~}y">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="$-jleAiV2GHR%[$RfY4I">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="TvSq3M9?{oeuq~TW*ihg"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="9/b,vDMaH:m,r{gleX7O">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="JDmD0uu$,6*6XI.*8Y=T" inline="false">
+ <field name="OP">AND</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 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_null" id="lP$*f:B}Uv4E]8^Ao)y2"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="!WgYF}aMS$sC-.xB$JAg">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id=",+(z.@/%C`r?(v8{Xk6?">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block 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="AT">
- <block type="math_number" id="l]wQ?}.TM,m@sJl.9c$4">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="lP$*f:B}Uv4E]8^Ao)y2"/>
</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>
+ <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
+ <field name="OP">AND</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 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$4">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="lm,[gP|qh0[95%Rr2M|@">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="%PXc[::|r[K5tThFGgi."/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO3">
- <block type="variables_set" id="?=|7j%BS8lgVb|CMk2`B">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
- <field name="TEXT">BALL_AND_GOAL_BOTH</field>
- </block>
- </value>
- <next>
- <block type="controls_if" id="mBr6R|Ld1(7@wFK@LEc%">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Ef@EH~LEo9ldV~aTkL)v">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="eNn.jAQuZB`.!|a-}8Bm">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="Vn}:ap@@leJ;ERn5!ulQ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="ug]~pSocMN6aC`I.!9FY" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="3-Iarkq=#yiSq^]Squ6+">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="Gm+JczBwo$*$lI1hn(bE">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="}m|a8Yo5TtRP74mP_mv`">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="$#D6FdXJ6/Dl!OW3tB3d">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="controls_if" id="u:~b5-PiU+[pu_1,Xa98">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
- <field name="OP">AND</field>
+ <block type="logic_compare" id="RoSQV[2xNmOan/JtAO~{">
+ <field name="OP">NEQ</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 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="B">
- <block type="lists_getIndex" id="Gk1Ni~yuA0xqGVB)m$,r">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="Yjz]w]~(6fa5M=#WKCa0">
- <field name="NUM">1</field>
- </block>
- </value>
+ <value name="AT">
+ <block type="math_number" id="lm,[gP|qh0[95%Rr2M|@">
+ <field name="NUM">2</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="$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 type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO3">
+ <block type="variables_set" id="?=|7j%BS8lgVb|CMk2`B">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
+ <field name="TEXT">BALL_GOAL_BOTH</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="mBr6R|Ld1(7@wFK@LEc%">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Ef@EH~LEo9ldV~aTkL)v">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="eNn.jAQuZB`.!|a-}8Bm">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Vn}:ap@@leJ;ERn5!ulQ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="sZ-Q381UDm_7-@_=u,Nb" inline="true">
+ <block type="procedures_callnoreturn" id="ug]~pSocMN6aC`I.!9FY" inline="true">
<mutation name="fwd_v">
<arg name="v"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
+ <block type="variables_get" id="3-Iarkq=#yiSq^]Squ6+">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
</block>
</statement>
<value name="IF1">
- <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
- <field name="OP">AND</field>
+ <block type="logic_compare" id="Gm+JczBwo$*$lI1hn(bE">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
- <field name="OP">LT</field>
+ <block type="variables_get" id="}m|a8Yo5TtRP74mP_mv`">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="$#D6FdXJ6/Dl!OW3tB3d">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="u:~b5-PiU+[pu_1,Xa98">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="Gk1Ni~yuA0xqGVB)m$,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="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 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="AT">
- <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
- <field name="NUM">1</field>
+ <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>
- <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>
+ <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>
- <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>
+ </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="AT">
- <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="lists_getIndex" id="m?]jjfWt9tUIy,F_m%}i">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="awS7kY(J(0{xSv!/NOei">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
- <mutation name="turnBallLeft"/>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="Z{tUKy/pPWJWfeWiqZqa">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="1MDI2fR,ALRZOi}FccVJ">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
<value name="B">
- <block type="lists_getIndex" id="{/rW*q)WC4YJAc_{6zEv">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="[=.-l*d|=LkB@kx^g=zQ">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block 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="AT">
- <block type="math_number" id="*X%si/+l#z3E95A1SS{L">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="lists_getIndex" id="H3fd}ZOe,bwQPX(LV4rW">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O4%TBS/MO3[pyE`r5us3">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
- <field name="OP">GT</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="(Dk1+3wh2]HCao.dq?PS">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <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="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 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="AT">
- <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="lists_getIndex" id="b*n2dt}`Z4Ea^z3!_-k#">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="ag@C3!BdIHxH`fg9pah1">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="cn5,`k@5*q#XXj0ugN64">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="%s03s#6dgd9,gsBFI%jB">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="[p/x;`ab/;Bg4Kn8589%">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
<statement name="DO2">
- <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
- <mutation name="turnBallRight"/>
+ <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<statement name="ELSE">
- <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
<mutation name="stop"/>
</block>
</statement>
</block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="cn5,`k@5*q#XXj0ugN64">
- <field name="OP">LTE</field>
+ </next>
+ </block>
+ </statement>
+ <value name="IF4">
+ <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="%s03s#6dgd9,gsBFI%jB">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <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$@:9TJ">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="[p/x;`ab/;Bg4Kn8589%">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
- </block>
+ <block type="logic_null" id="o5dj.]+Z)07l-FMKaT%{"/>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
- <mutation name="bwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF4">
- <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="a2r-4w=%vQYhSHM`~eZ]">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="T$V8$ZEi|{};;VR5guWF">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <value name="B">
+ <block type="logic_compare" id="L1~%)SdSHa$uo6A.8#6f">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="CkEN:gECzR=^Fe$@:9TJ">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
</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$uo6A.8#6f">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <statement name="DO4">
+ <block type="variables_set" id="u#?[x*W2[}s=7T+@kGX3">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
