diff --git a/lib/camera.py b/lib/camera.py
index 4b59c947fc09c43f3141a3b6f13c6c4b413587f9..d5572230e9849e28ed9542aeea7e4f4e02aa46b2 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, [255,143,81], 10)
+ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 5, 80, -100, 100, [230,133,82], 20)
TXT_M_USB_1_camera.add_detector(ball_detector)
blocked_area_right = txt_factory.camera_factory.create_blocked_area(240, 190, 80, 50)
diff --git a/lib/camera.xml b/lib/camera.xml
index f5350366c0ad3c0036bdcdefa4c75a2eda51d50c..3aafaeea72ed9e46eadd4ee3455b7e2e950a4be2 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>#ff8f51</color><tolerance>10</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>#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
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index e0006f45fb6c560d1af474213b2ee478d3b1d540..65fef18873c9addfa94f90eb1ab64b92a33dbb13 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -8,18 +8,19 @@
<variable id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</variable>
<variable id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</variable>
<variable id="S4.mduNQC(va3iR{oSdB">posx_ball</variable>
- <variable id="AnbD2s`i`niJf7bj:WR.">dist_x</variable>
+ <variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="5@U(%o_ghQ1;jiB#odH8">counters</variable>
- <variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</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="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
<variable id="=2ARo+;2DS07SU~j29Fk">posx_goal</variable>
+ <variable id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
+ <variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
<variable id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</variable>
<variable id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</variable>
<variable id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</variable>
<variable id="09n]XF2CKURQs)nHOfam">y_ball_near</variable>
<variable id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</variable>
- <variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="1idj3sw*{G$j`2:II{^5">v_fast</variable>
<variable id="vH;^OzJY7dOdepMScU1s">state</variable>
</variables>
@@ -41,1245 +42,1782 @@
</block>
</value>
<next>
- <block type="variables_set" id="/3.38rZxsC*ejKOW0%9:">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <block type="variables_set" id="8x%D#qC.MdB@+W)Dr1%e">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
<value name="VALUE">
- <block type="math_number" id="@Esp)^vGnSXO=QsK)N9~">
- <field name="NUM">-20</field>
+ <block type="math_number" id="cX,+P9!zu#Tz@wfH#cf4">
+ <field name="NUM">0.02</field>
</block>
</value>
<next>
- <block type="variables_set" id="(ig6:SZ(u%_^VsKLJN=l">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ <block type="variables_set" id="/3.38rZxsC*ejKOW0%9:">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
<value name="VALUE">
- <block type="math_number" id="[r2m=DpI#8/tg+.FmdbN">
- <field name="NUM">20</field>
+ <block type="math_number" id="@Esp)^vGnSXO=QsK)N9~">
+ <field name="NUM">-5</field>
</block>
</value>
<next>
- <block type="variables_set" id="OMK@?HIgcaISEF?)F38m">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <block type="variables_set" id="(ig6:SZ(u%_^VsKLJN=l">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
<value name="VALUE">
- <block type="math_number" id="+Lh~UibuYaJ$9i{V2?E5">
- <field name="NUM">-5</field>
+ <block type="math_number" id="[r2m=DpI#8/tg+.FmdbN">
+ <field name="NUM">5</field>
</block>
</value>
<next>
- <block type="variables_set" id="S2nwP`o+%u[9kc]ctSrQ">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="variables_set" id="OMK@?HIgcaISEF?)F38m">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
<value name="VALUE">
- <block type="math_number" id="7S}[)qBEl/AotP|IAi0!">
- <field name="NUM">45</field>
+ <block type="math_number" id="+Lh~UibuYaJ$9i{V2?E5">
+ <field name="NUM">-5</field>
</block>
</value>
<next>
- <block type="variables_set" id="4)f*C0^w#HD@8ffuS.}.">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ <block type="variables_set" id="S2nwP`o+%u[9kc]ctSrQ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
<value name="VALUE">
- <block type="math_number" id="LM`a65R18{B1Q,ON@MsQ">
- <field name="NUM">74</field>
+ <block type="math_number" id="7S}[)qBEl/AotP|IAi0!">
+ <field name="NUM">50</field>
</block>
</value>
<next>
- <block type="variables_set" id="W!3YDrqI@Pp`7~)fOHKf">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <block type="variables_set" id="4)f*C0^w#HD@8ffuS.}.">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
<value name="VALUE">
- <block type="math_number" id="WI$:pL{1wYx/-L0!4NgB">
- <field name="NUM">200</field>
+ <block type="math_number" id="LM`a65R18{B1Q,ON@MsQ">
+ <field name="NUM">74</field>
</block>
</value>
<next>
- <block type="variables_set" id="!_70SUSZ58D4g[A2glFa">
- <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ <block type="variables_set" id="W!3YDrqI@Pp`7~)fOHKf">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
<value name="VALUE">
- <block type="math_number" id="i@!x-:Tx?(a;DoFHd%x]">
- <field name="NUM">512</field>
+ <block type="math_number" id="WI$:pL{1wYx/-L0!4NgB">
+ <field name="NUM">250</field>
</block>
</value>
<next>
- <block type="variables_set" id="${6w(je.)JDx9*IU-]X%">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ <block type="variables_set" id="!_70SUSZ58D4g[A2glFa">