+ <field name="TEXT">NO_BALL_GOAL_BOTH</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="stzng{bs`Stm,oBHUX4!" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="F)PC`z6pXXfHV8yp+0wg">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="-dLwf7e|7vM#7`Euo5:Y">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=":L~QVzvDi@-0k$E#ST]q">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="oV|[T86~]QE#t,i.$w||">
+ <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_7UifGjb/lr2J{Ts/T0">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="z+~r?hm,C-QOOBj55O`=">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="4Y=iZrdYGWmqI3n^Qia^" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="1ChGpLd?q.BTzqaV^%Kd">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="$3]ihsX$QqGH0*uM8$0}">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="!`XkfPY{Xf%.#?+~LDkZ">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="^h3?BJeP34MIrWaZ9@rY">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="4[dCFY5H/eN@cFMa{f^Y">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="b@F!?=;Ry:$m$S6*-q%?">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
- <field name="NUM">2</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="Hv;PVkTzhtVls=i_!Gc@" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO4">
- <block type="variables_set" id="u#?[x*W2[}s=7T+@kGX3">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
- <field name="TEXT">ONLY_GOAL</field>
- </block>
- </value>
- <next>
- <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
<field name="OP">LT</field>
<value name="A">
- <block type="math_arithmetic" id="stzng{bs`Stm,oBHUX4!" inline="false">
+ <block type="math_arithmetic" id="Ai7:`$F~9O2YGCqE}7]%" inline="false">
<field name="OP">MINUS</field>
<value name="A">
- <block type="lists_getIndex" id="F)PC`z6pXXfHV8yp+0wg">
+ <block type="lists_getIndex" id=";}IGw$j4`qR]-V6y1F{C">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="-dLwf7e|7vM#7`Euo5:Y">
+ <block type="variables_get" id="qeaIcn2J!s[tLnzs1-TD">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id=":L~QVzvDi@-0k$E#ST]q">
+ <block type="math_number" id="$@C}!!6KJsxT:/2%*qFq">
<field name="NUM">2</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="oV|[T86~]QE#t,i.$w||">
+ <block type="lists_getIndex" id="R=vnD6%qBZ6oMp]rsnuD">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="T_7UifGjb/lr2J{Ts/T0">
+ <block type="variables_get" id="4$hv.8aI05y@,%h(#M!|">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="z+~r?hm,C-QOOBj55O`=">
+ <block type="math_number" id="ATE$C[5@_7i#/$0#A=C,">
<field name="NUM">1</field>
</block>
</value>
@@ -1659,47 +1780,59 @@
</block>
</value>
<value name="B">
- <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
+ <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
<field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="xH1rS2h$??lsC(b5|}S%" inline="true">
+ <mutation name="left_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="J/%Oa`9f,Y13y_bOs_ef">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
<field name="OP">GT</field>
<value name="A">
- <block type="math_arithmetic" id="4Y=iZrdYGWmqI3n^Qia^" inline="false">
+ <block type="math_arithmetic" id="|7Z%Ki.3uN~;7c7dD[@e" inline="false">
<field name="OP">MINUS</field>
<value name="A">
- <block type="lists_getIndex" id="1ChGpLd?q.BTzqaV^%Kd">
+ <block type="lists_getIndex" id="#uNz,SfO~+zP4,sS`C6;">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="$3]ihsX$QqGH0*uM8$0}">
+ <block type="variables_get" id="kQ1V6dYMl=T|wiWBB:yK">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="!`XkfPY{Xf%.#?+~LDkZ">
+ <block type="math_number" id="=oK,TS$D{KF$),BuO%b-">
<field name="NUM">2</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="^h3?BJeP34MIrWaZ9@rY">
+ <block type="lists_getIndex" id="jeo$Tn_DQK0@K|6xywSs">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="4[dCFY5H/eN@cFMa{f^Y">
+ <block type="variables_get" id="YHmHsZ0^]EkM`Q2Ii*yl">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="b@F!?=;Ry:$m$S6*-q%?">
+ <block type="math_number" id="t,gX6}8J!Fj1f.N[r~Zp">
<field name="NUM">1</field>
</block>
</value>
@@ -1708,443 +1841,440 @@
</block>
</value>
<value name="B">
- <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
<field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
+ <mutation name="right_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="nCzWllccVaUk{$/gd9*b">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="Hv;PVkTzhtVls=i_!Gc@" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </next>
+ </block>
+ </statement>
+ <value name="IF5">
+ <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
+ <field name="OP">OR</field>
+ <value name="A">
+ <block type="logic_compare" id="R$,3LHh`g+6Wa:m#*[Ys">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="rwEBIEg)#f$fNY):g16?">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="9d:a29Y`@{YMRdTLZH|W"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="chjUw+0f?gW,C~KalQZQ">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="J;t`p`a%Tr`zE:+/Lx%x">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
+ </value>
</block>
</value>
</block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
- <field name="OP">LT</field>
+ </value>
+ <value name="B">
+ <block type="logic_operation" id="w[--Ee4II.j.3yFUzaHC" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="math_arithmetic" id="Ai7:`$F~9O2YGCqE}7]%" inline="false">
- <field name="OP">MINUS</field>
+ <block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="lists_getIndex" id=";}IGw$j4`qR]-V6y1F{C">
+ <block type="lists_getIndex" id="0+*2|0;-#|/B`S;lfIBC">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="qeaIcn2J!s[tLnzs1-TD">
+ <block type="variables_get" id="XnSX|A;Vc=7XtVTPe;II">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="$@C}!!6KJsxT:/2%*qFq">
- <field name="NUM">2</field>
+ <block type="math_number" id="m3$DlVvf.(6%$hkU0F]c">
+ <field name="NUM">1</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="R=vnD6%qBZ6oMp]rsnuD">
+ <block type="logic_null" id="fWFBJEE}YZGKJY)tiNyv"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="w[W/2lkK6=`$]ikD=RR|">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="gUheL@#H`cAt{|@b[l96">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="4$hv.8aI05y@,%h(#M!|">
+ <block type="variables_get" id="iFZABdWa@-#A}|Mrf?Fz">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="ATE$C[5@_7i#/$0#A=C,">
- <field name="NUM">1</field>
+ <block type="math_number" id="-X+nB:-/Qb=rz:Dh_h8H">
+ <field name="NUM">2</field>
</block>
</value>
</block>
</value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <value name="B">
+ <block type="logic_null" id="@Is_#Ked]NGd$K2MW-N^"/>
+ </value>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="xH1rS2h$??lsC(b5|}S%" inline="true">
- <mutation name="left_v">
+ </block>
+ </value>
+ <statement name="DO5">
+ <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
+ <field name="TEXT">NO_BALL_GOAL_LEFT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="Vzc:}E8,Hsc_h7}a.*Sh" inline="true">
+ <mutation name="right_v">
<arg name="v"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="J/%Oa`9f,Y13y_bOs_ef">
+ <block type="variables_get" id="p@Lz?df8Zva_P-,/=ix9">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
</block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
- <field name="OP">GT</field>
+ </next>
+ </block>
+ </statement>
+ <value name="IF6">
+ <block type="logic_operation" id="@A84Nx^IpXz%LCYDf+3a" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_operation" id="9{.L1,^dK`cx%gkekh((" inline="false">
+ <field name="OP">OR</field>
+ <value name="A">
+ <block type="logic_compare" id="B.4G5j0lpHiK^%Co:jY(">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="N|{6x7I=]/-FV.9c}m6;">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="_]3{l!O7]TQml!/!$`],"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="1rtp?f;WQuGueC0!fsF1">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="P)7_c}h5-WzhIT2+Sm!3">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="6|946y1Dt?3;v$m7}3b#"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_operation" id="/CB,rxMtGbnS.o4@P$H9" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="math_arithmetic" id="|7Z%Ki.3uN~;7c7dD[@e" inline="false">
- <field name="OP">MINUS</field>
+ <block type="logic_compare" id="5}=h$U=O8]*WCIA_=(9a">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="lists_getIndex" id="#uNz,SfO~+zP4,sS`C6;">
+ <block type="lists_getIndex" id="rFSJLYcW!+@P?N?y|r7f">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="kQ1V6dYMl=T|wiWBB:yK">
+ <block type="variables_get" id="wmkBU3vd)/J=a~DAmk#]">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="=oK,TS$D{KF$),BuO%b-">