+ <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
<value name="VALUE">
- <block type="math_number" id="HE{Fb0.3#.+inUWR}#c]">
+ <block type="math_number" id="i@!x-:Tx?(a;DoFHd%x]">
<field name="NUM">512</field>
</block>
</value>
<next>
- <block type="variables_set" id="l@Cd26f3KNes0,vv:;E%">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ <block type="variables_set" id="${6w(je.)JDx9*IU-]X%">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
<value name="VALUE">
- <block type="math_number" id="]e+dKXEiZ*#$#fOfq1!8">
+ <block type="math_number" id="HE{Fb0.3#.+inUWR}#c]">
<field name="NUM">512</field>
</block>
</value>
<next>
- <block type="variables_set" id="08j[^aKhj-mzD-up%28Q">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_set" id="l@Cd26f3KNes0,vv:;E%">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
<value name="VALUE">
- <block type="lists_create_with" id=")t9;_o5:Uk`S#-x6ceH.">
- <mutation items="2"/>
- <value name="ADD0">
- <block type="logic_null" id="x$j.V#h.,j3GQ?l*m7.^"/>
- </value>
- <value name="ADD1">
- <block type="logic_null" id="I%tVa0ny05XAmaVV:F.b"/>
- </value>
+ <block type="math_number" id="]e+dKXEiZ*#$#fOfq1!8">
+ <field name="NUM">512</field>
</block>
</value>
<next>
- <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_set" id="08j[^aKhj-mzD-up%28Q">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
<value name="VALUE">
- <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
+ <block type="lists_create_with" id=")t9;_o5:Uk`S#-x6ceH.">
+ <mutation items="2"/>
+ <value name="ADD0">
+ <block type="logic_null" id="x$j.V#h.,j3GQ?l*m7.^"/>
+ </value>
+ <value name="ADD1">
+ <block type="logic_null" id="I%tVa0ny05XAmaVV:F.b"/>
+ </value>
+ </block>
</value>
<next>
- <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_set" id="^^;w:J4Fa?h,#*%To;{+">
+ <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
<value name="VALUE">
- <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
+ <block type="lists_create_with" id="1k[v{tojVArtdZ^%5v;1">
+ <mutation items="4"/>
+ <value name="ADD0">
+ <block type="counter_get_value" id="GohWJgM]B+R*n;%2J2t[">
+ <field name="instance_name">TXT_M_C1_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="counter_get_value" id="Bb1N_HOP|)`|I9^$Ctm?">
+ <field name="instance_name">TXT_M_C2_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="counter_get_value" id="ugC,Ex(62_HcLx`w;(}s">
+ <field name="instance_name">TXT_M_C3_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="counter_get_value" id="0({ry;ZO6]g*8c(EP^h$">
+ <field name="instance_name">TXT_M_C4_motor_step_counter</field>
+ </block>
+ </value>
+ </block>
</value>
<next>
- <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
- <field name="TIME">MILLISECOND</field>
- </block>
+ <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
</value>
<next>
- <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
- <field name="TIME">MILLISECOND</field>
- </block>
+ <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
</value>
<next>
- <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
<value name="VALUE">
- <block type="text" id="V.-^bs67=#+RFV.YX~P,">
- <field name="TEXT">NONE</field>
+ <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
+ <field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
- <field name="format">s</field>
- <value name="value">
- <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
- <field name="NUM">2</field>
- </shadow>
+ <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <value name="VALUE">
+ <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <field name="TIME">MILLISECOND</field>
+ </block>
</value>
<next>
- <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
- <statement name="DO">
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeouts"/>
+ <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <value name="VALUE">
+ <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
+ <field name="BOOL">TRUE</field>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="V.-^bs67=#+RFV.YX~P,">
+ <field name="TEXT">NONE</field>
+ </block>
+ </value>
<next>
- <block type="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>
+ <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>
- <statement name="DO0">
- <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
- <mutation elseif="4" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
- <field name="OP">EQ</field>
- <value name="A">
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- <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">
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- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="B~Ic{tkFNcdReHWMqxf6">
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- </block>
- </value>
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- <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
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- <value name="B">
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- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="Il7jHRe($kU8GqYG+eR#">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=",RX#r,ztOfES#y;BmliI">
- <field name="NUM">2</field>
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- </value>
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- <value name="B">
- <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
- </value>
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- </block>
- </value>
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- <statement name="DO0">