- <field name="NUM">2</field>
+ <block type="math_number" id="K.RepJQLnfVsjvX78zRj">
+ <field name="NUM">1</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="jeo$Tn_DQK0@K|6xywSs">
+ <block type="logic_null" id="wSe^9aT1?BoFCiEZ)67i"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="E}DH@Yb00(X!:w660oS^">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="p!/e={0EJkLtZyh?3PC$">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="YHmHsZ0^]EkM`Q2Ii*yl">
+ <block type="variables_get" id="i@GB;88$3cms~;*_]d*C">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="t,gX6}8J!Fj1f.N[r~Zp">
- <field name="NUM">1</field>
+ <block type="math_number" id="neYV=.Td3fuL+NU,#Tfy">
+ <field name="NUM">2</field>
</block>
</value>
</block>
</value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <value name="B">
+ <block type="logic_null" id="_]zY;9N^B,D_VA;,OV8_"/>
+ </value>
</block>
</value>
</block>
</value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
- <mutation name="right_v">
+ </block>
+ </value>
+ <statement name="DO6">
+ <block type="variables_set" id="zX@s(@}$N7L6cM*{mc:{">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Zw4*=firw67G(Xw@?.}|">
+ <field name="TEXT">NO_BALL_GOAL_RIGHT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="#IIK^*qJGd9$K|c1_i9*" inline="true">
+ <mutation name="left_v">
<arg name="v"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="nCzWllccVaUk{$/gd9*b">
+ <block type="variables_get" id="S4bwFlwPS0iZ(K5:^)mj">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
</block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF5">
- <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="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>
+ </next>
</block>
- </value>
- <value name="B">
- <block type="logic_operation" id="w[--Ee4II.j.3yFUzaHC" inline="false">
- <field name="OP">OR</field>
- <value name="A">
- <block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="0+*2|0;-#|/B`S;lfIBC">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="XnSX|A;Vc=7XtVTPe;II">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="m3$DlVvf.(6%$hkU0F]c">
- <field name="NUM">1</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="fWFBJEE}YZGKJY)tiNyv"/>
- </value>
+ </statement>
+ <statement name="ELSE">
+ <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
+ <field name="TEXT">NONE</field>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="w[W/2lkK6=`$]ikD=RR|">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="gUheL@#H`cAt{|@b[l96">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="iFZABdWa@-#A}|Mrf?Fz">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="-X+nB:-/Qb=rz:Dh_h8H">
- <field name="NUM">2</field>
- </block>
- </value>
+ <next>
+ <block type="procedures_callnoreturn" id="_X-|0l5pe^4k**|RuSSZ" inline="true">
+ <mutation name="search_ball_rot">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="q9XrN{.:T$USmI[ZR79Q">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="@Is_#Ked]NGd$K2MW-N^"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO5">
- <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
- <field name="TEXT">NO_BALL</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
- <field name="TEXT">NONE</field>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="#E=7[4AYmaML!W*#TS*q" inline="true">
- <mutation name="search_ball_rot">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="S4bwFlwPS0iZ(K5:^)mj">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
- </value>
+ </next>
</block>
- </next>
+ </statement>
</block>
</statement>
<next>
- <block type="util_wait_until" id="O|8(q6;n0}n@CgSBRQCl">
- <value name="value">
- <block type="logic_negate" id="g4~%p~r;1tU)2+XmU,@N">
- <value name="BOOL">
- <block type="sound_is_playing_audiofile" id="kaPo^8PCo^/;@S8JJp^2"/>
- </value>
- </block>
- </value>
- </block>
- </next>
- </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$!XutDL@t?7tqOnB">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal</field>
+ <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
+ <field name="instance_name">txt_label_ball</field>
<value name="value">
- <shadow type="text">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="1"/>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">x:{}</field>
+ <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
+ <field name="TEXT">x:{}, y:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_get" id="N3bK$!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="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
- <field name="instance_name">txt_label_counters</field>
+ <block type="display_set_label_text" id="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="XRX)WXoaE,9N}4t?YAI#">
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
<mutation items="1"/>
<value name="value">
- <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
- <field name="TEXT">{}</field>
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">x:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="XdyZ*L#*0E`A`0/3UYf~">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <block type="variables_get" id="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"/>
+ <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
+ <field name="instance_name">txt_label_counters</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="7"/>
+ <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
+ <mutation items="1"/>
<value name="value">
- <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{}: GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
+ <field name="TEXT">{}</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 type="variables_get" id="XdyZ*L#*0E`A`0/3UYf~">
+ <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</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>
+ <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="8"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}:{} GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
- <field name="NUM">1</field>
+ <value name="ADD1">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
</block>
</value>
- </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>
+ <value name="ADD2">
+ <block type="lists_getIndex" id=";CdZ:9!xf(3gc%Mh;He0">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="lists_getIndex" id="a4ca)9;+OLbvk6YkfibR">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="ADD4">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
- <field name="NUM">2</field>
+ <value name="ADD6">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ADD7">
+ <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
</block>
</value>
</block>
</value>
- <value name="ADD3">
- <block type="variables_get" id="sPxj5C*ZzYUH*$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="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
- </value>
- <value name="ADD6">
- <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ <next>
+ <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
+ <field name="NUM">70</field>
+ </shadow>
+ </value>
</block>
- </value>
- </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">80</field>
- </shadow>
- </value>
+ </next>
</block>
</next>
</block>
@@ -2156,9 +2286,9 @@
</block>
</next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -2206,7 +2336,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5763">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6071">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -2352,7 +2482,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6216">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6524">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2553,7 +2683,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6883">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7191">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2633,7 +2763,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7186">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7494">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2713,7 +2843,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7489">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7797">
<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>
@@ -2761,7 +2891,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7636">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7944">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2809,7 +2939,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7783">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8091">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -2857,7 +2987,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7930">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8238">