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- <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="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="+oz+[YfRRkvCLn10-B4d">
- <mutation elseif="1" else="1"/>
+ <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
<value name="IF0">
- <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
+ <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="Ox/XsK4e~+Q~K3.6ZN=|" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
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- <statement name="DO1">
- <block type="procedures_callnoreturn" id="a{Dykh`c.ZHp3#QzywaK" inline="true">
- <mutation name="right_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
- <mutation elseif="2" else="1"/>
+ <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
+ <mutation elseif="5" else="1"/>
<value name="IF0">
- <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
- <field name="OP">LTE</field>
+ <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="xiIzl/p_!nb4$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="variables_get" id="nkMArfis6_;l59N|,9yJ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="~GuPJ/(BunJIEuttSlw5">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="B~Ic{tkFNcdReHWMqxf6">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="Il7jHRe($kU8GqYG+eR#">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=",RX#r,ztOfES#y;BmliI">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
+ <field name="TEXT">ONLY_BALL</field>
</block>
</value>
+ <next>
+ <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
+ <mutation elseif="3" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
+ <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="L/RedQ[=!jNwBI,ivSt/">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="qkncjacBYB1~0@aF1Q[x">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <value name="IF3">
+ <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO3">
+ <block type="procedures_callnoreturn" id=";$*URO!$mNp;(}~rEzSA" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="[3C}+lMgr=zfSwjcYdsJ">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="Do:{V-Htoxi(Ky;5q%7)">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="O(GD0npMQ5}pU7S_p6Fw" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="EmeRL7tak./N9g?B@nFs">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="($1]A%(r+nV+-me@mi{*">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="5*ed5[K7:%|#-rdvwe2p">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="ex%*G*X[(1UM%,lV]FfW">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="nqm#GPG6WTZ|}UMKIt!{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="#7@$9Gz4rn?uePi|!w5H">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="W3t]erG4jM/-7Ha9Rz8=" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id=";7U*){*?kwgf!k^}}5GA">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="ii5E[ARI)`Bgg5KUe]}u">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="_rWdYF]99IuNPR?jeS*v">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="fC}]TN}rkpW?/cte-Bp]">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="8+tZg^1UjmO}E,sNn-t{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="K2~d9j?nrPh-CWpCKZ^I">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </next>
</block>
</statement>
<value name="IF1">
- <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
- <field name="OP">LTE</field>
+ <block type="logic_operation" id="B~L1BuQh-S6uKm^YJSgH" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_operation" id="4bB{1Bu{%4*rAe!/uepL" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="*p.1tBx0!3(A,.#v~}gR">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="|rcsXSAUj_o}mh1L:hw3">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="V1Jj,Q+-!7UMu,ag}Y2#">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="b7),FwxGz-g+3(2a:iAH"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="s5?^~_8K{8Ds{9:#%k6@">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O/m@rtsP1-]GZu;z!Kd7">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="AHQ$-$-`kl9D]lvFKqEw">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="c0`hO)W_@*rN3v3J#n/b"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="ppt3KZ(DNQQ?lul~f,#i">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="*LHs;5s*!AaP%zlD5e]o">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="%*W`_VauA#TUT8Bhr(l[">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="2~D!AD)saoFre@h_@fqZ">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<statement name="DO1">
- <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
- <mutation name="turnBallLeft"/>
+ <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="y/+X`X}C3$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="A">
+ <block type="variables_get" id="iY/UC$Qo23IduI}_6|fy">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="NF,/T;m.#62@CZQe#+[`">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="KJ#o$M|scI;Nb]boFDzc">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Hvw%^q~Hu5/N%}1^$97E">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")Y^E1(LwkP6u5Zr]E#v/">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="yIp~#Cn:I`9g1gyN4|22">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="tchE8Qc)Kp|9?UE;Fpe%">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="M9wjV+z*e*Hh*PspIXEY">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="_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$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="QN+5a=dUZe|3;6UVwiue" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="v5iy]*Vt3nsse;Eg[EjI">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </next>
</block>
</statement>
<value name="IF2">
- <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
- <field name="OP">LTE</field>
+ <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="OeAZ19W_g)]s*LP0=8r,">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="z~Da7_)q,Bo-$yJb73oH"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id=";P}d!ou6kF,_]Y}2c}oU">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="9qxZzDB=dlHB#35+H*!N">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="D3C[P^f3vp}xb!,-2#r5">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<statement name="DO2">
- <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 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>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
- <mutation name="stop"/>
- </block>
- </statement>
- </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$+~r">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
- </value>
- </block>
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- <value name="B">
- <block type="logic_compare" id="|rcsXSAUj_o}mh1L:hw3">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="V1Jj,Q+-!7UMu,ag}Y2#">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="b7),FwxGz-g+3(2a:iAH"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="s5?^~_8K{8Ds{9:#%k6@">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="O/m@rtsP1-]GZu;z!Kd7">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
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- <block type="math_number" id="AHQ$-$-`kl9D]lvFKqEw">
- <field name="NUM">1</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="c0`hO)W_@*rN3v3J#n/b"/>
- </value>
- </block>
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- <value name="B">
- <block type="logic_compare" id="ppt3KZ(DNQQ?lul~f,#i">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="*LHs;5s*!AaP%zlD5e]o">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="%*W`_VauA#TUT8Bhr(l[">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="2~D!AD)saoFre@h_@fqZ">
- <field name="NUM">2</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
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- <statement name="DO1">
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- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="y/+X`X}C3$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$Ij">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="D)b~KYP=}7Q`ujSBZJyh">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="3TBW}iU2UgA?brmPI5+J" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
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- <value name="ARG0">
- <block type="variables_get" id="bLDCOqV7YSx,/UkFj)T%">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id=".k[+$zFZm_;CFMOBjQ=U">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="iY/UC$Qo23IduI}_6|fy">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="NF,/T;m.#62@CZQe#+[`">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="controls_if" id="KJ#o$M|scI;Nb]boFDzc">
- <mutation elseif="1" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Hvw%^q~Hu5/N%}1^$97E">
- <field name="OP">LT</field>
- <value name="A">
- <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <next>
+ <block type="controls_if" id="oOSLtR1E1%!.Oz+LD*|O">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="{AkiSJ!:M-e{%|_5,Va{">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="u2W_3eBph941yf[`AO1:">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="m`EhNfvklFtISL#l0*_4">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="]2;?=Iy9hHyC!C}^y~h~" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ytx*_*[sy$_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>
- <value name="AT">
- <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
- <field name="NUM">1</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="B">
+ <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="Y-@u6Td#HTIS8}mNdpK3">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="lists_getIndex" id="d]*F5d_Lln-:DXn6cPxb">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="%ykvuZ~kV2+~os0o2k{?">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=";]Yk({gn.(Ha3=/nM5`]">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="=$ulk!vkDhWA^fYK?b*b">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="faLX{cmn%m5GLE$Qa$jP">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="p/ukr6sWeNnUPhQlK[{B">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="}Tawuqa_TE/qeAVT.RC5">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="$Z+:;,t[mQ]aaUe_UNhM" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="|eX:`Adtu3l.8ZaYcgJF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="bi9hG~0MI@s}v(fCd[tp">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
- <value name="B">
- <block type="variables_get" id=")Y^E1(LwkP6u5Zr]E#v/">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
- <mutation name="turnBallRight"/>
+ </next>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
- <field name="OP">GT</field>
+ <value name="IF3">