<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>
@@ -2905,7 +3035,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8077">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8385">
<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>
@@ -2928,101 +3058,122 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8214">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8522">
<field name="NAME">shotBall</field>
<statement name="STACK">
- <block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
- <field name="instance_name">TXT_M_S1_servomotor</field>
- <value name="position">
- <shadow type="servomotor_number" id="3#vdOeDe(0MHgYPRG0eb">
- <field name="SERVOMOTOR_NUM">400</field>
- </shadow>
+ <block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="l_yV|$i~!JH96.HW9?@(">
+ <field name="TEXT">shotBall</field>
+ </block>
</value>
<next>
- <block type="encodermotor_set_values" id="F+hDM}p/#t|XH]+z~~$B">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CCW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CCW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
- <value name="speed">
- <shadow type="motor_number" id="64D3bb)L:IYB~nq!(4hR">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- </value>
- <value name="distance">
- <shadow type="math_number" id="!vn0#[@_$kjeevcKcnqF">
- <field name="NUM">100</field>
+ <block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
+ <field name="instance_name">TXT_M_S1_servomotor</field>
+ <value name="position">
+ <shadow type="servomotor_number" id="3#vdOeDe(0MHgYPRG0eb">
+ <field name="SERVOMOTOR_NUM">400</field>
</shadow>
</value>
<next>
- <block type="util_wait_for" id="m3t4v%1!lE[H3:*p2qXE">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="[f5FG@r=T8wETvhgPjR#">
- <field name="NUM">50</field>
+ <block type="encodermotor_set_values" id="F+hDM}p/#t|XH]+z~~$B">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CCW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="64D3bb)L:IYB~nq!(4hR">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ </value>
+ <value name="distance">
+ <shadow type="math_number" id="!vn0#[@_$kjeevcKcnqF">
+ <field name="NUM">100</field>
</shadow>
</value>
<next>
- <block type="servomotor_set_position" id="[6Fc9E204i$BHgyH9F-W">
- <field name="instance_name">TXT_M_S1_servomotor</field>
- <value name="position">
- <shadow type="servomotor_number" id="i.IOaM[DE:d3D.IL`53*">
- <field name="SERVOMOTOR_NUM">256</field>
+ <block type="util_wait_for" id="m3t4v%1!lE[H3:*p2qXE">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="[f5FG@r=T8wETvhgPjR#">
+ <field name="NUM">50</field>
</shadow>
</value>
<next>
- <block type="util_wait_until" id="kEY!lgl3*DfU:CB]K2{%">
- <value name="value">
- <block type="encodermotor_position_read" id="bi9}0jIIDM*S92db?fO[">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
- </block>
+ <block type="servomotor_set_position" id="[6Fc9E204i$BHgyH9F-W">
+ <field name="instance_name">TXT_M_S1_servomotor</field>
+ <value name="position">
+ <shadow type="servomotor_number" id="i.IOaM[DE:d3D.IL`53*">
+ <field name="SERVOMOTOR_NUM">256</field>
+ </shadow>
</value>
<next>
- <block type="encodermotor_set_values" id="ZqZiW,6J)cdL38}.8Dp6">
- <mutation syncBlocks="3"/>
- <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.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>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number" id="Q(^TrT!sMN6[NB-$y!`U">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- </value>
- <value name="distance">
- <shadow type="math_number" id="vv:iZ6tXN]M@jx0UY]0T">
- <field name="NUM">40</field>
- </shadow>
+ <block type="util_wait_until" id="kEY!lgl3*DfU:CB]K2{%">
+ <value name="value">
+ <block type="encodermotor_position_read" id="bi9}0jIIDM*S92db?fO[">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
</value>
<next>
- <block type="util_wait_until" id="S:|a({u_(UrXi*)+(pyx">
- <value name="value">
- <block type="encodermotor_position_read" id="9n59:FNrXDFp`7c!3gb+">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
- </block>
+ <block type="encodermotor_set_values" id="ZqZiW,6J)cdL38}.8Dp6">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="Q(^TrT!sMN6[NB-$y!`U">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ </value>
+ <value name="distance">
+ <shadow type="math_number" id="vv:iZ6tXN]M@jx0UY]0T">
+ <field name="NUM">40</field>
+ </shadow>
</value>
<next>
- <block type="sound_play_audio_file" id="-8bCV.(5yrq.DB#~[_}@">
- <field name="soundfile_name">26_Augenzwinkern.wav</field>
- <field name="checkbox">FALSE</field>
+ <block type="util_wait_until" id="S:|a({u_(UrXi*)+(pyx">
+ <value name="value">
+ <block type="encodermotor_position_read" id="9n59:FNrXDFp`7c!3gb+">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
<next>
- <block type="display_set_switch_checked" id=")N/~DtYFy8cPbOpo-I50">
- <field name="instance_name">txt_switch_active</field>
- <field name="property_name">checked</field>
- <value name="value">
- <shadow type="logic_boolean" id="@Yk!SDjWfHi4@-ozuu_d">
- <field name="BOOL">FALSE</field>
- </shadow>
- </value>
+ <block type="sound_play_audio_file" id="-8bCV.(5yrq.DB#~[_}@">
+ <field name="soundfile_name">26_Augenzwinkern.wav</field>
+ <field name="checkbox">FALSE</field>
+ <next>
+ <block type="display_set_switch_checked" id=")N/~DtYFy8cPbOpo-I50">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
+ <value name="value">
+ <shadow type="logic_boolean" id="@Yk!SDjWfHi4@-ozuu_d">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="util_wait_until" id="O|8(q6;n0}n@CgSBRQCl">
+ <value name="value">
+ <block type="logic_negate" id="g4~%p~r;1tU)2+XmU,@N">
+ <value name="BOOL">
+ <block type="sound_is_playing_audiofile" id="kaPo^8PCo^/;@S8JJp^2"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -3042,245 +3193,270 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="8772">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9136">
<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 type="variables_set" id="0lb+=KDkMxl8Q(.f(!U4">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="[STGuKU5$?TCkTMnB@dh">
+ <field name="TEXT">stop</field>
+ </block>
+ </value>
+ <next>
+ <block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ </block>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="8839">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9357">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
<field name="NAME">fwd_v</field>
<field name="{M*n_!I)eN0.4..0Bzo#">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="ah7YO6/{vwtV1B9-5][Z">
- <mutation syncBlocks="3"/>
- <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.CCW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CCW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
- <value name="speed">
- <shadow type="motor_number" id="se]mq?calLw6d0oaOQ#q">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="F2VdZTX[?#t@xpXe5PGZ">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <block type="variables_set" id="k4%B2_)cuM/0XAejS?6,">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="h[B[wN${qL8]9fVs;wQ#">
+ <field name="TEXT">fwd_v</field>
</block>
</value>
<next>
- <block type="text_print" id="Jqo/.TFo--ru@,tx{!Q.">
- <value name="TEXT">
- <shadow type="text" id="rAokm(cf}=y_BMu%W5k=">
- <field name="TEXT">fwd</field>
+ <block type="encodermotor_set_speed" id="ah7YO6/{vwtV1B9-5][Z">
+ <mutation syncBlocks="3"/>
+ <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.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CCW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="se]mq?calLw6d0oaOQ#q">
+ <field name="MOTOR_NUM">512</field>
</shadow>
+ <block type="variables_get" id="F2VdZTX[?#t@xpXe5PGZ">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
</value>
</block>
</next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9088">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9606">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
<field name="NAME">bwd_v</field>
<field name="{M*n_!I)eN0.4..0Bzo#">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="YS-=5/?xzHBymyv(0~I[">
- <mutation syncBlocks="3"/>
- <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.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>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id=":=uFcASeChn[[mZmP=JV">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <block type="variables_set" id="rjgb/wZ.G(d1q*MvVWyS">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="K8QD$0jHA+Dm+{RRS8:n">