+ <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="lists_getIndex" id="yIp~#Cn:I`9g1gyN4|22">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="tchE8Qc)Kp|9?UE;Fpe%">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_operation" id="JDmD0uu$,6*6XI.*8Y=T" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="JvLUnlLulIk{o},vW~}y">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="$-jleAiV2GHR%[$RfY4I">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="TvSq3M9?{oeuq~TW*ihg"/>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="logic_compare" id="9/b,vDMaH:m,r{gleX7O">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="F!:=i0jN5fR[{l7EwBYG">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="lP$*f:B}Uv4E]8^Ao)y2"/>
+ </value>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="M9wjV+z*e*Hh*PspIXEY">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
- <mutation name="turnBallLeft"/>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="4!};}Pi@kx7+v]x,}fg2">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="Bl$M.GwPg~+!37[;`0o2">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="hk4|9x7W)79Bt`+.QJ}h">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="lFZoL.IQB6RM@%_m9*-3">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="QN+5a=dUZe|3;6UVwiue" inline="true">
- <mutation name="bwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="v5iy]*Vt3nsse;Eg[EjI">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
- <field name="OP">AND</field>
- <value name="A">
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- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
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- <value name="B">
- <block type="logic_null" id="z~Da7_)q,Bo-$yJb73oH"/>
- </value>
- </block>
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- <value name="B">
- <block type="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id=":8|/_EWW~8cxsv_2[8XZ"/>
- </value>
- </block>
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- <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|$zvDe+x4kMz%-{d.">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
- <field name="NUM">1</field>
+ <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="!WgYF}aMS$sC-.xB$JAg">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id=",+(z.@/%C`r?(v8{Xk6?">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="l]wQ?}.TM,m@sJl.9c$4">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="%PXc[::|r[K5tThFGgi."/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="RoSQV[2xNmOan/JtAO~{">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="jw),#3VHMem^tEQX|.;1">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="k9g4HbL]=_@lVwgYM*{e">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="lm,[gP|qh0[95%Rr2M|@">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <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>
+ <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="variables_get" id="D3C[P^f3vp}xb!,-2#r5">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
- <field name="NUM">2</field>
+ <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
+ <field name="TEXT">BALL_AND_GOAL_BOTH</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"/>
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- <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>
+ <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>
- <value name="AT">
- <block type="math_number" id="vC3tOvv+vwtnqY^-oVd,">
- <field name="NUM">2</field>
+ <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>
- </value>
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
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- <statement name="DO0">
- <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
- <mutation name="turnBallRight"/>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="Y-@u6Td#HTIS8}mNdpK3">
- <field name="OP">GT</field>
- <value name="A">
- <block type="lists_getIndex" id="d]*F5d_Lln-:DXn6cPxb">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <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="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="$#D6FdXJ6/Dl!OW3tB3d">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id=";]Yk({gn.(Ha3=/nM5`]">
- <field name="NUM">2</field>
+ <statement name="DO1">
+ <block type="controls_if" id="u:~b5-PiU+[pu_1,Xa98">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="Gk1Ni~yuA0xqGVB)m$,r">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="Yjz]w]~(6fa5M=#WKCa0">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="$R,CQ$q_:mge?X159P8L">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="7$6J3IxJ7|`Pjsi)y#ph">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="-/6oVeveklwv!S}e852|">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="oJ]4?$gJ]C@;,f%ql6dR">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="sZ-Q381UDm_7-@_=u,Nb" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="m?]jjfWt9tUIy,F_m%}i">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="awS7kY(J(0{xSv!/NOei">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="-I~|7,G,H7p/(=+cA3L}">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="g-:OONj{*4WfXZ](X!%a">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="H3fd}ZOe,bwQPX(LV4rW">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="O4%TBS/MO3[pyE`r5us3">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