+ <field name="TEXT">bwd_v</field>
</block>
</value>
<next>
- <block type="text_print" id="D2d~Hp;Jlb7#MaresYw0">
- <value name="TEXT">
- <shadow type="text" id="=W}FcdDcT6{+Y3$kjQ=?">
- <field name="TEXT">bwd</field>
+ <block type="encodermotor_set_speed" id="YS-=5/?xzHBymyv(0~I[">
+ <mutation syncBlocks="3"/>
+ <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.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>
+ <field name="direction_3">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
</shadow>
+ <block type="variables_get" id=":=uFcASeChn[[mZmP=JV">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
</value>
</block>
</next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9337">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9855">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
<field name="NAME">left_v</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="`gfvLl$(n`J_k.%k4:;$">
- <mutation syncBlocks="3"/>
- <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>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CCW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id=")YRj9Ls`3L]5*jDTk**X">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <block type="variables_set" id="9UC$F$BrPjk6CDy%BB]f">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="SIyo}OztKoVxJ[=D8clt">
+ <field name="TEXT">left_v</field>
</block>
</value>
<next>
- <block type="text_print" id="RrSmtF]e9ree4{^+fY!I">
- <value name="TEXT">
- <shadow type="text" id="[SUX^1hN]oaBQw8IAmoL">
- <field name="TEXT">left</field>
+ <block type="encodermotor_set_speed" id="`gfvLl$(n`J_k.%k4:;$">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CCW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
</shadow>
+ <block type="variables_get" id=")YRj9Ls`3L]5*jDTk**X">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
</value>
</block>
</next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="9586">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10104">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
<field name="NAME">right_v</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="nx1gdpc@IPQ^`H:CbI[*">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="$@n1C^pw7z*pgx,V+kbX">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <block type="variables_set" id="_%oPi#@c!;(F[8p]QAd!">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="1Tn,Qoec1k.1M0YT4?=.">
+ <field name="TEXT">right_v</field>
</block>
</value>
<next>
- <block type="text_print" id="e[d[4KXka]Md=`?_uuLL">
- <value name="TEXT">
- <shadow type="text" id="T4bM;!0fS+0pCd{a-O[g">
- <field name="TEXT">right</field>
+ <block type="encodermotor_set_speed" id="nx1gdpc@IPQ^`H:CbI[*">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
</shadow>
+ <block type="variables_get" id="$@n1C^pw7z*pgx,V+kbX">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
</value>
</block>
</next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="9835">
+ <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10353">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
<field name="NAME">search_ball_rot</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="controls_if" id=":j7vG?8C4FXZdB[+V7Nl">
- <mutation elseif="0" else="1"/>
- <value name="IF0">
- <block type="variables_get" id="~Y@!W9td!8kYdIc/kMkw">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <block type="variables_set" id="K}2j!Hz/RYuBz+(~Gi59">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="_l(?USQWVcXo!=EeZ!l$">
+ <field name="TEXT">search_ball_rot</field>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="YvX.x.^TrWBOPLSlBiLf" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="o6~j-n7ex}.$nbH/Nw,l">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <next>
+ <block type="controls_if" id=":j7vG?8C4FXZdB[+V7Nl">
+ <mutation elseif="0" else="1"/>
+ <value name="IF0">
+ <block type="variables_get" id="~Y@!W9td!8kYdIc/kMkw">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
</block>
</value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="4M:.8icq7AlRrzRTyTKi" inline="true">
- <mutation name="right_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="@.9?uHc%LEgenn6]q98Q">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="YvX.x.^TrWBOPLSlBiLf" inline="true">
+ <mutation name="left_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="o6~j-n7ex}.$nbH/Nw,l">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
</block>
- </value>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="4M:.8icq7AlRrzRTyTKi" inline="true">
+ <mutation name="right_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="@.9?uHc%LEgenn6]q98Q">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ </block>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10076">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10622">
<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="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">100</field>
- </shadow>
- <block type="variables_get" id="lwr0*WN{do?Zo1A69t):">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <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>
</block>
</value>
<next>
- <block type="encodermotor_set_speed" id="?-}PDl2[=K?(SrBgJg-U">
+ <block type="encodermotor_set_speed" id="I[S{vjf1EdjHVhk32Irr">
<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>
+ <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="=efoF`lj-~A7g]Ka]qr.">
- <field name="MOTOR_NUM">512</field>
+ <shadow type="motor_number" id="KbM1XwSZ`0p4OfObK%2d">
+ <field name="MOTOR_NUM">100</field>
</shadow>
- <block type="variables_get" id="Oj^O^)OdFOvbsTw`%^dM">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ <block type="variables_get" id="lwr0*WN{do?Zo1A69t):">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<next>
- <block type="text_print" id="5IBCFbH]V/gIWh:B3!5Y">
- <value name="TEXT">
- <shadow type="text" id="GaS,I)E|S%roIN*FN4L%">
- <field name="TEXT">turnBallLeft</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>
+ <block type="variables_get" id="Oj^O^)OdFOvbsTw`%^dM">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
</value>
</block>
</next>
@@ -3289,44 +3465,45 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10297">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10843">
<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="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">100</field>
- </shadow>
- <block type="variables_get" id="C-Nw|[v}V:YO:/o4e*z4">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <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>
</block>
</value>
<next>
- <block type="encodermotor_set_speed" id="b:w42I;ulm2~l(S-#ER(">
+ <block type="encodermotor_set_speed" id="c8~SXys:o35ETKj;GX?m">
<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>
+ <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=";zG8,Fnh@=jNAT#Br68/">
- <field name="MOTOR_NUM">512</field>
+ <shadow type="motor_number" id="dD.1u9Pwx-^rnKZyWQx/">
+ <field name="MOTOR_NUM">100</field>
</shadow>
- <block type="variables_get" id="pyJ,6!X~/k?JFRr+Yg{E">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ <block type="variables_get" id="C-Nw|[v}V:YO:/o4e*z4">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<next>
- <block type="text_print" id="MhojqF%*dZtJ^Xgaks}J">
- <value name="TEXT">
- <shadow type="text" id="Dk#/M-2Ba^~JbxtI-@FD">
- <field name="TEXT">turnBallRight</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>
+ <block type="variables_get" id="pyJ,6!X~/k?JFRr+Yg{E">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
</value>
</block>
</next>
@@ -3335,129 +3512,159 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="10518">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11064">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
<field name="NAME">sideleft_v</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id="pLk^0]/}JZa5O5XBdTkw">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CCW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="+]RiX%o.`5?mErIL~B$V">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ <block type="variables_set" id="Z|I9(D/4o;Yt|2OG8_^J">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="%iArgA`4D!~E(#KoW3aD">
+ <field name="TEXT">sideleft_v</field>
</block>
</value>
+ <next>
+ <block type="encodermotor_set_speed" id="pLk^0]/}JZa5O5XBdTkw">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="+]RiX%o.`5?mErIL~B$V">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ </block>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="10585">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11313">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
<field name="NAME">sideright_v</field>
<field name=",q%qjDTJ~Z@[BoMwORuq">v</field>
<statement name="STACK">
- <block type="encodermotor_set_speed" id=".Q|g7PUDAM--?pT[,-S?">
- <mutation syncBlocks="3"/>
- <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>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CCW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="sT@qtvgDFZk]Mn$EU:M1">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
- </block>
- </value>
- </block>
- </statement>
- </block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="10652">
- <mutation>
- <arg name="v" varid="DfDz@$]?^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{"/>
- </mutation>
- <field name="NAME">fwd</field>
- <field name="K)Z,8|d5@gck+Q]pnW01">v</field>
- <field name="(Id`t]O(jxfZJay}20X{">ticks</field>
- <statement name="STACK">
- <block type="controls_if" id="}6GMVKI!7)8iWzn?N8eh">
- <value name="IF0">
- <block type="logic_compare" id="N{,H09?n%LxG(t2{;y3[">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="5=|v_JXiQ3|FSb0o#e*T">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id=";4t3pp,?qIG*SjzMC$xM">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="variables_set" id="/SeF0|Du}.hszV$AbihP">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="-6KPTh{PdFj4P7D[u2z`">
+ <field name="TEXT">sideright_v</field>
</block>
</value>
- <statement name="DO0">
- <block type="encodermotor_set_values" id="h`rI5tcW8bV[ng-XqR+F">
+ <next>
+ <block type="encodermotor_set_speed" id=".Q|g7PUDAM--?pT[,-S?">
<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.CCW</field>
<field name="instance_name_2">TXT_M_M3_encodermotor</field>
<field name="direction_2">Motor.CCW</field>
<field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
+ <field name="direction_3">Motor.CW</field>
<value name="speed">
- <shadow type="motor_number" id="y!~DpIP^n6^9GI3yv~vX">
+ <shadow type="motor_number">
<field name="MOTOR_NUM">512</field>
</shadow>
- <block type="variables_get" id="PrGj:Othm~v7+9B?TiW^">
+ <block type="variables_get" id="sT@qtvgDFZk]Mn$EU:M1">
<field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
- <value name="distance">
- <shadow type="math_number" id="Rgy(U7MkO+G_=P8602Om">
- <field name="NUM">100</field>
- </shadow>
- <block type="variables_get" id="dqk+S=/_/`2Xn;ZJNL$e">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11562">
+ <mutation>
+ <arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="K)Z,8|d5@gck+Q]pnW01"/>
+ <arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="(Id`t]O(jxfZJay}20X{"/>
+ </mutation>
+ <field name="NAME">fwd</field>
+ <field name="K)Z,8|d5@gck+Q]pnW01">v</field>
+ <field name="(Id`t]O(jxfZJay}20X{">ticks</field>
+ <statement name="STACK">
+ <block type="variables_set" id="fZZMg]?r@^C..$=E:;2|">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="=fOE/_;R4RCIA)$YSbM6">
+ <field name="TEXT">fwd</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="}6GMVKI!7)8iWzn?N8eh">
+ <value name="IF0">
+ <block type="logic_compare" id="N{,H09?n%LxG(t2{;y3[">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="5=|v_JXiQ3|FSb0o#e*T">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=";4t3pp,?qIG*SjzMC$xM">
+ <field name="NUM">0</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="util_wait_until" id="t(Mr-0xjyOCn%$K){u]G">
- <value name="value">
- <block type="encodermotor_position_read" id="^a$}*h^GoB`6_qX5.-cG">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="h`rI5tcW8bV[ng-XqR+F">
+ <mutation syncBlocks="3"/>
+ <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.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CCW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="y!~DpIP^n6^9GI3yv~vX">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="PrGj:Othm~v7+9B?TiW^">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="distance">
+ <shadow type="math_number" id="Rgy(U7MkO+G_=P8602Om">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="dqk+S=/_/`2Xn;ZJNL$e">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
+ <next>
+ <block type="util_wait_until" id="t(Mr-0xjyOCn%$K){u]G">
+ <value name="value">
+ <block type="encodermotor_position_read" id="^a$}*h^GoB`6_qX5.-cG">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ </block>
+ </next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="10719">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="11947">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -3466,64 +3673,74 @@
<field name="_mFFsmoZwL{(llRvf-eW">v</field>
<field name="aNHXtqe[T`=Y[mqp`ZDN">ticks</field>
<statement name="STACK">
- <block type="controls_if" id="+CQwW92VB+7[9JkLba3m">
- <value name="IF0">
- <block type="logic_compare" id="c@lZ^[Jxt_h1Hw_.}+{R">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="vEU_WSa{;D=G]]q!@#el">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="TE]og4kshy?@X*N=vQxJ">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="variables_set" id="uQ8KGKp*}~8cn|Ep`}m=">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="v`bqBCWN23K.WD-X90@0">
+ <field name="TEXT">bwd</field>
</block>
</value>
- <statement name="DO0">
- <block type="encodermotor_set_values" id="b,~hF{XLP3G).D!V.f$w">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="2?Q:/)fc+~~-vYsN|Kaz">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
- </block>
- </value>
- <value name="distance">
- <shadow type="math_number">
- <field name="NUM">100</field>
- </shadow>
- <block type="variables_get" id="L,xjSXq}9!iIn9F{aLcM">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ <next>
+ <block type="controls_if" id="+CQwW92VB+7[9JkLba3m">
+ <value name="IF0">
+ <block type="logic_compare" id="c@lZ^[Jxt_h1Hw_.}+{R">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="vEU_WSa{;D=G]]q!@#el">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="TE]og4kshy?@X*N=vQxJ">
+ <field name="NUM">0</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="util_wait_until" id="A7[tL`uR`6t`3_wuZ/XW">
- <value name="value">
- <block type="encodermotor_position_read" id="xH5QrXG~gs2Ssq8`o?od">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="b,~hF{XLP3G).D!V.f$w">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="2?Q:/)fc+~~-vYsN|Kaz">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="distance">
+ <shadow type="math_number">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="L,xjSXq}9!iIn9F{aLcM">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
+ <next>
+ <block type="util_wait_until" id="A7[tL`uR`6t`3_wuZ/XW">
+ <value name="value">
+ <block type="encodermotor_position_read" id="xH5QrXG~gs2Ssq8`o?od">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ </block>
+ </next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10786">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12332">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3532,64 +3749,74 @@
<field name="~d8Z+AHZ!wz|G]JHW0lQ">v</field>
<field name="jRMx@L,Ya|zd@/bBb#1T">ticks</field>
<statement name="STACK">
- <block type="controls_if" id="ru=4O_U5AHiXk(bAH~.*">
- <value name="IF0">
- <block type="logic_compare" id="85MxtAjA5dlu;2C_S1R#">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="-$H$Lx#iW.cRG)R1R{%#">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="ki98?zabGRpGF2Xh@B0.">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="variables_set" id="e]VGa@|MGbbGzKB:9K,u">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="~LP?,`6xSHnWI(4/6{+]">
+ <field name="TEXT">left</field>
</block>
</value>
- <statement name="DO0">
- <block type="encodermotor_set_values" id="|M/VTYb;b8V1A[.;/eAw">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CCW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CCW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id=")r{t`v`m]d=vC}q967/Q">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
- </block>
- </value>
- <value name="distance">
- <shadow type="math_number">
- <field name="NUM">100</field>
- </shadow>
- <block type="variables_get" id="QIp$ojpfrha`@tf*(!fr">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ <next>
+ <block type="controls_if" id="ru=4O_U5AHiXk(bAH~.*">
+ <value name="IF0">
+ <block type="logic_compare" id="85MxtAjA5dlu;2C_S1R#">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="-$H$Lx#iW.cRG)R1R{%#">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="ki98?zabGRpGF2Xh@B0.">
+ <field name="NUM">0</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="util_wait_until" id="M/Ed}ZBN$huF.DtKohf6">