+ <mutation name="turnBallLeft"/>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="Z{tUKy/pPWJWfeWiqZqa">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="1MDI2fR,ALRZOi}FccVJ">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="{/rW*q)WC4YJAc_{6zEv">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="[=.-l*d|=LkB@kx^g=zQ">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="*X%si/+l#z3E95A1SS{L">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="(Dk1+3wh2]HCao.dq?PS">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="b*n2dt}`Z4Ea^z3!_-k#">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="ag@C3!BdIHxH`fg9pah1">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="`g//e~_r%pQ[)DUR;?`F">
+ <mutation name="turnBallRight"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </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$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </value>
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- <block type="variables_get" id="=$ulk!vkDhWA^fYK?b*b">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
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- <mutation name="turnBallLeft"/>
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- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
- <mutation name="stop"/>
+ </next>
</block>
</statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="faLX{cmn%m5GLE$Qa$jP">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <block type="variables_get" id="}Tawuqa_TE/qeAVT.RC5">
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- <mutation name="bwd_v">
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- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
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- <mutation name="stop"/>
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
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- <value name="B">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <value name="A">
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- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
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- <value name="VALUE">
- <block type="variables_get" id=",+(z.@/%C`r?(v8{Xk6?">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
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- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
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- <block type="variables_get" id="k9g4HbL]=_@lVwgYM*{e">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
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- <value name="VALUE">
- <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
- <field name="TEXT">BALL_AND_GOAL_BOTH</field>
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- </value>
- <next>
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- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="Ef@EH~LEo9ldV~aTkL)v">
- <field name="OP">LTE</field>
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- <block type="variables_get" id="eNn.jAQuZB`.!|a-}8Bm">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <value name="B">
- <block type="variables_get" id="Vn}:ap@@leJ;ERn5!ulQ">
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- <block type="variables_get" id="}m|a8Yo5TtRP74mP_mv`">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
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- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <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="s@[Z^y:V@HE1Rj;{0kMC">
- <field name="OP">GT</field>
+ <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
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<value name="A">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="lists_getIndex" id="Gk1Ni~yuA0xqGVB)m$,r">
+ <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="2.y#4B,;Y:6:KX.dWY!e">
+ <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="Yjz]w]~(6fa5M=#WKCa0">
+ <block type="math_number" id="CkEN:gECzR=^Fe$@:9TJ">
<field name="NUM">1</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="o5dj.]+Z)07l-FMKaT%{"/>
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</block>
</value>
<value name="B">
- <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
- <field name="OP">LT</field>
+ <block type="logic_compare" id="L1~%)SdSHa$uo6A.8#6f">
+ <field name="OP">NEQ</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$6J3IxJ7|`Pjsi)y#ph">
+ <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
<mutation statement="false" at="true"/>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
- <block type="variables_get" id="-/6oVeveklwv!S}e852|">
+ <block type="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
</block>
</value>
<value name="AT">
- <block type="math_number" id="oJ]4?$gJ]C@;,f%ql6dR">
+ <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
<field name="NUM">2</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
+ </value>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="sZ-Q381UDm_7-@_=u,Nb" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
+ <statement name="DO4">
+ <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
<field name="OP">LT</field>
<value name="A">
- <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="lists_getIndex" id="m?]jjfWt9tUIy,F_m%}i">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="awS7kY(J(0{xSv!/NOei">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="math_arithmetic" id="Ai7:`$F~9O2YGCqE}7]%" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="R=vnD6%qBZ6oMp]rsnuD">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="4$hv.8aI05y@,%h(#M!|">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="ATE$C[5@_7i#/$0#A=C,">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="lists_getIndex" id=";}IGw$j4`qR]-V6y1F{C">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="qeaIcn2J!s[tLnzs1-TD">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="$@C}!!6KJsxT:/2%*qFq">