- <value name="value">
- <block type="encodermotor_position_read" id="H$PiTicZVJ~flfj]cQLR">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="|M/VTYb;b8V1A[.;/eAw">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CCW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id=")r{t`v`m]d=vC}q967/Q">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
+ <value name="distance">
+ <shadow type="math_number">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="QIp$ojpfrha`@tf*(!fr">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <next>
+ <block type="util_wait_until" id="M/Ed}ZBN$huF.DtKohf6">
+ <value name="value">
+ <block type="encodermotor_position_read" id="H$PiTicZVJ~flfj]cQLR">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ </block>
+ </next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="11143">
+ <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="12717">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3598,69 +3825,70 @@
<field name="~d8Z+AHZ!wz|G]JHW0lQ">v</field>
<field name="jRMx@L,Ya|zd@/bBb#1T">ticks</field>
<statement name="STACK">
- <block type="controls_if" id="o}S)]f3}2XEN7MUlYw$u">
- <value name="IF0">
- <block type="logic_compare" id="/{eGv/K=g!(^C:9P6$xv">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="}$zB71Q]4`P@feibL2fu">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id=",[,X9TSiPq4iUUtrUmK`">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="variables_set" id="A]{I6TpDT17JbK|7n6=a">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="%ih=tz@Th_ON![?}E),L">
+ <field name="TEXT">left2</field>
</block>
</value>
- <statement name="DO0">
- <block type="encodermotor_set_values" id="+;!!Z=]w_K!uA/Xr8|S9">
- <mutation syncBlocks="1"/>
- <field name="instance_name_0">TXT_M_M2_encodermotor</field>
- <field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M4_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="p;kkWp~F[]J`zNw|vvtD">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
- </block>
- </value>
- <value name="distance">
- <shadow type="math_number">
- <field name="NUM">100</field>
- </shadow>
- <block type="variables_get" id="u77Xwm,Q_bZ~tZ0@BLBn">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ <next>
+ <block type="controls_if" id="o}S)]f3}2XEN7MUlYw$u">
+ <value name="IF0">
+ <block type="logic_compare" id="/{eGv/K=g!(^C:9P6$xv">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="}$zB71Q]4`P@feibL2fu">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=",[,X9TSiPq4iUUtrUmK`">
+ <field name="NUM">0</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="util_wait_until" id=";XC@(3f=D+v6lmnb_QuP">
- <value name="value">
- <block type="encodermotor_position_read" id="MYE]zy/B%RxZ2xKvlDUB">
- <field name="instance_name">TXT_M_M2_encodermotor</field>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="+;!!Z=]w_K!uA/Xr8|S9">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M2_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M4_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="p;kkWp~F[]J`zNw|vvtD">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="distance">
+ <shadow type="math_number">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="u77Xwm,Q_bZ~tZ0@BLBn">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
<next>
- <block type="text_print" id="Wb]$Cc5^}s:pDYFNs81K">
- <value name="TEXT">
- <shadow type="text" id="RZRjBUJ5J3nPpeC#IW5H">
- <field name="TEXT">right2</field>
- </shadow>
+ <block type="util_wait_until" id=";XC@(3f=D+v6lmnb_QuP">
+ <value name="value">
+ <block type="encodermotor_position_read" id="MYE]zy/B%RxZ2xKvlDUB">
+ <field name="instance_name">TXT_M_M2_encodermotor</field>
+ </block>
</value>
</block>
</next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11472">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="13046">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -3669,64 +3897,74 @@
<field name="8Z2n_ZVA.)85]V7j%3;7">v</field>
<field name="J(gJ~*9ZJJa,[V1)[xn#">ticks</field>
<statement name="STACK">
- <block type="controls_if" id="39e*D=YEL(1q(LD_RSW~">
- <value name="IF0">
- <block type="logic_compare" id="Jg6_Yhvqvg5CkB6L^{Ob">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="hS@CNKx9jiT$$M=6?`@C">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="W+,G1525Tt!%_S*tpXtP">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="variables_set" id="`ngB0F2FnMQ*EgqbtK@?">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="1XTwRFMI78X)o|:=-T8a">
+ <field name="TEXT">right</field>
</block>
</value>
- <statement name="DO0">
- <block type="encodermotor_set_values" id="~3+Emzx77Kgy^8c_O*]K">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="D_l{lsbzk};@:z!ZrKp+">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
- </block>
- </value>
- <value name="distance">
- <shadow type="math_number">
- <field name="NUM">100</field>
- </shadow>
- <block type="variables_get" id="*eo}?f6B#r`aR::n}Ev@">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ <next>
+ <block type="controls_if" id="39e*D=YEL(1q(LD_RSW~">
+ <value name="IF0">
+ <block type="logic_compare" id="Jg6_Yhvqvg5CkB6L^{Ob">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="hS@CNKx9jiT$$M=6?`@C">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="W+,G1525Tt!%_S*tpXtP">
+ <field name="NUM">0</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="util_wait_until" id="PLN$5RIPrD%I0T|eF`)w">
- <value name="value">
- <block type="encodermotor_position_read" id="C+pGU3f{|3!mz{V*UyDs">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="~3+Emzx77Kgy^8c_O*]K">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="D_l{lsbzk};@:z!ZrKp+">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="distance">
+ <shadow type="math_number">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="*eo}?f6B#r`aR::n}Ev@">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
+ <next>
+ <block type="util_wait_until" id="PLN$5RIPrD%I0T|eF`)w">
+ <value name="value">
+ <block type="encodermotor_position_read" id="C+pGU3f{|3!mz{V*UyDs">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ </block>
+ </next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="11829">
+ <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13431">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -3735,56 +3973,66 @@
<field name="8Z2n_ZVA.)85]V7j%3;7">v</field>
<field name="J(gJ~*9ZJJa,[V1)[xn#">ticks</field>
<statement name="STACK">
- <block type="controls_if" id="lp~ks}%o(L5|/7T|.OjC">
- <value name="IF0">
- <block type="logic_compare" id="sO)7$Q2lYogwSoKBo1wg">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="+A)3lC*iL0Z74oq;{]:z">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="kb1Pk8v*VCf8Xe3@+.qk">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="variables_set" id="SPlhff?DiY*F*7h3x,}V">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="Yge$doWr+Gl4j73DnbYO">
+ <field name="TEXT">right2</field>
</block>
</value>
- <statement name="DO0">
- <block type="encodermotor_set_values" id="XXyKv68yF}^:dH:;lOCp">
- <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_M3_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- <block type="variables_get" id="E1^{iI#Z0F1VibDTtiuR">
- <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
- </block>
- </value>
- <value name="distance">
- <shadow type="math_number">
- <field name="NUM">100</field>
- </shadow>
- <block type="variables_get" id="~aVmZ51ntm~OA:X=Iu0M">
- <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ <next>
+ <block type="controls_if" id="lp~ks}%o(L5|/7T|.OjC">
+ <value name="IF0">
+ <block type="logic_compare" id="sO)7$Q2lYogwSoKBo1wg">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="+A)3lC*iL0Z74oq;{]:z">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="kb1Pk8v*VCf8Xe3@+.qk">
+ <field name="NUM">0</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="util_wait_until" id="@c8|rKBWD1*xgH{JbtQy">
- <value name="value">
- <block type="encodermotor_position_read" id="M-]LhjAT~p$Nfe`JXqlc">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="XXyKv68yF}^:dH:;lOCp">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M3_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="E1^{iI#Z0F1VibDTtiuR">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
+ <value name="distance">
+ <shadow type="math_number">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="~aVmZ51ntm~OA:X=Iu0M">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <next>
+ <block type="util_wait_until" id="@c8|rKBWD1*xgH{JbtQy">
+ <value name="value">
+ <block type="encodermotor_position_read" id="M-]LhjAT~p$Nfe`JXqlc">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ </block>
+ </next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
</block>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index ae99daa80df52823f810d8973584021d10291e8f..c2fc77a0c70b25cef31fbf45387dd16acbb0f97a 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -13,16 +13,17 @@ factor_x = None
ts_ball = None
ts_goal_left = None
ts_goal_right = None
+cmd = None
factor_y = None
posx_ball = None
-v_slow = None
counters = None
-search_dir_left = None
factor_ball_rot = None
posy_ball = None
posx_goal = None
-v_var_ball_xpos = None
+search_dir_left = None
+v_slow = None
x_min = None
+v_var_ball_xpos = None
x_max = None
v_var_ball_ypos = None
y_ball_far = None
@@ -31,7 +32,7 @@ y_ball_touch = 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, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
@@ -43,7 +44,7 @@ def checkTimeouts():
def ball_callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -56,7 +57,7 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
ts_goal_left = (time.time() * 1000)
posx_goal[0] = event.value.x
if False:
@@ -66,7 +67,7 @@ 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, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
ts_goal_right = (time.time() * 1000)
posx_goal[1] = event.value.x
if False:
@@ -76,7 +77,7 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
if TXT_M_C1_motor_step_counter.get_count() >= 0:
counters[0] = TXT_M_C1_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -86,7 +87,7 @@ TXT_M_C1_motor_step_counter.add_change_listener("count", callback)
def callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
if TXT_M_C2_motor_step_counter.get_count() >= 0:
counters[1] = TXT_M_C2_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -96,7 +97,7 @@ TXT_M_C2_motor_step_counter.add_change_listener("count", callback2)
def callback3(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
if TXT_M_C3_motor_step_counter.get_count() >= 0:
counters[2] = TXT_M_C3_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -106,7 +107,7 @@ TXT_M_C3_motor_step_counter.add_change_listener("count", callback3)
def callback4(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
if TXT_M_C4_motor_step_counter.get_count() >= 0:
counters[3] = TXT_M_C4_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -116,7 +117,7 @@ TXT_M_C4_motor_step_counter.add_change_listener("count", callback4)
def callback5(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -126,7 +127,8 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback5)
def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'shotBall'
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)
@@ -150,55 +152,61 @@ def shotBall():
time.sleep(0.010)
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
display.set_attr("txt_switch_active.checked", str(False).lower())
+ while True:
+ if (not (TXT_M.get_loudspeaker().is_playing())):
+ break
+ time.sleep(0.010)
def stop():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'stop'
TXT_M_M1_encodermotor.stop_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
def fwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'fwd_v'
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)
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)
- print('fwd')
def bwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'bwd_v'
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)
TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
- print('bwd')
def left_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'left_v'
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)
TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
- print('left')
def right_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'right_v'
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)
- print('right')
def search_ball_rot(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'search_ball_rot'
if search_dir_left:
left_v(v)
else:
@@ -206,29 +214,30 @@ def search_ball_rot(v):
def turnBallLeft():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'turnBallLeft'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
TXT_M_M3_encodermotor.set_speed(int(v_var_ball_xpos), Motor.CW)
TXT_M_M4_encodermotor.set_speed(int(v_var_ball_xpos), Motor.CCW)
TXT_M_M3_encodermotor.start_sync(TXT_M_M4_encodermotor)
- print('turnBallLeft')
def turnBallRight():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'turnBallRight'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CCW)
TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
TXT_M_M3_encodermotor.set_speed(int(v_var_ball_xpos), Motor.CCW)
TXT_M_M4_encodermotor.set_speed(int(v_var_ball_xpos), Motor.CW)
TXT_M_M3_encodermotor.start_sync(TXT_M_M4_encodermotor)
- print('turnBallRight')
def sideleft_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'sideleft_v'
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)
@@ -237,7 +246,8 @@ def sideleft_v(v):
def sideright_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'sideright_v'
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)
@@ -246,7 +256,8 @@ def sideright_v(v):
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'fwd'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -260,7 +271,8 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'bwd'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -274,7 +286,8 @@ def bwd(v, ticks):
def left(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'left'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -288,7 +301,8 @@ def left(v, ticks):
def left2(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'left2'
if ticks > 0:
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
@@ -297,11 +311,11 @@ def left2(v, ticks):
if (not TXT_M_M2_encodermotor.is_running()):
break
time.sleep(0.010)
- print('right2')
def right(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'right'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -315,7 +329,8 @@ def right(v, ticks):
def right2(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, v_slow, counters, search_dir_left, factor_ball_rot, posy_ball, posx_goal, v_var_ball_xpos, x_min, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, state
+ cmd = 'right2'
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
@@ -347,12 +362,13 @@ ts_goal_left = (time.time() * 1000)
ts_goal_right = (time.time() * 1000)
search_dir_left = True
state = 'NONE'
+cmd = '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:
- state = 'ONLY_BALL'
+ state = 'BALL_NO_GOAL'
if posx_ball >= x_min and posx_ball <= x_max:
if posy_ball <= y_ball_far:
fwd_v(v_fast)
@@ -371,7 +387,7 @@ while True:
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'
+ state = 'BALL_GOAL_LEFT'
if posy_ball <= y_ball_far:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
@@ -386,7 +402,7 @@ while True:
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'
+ state = 'BALL_GOAL_RIGHT'
if posy_ball <= y_ball_far:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
@@ -401,7 +417,7 @@ while True:
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'
+ state = 'BALL_GOAL_BOTH'
if posy_ball <= y_ball_far:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
@@ -418,7 +434,7 @@ while True:
else:
stop()
elif posx_goal[0] != None and posx_goal[1] != None:
- state = 'ONLY_GOAL'
+ state = 'NO_BALL_GOAL_BOTH'
if posx_goal[1] - posx_goal[0] < x_min and posx_goal[1] - posx_goal[0] > x_min:
fwd_v(v_slow)
elif posx_goal[1] - posx_goal[0] < x_min:
@@ -427,19 +443,19 @@ while True:
right_v(v_slow)
else:
stop()
- elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] != None):
- state = 'NO_BALL'
+ elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] == None):
+ state = 'NO_BALL_GOAL_LEFT'
+ right_v(v_slow)
+ elif (posx_ball == None or posy_ball == None) and (posx_goal[0] == None or posx_goal[1] != None):
+ state = 'NO_BALL_GOAL_RIGHT'
+ left_v(v_slow)
else:
state = 'NONE'
search_ball_rot(v_slow)
- while True:
- if (not (TXT_M.get_loudspeaker().is_playing())):
- break
- time.sleep(0.010)
display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
display.set_attr("txt_label_goal.text", str('x:{}'.format(posx_goal)))
display.set_attr("txt_label_counters.text", str('{}'.format(counters)))
- print('{}: GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, posx_goal[0], posx_goal[1], posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
- time.sleep(0.08)
+ print('{}:{} GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal[0], posx_goal[1], posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
+ time.sleep(0.07)