+ <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>
+ </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="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>
- <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_compare" id="VxyB%0*)9[A{wCi_b~$0">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="|7Z%Ki.3uN~;7c7dD[@e" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="jeo$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="YHmHsZ0^]EkM`Q2Ii*yl">
+ <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>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="lists_getIndex" id="#uNz,SfO~+zP4,sS`C6;">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="kQ1V6dYMl=T|wiWBB:yK">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="=oK,TS$D{KF$),BuO%b-">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="fs3R{xW/!NZ+huwii|WQ">
- <mutation name="turnBallLeft"/>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
+ <mutation name="right_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="nCzWllccVaUk{$/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>
</statement>
- <value name="IF2">
- <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
+ <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_compare" id="Z{tUKy/pPWJWfeWiqZqa">
- <field name="OP">GT</field>
+ <block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="variables_get" id="1MDI2fR,ALRZOi}FccVJ">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="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="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="chjUw+0f?gW,C~KalQZQ">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="J;t`p`a%Tr`zE:+/Lx%x">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="*X%si/+l#z3E95A1SS{L">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
</value>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
- <field name="OP">GT</field>
+ <block type="logic_operation" id="w[--Ee4II.j.3yFUzaHC" inline="false">
+ <field name="OP">OR</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="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>
</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="w[W/2lkK6=`$]ikD=RR|">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="lists_getIndex" id="gUheL@#H`cAt{|@b[l96">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="iFZABdWa@-#A}|Mrf?Fz">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="-X+nB:-/Qb=rz:Dh_h8H">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="@Is_#Ked]NGd$K2MW-N^"/>
</value>
</block>
</value>
@@ -1287,325 +1825,235 @@
</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$n55ytVF">y_ball_touch</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
- <mutation name="bwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
- <mutation name="stop"/>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF4">
- <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
- <field name="OP">OR</field>
- <value name="A">
- <block type="logic_compare" id="R$,3LHh`g+6Wa:m#*[Ys">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="variables_get" id="rwEBIEg)#f$fNY):g16?">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="9d:a29Y`@{YMRdTLZH|W"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="chjUw+0f?gW,C~KalQZQ">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="variables_get" id="J;t`p`a%Tr`zE:+/Lx%x">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
- <field name="OP">OR</field>
- <value name="A">
- <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id="a2r-4w=%vQYhSHM`~eZ]">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
+ <statement name="DO5">
+ <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
<value name="VALUE">
- <block type="variables_get" id="T$V8$ZEi|{};;VR5guWF">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
+ <field name="TEXT">NO_BALL</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="CkEN:gECzR=^Fe$@:9TJ">
- <field name="NUM">1</field>
+ <next>
+ <block type="variables_set" id="f[tU/WJU9.%1;^OAkqZd">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <value name="VALUE">
+ <block type="logic_negate" id="JJa{!NOx2:RP--3T:;.m">
+ <value name="BOOL">
+ <block type="variables_get" id="7RbY5FX}VSC*Zjq0j1#!">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
- </value>
+ </next>
</block>
- </value>
- <value name="B">
- <block type="logic_null" id="o5dj.]+Z)07l-FMKaT%{"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="L1~%)SdSHa$uo6A.8#6f">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="lists_getIndex" id=",]].`)eldGT-g}09Z7B-">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
+ </statement>
+ <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="variables_get" id="KhabrJ}B*?4SNA*zG(2v">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
+ <field name="TEXT">NONE</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
- <field name="NUM">2</field>
+ <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>
+ </block>
+ </next>
+ </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>
- </value>
- <value name="B">
- <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO4">
- <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
- <field name="TEXT">NO_BALL</field>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="D9NXiAUbA9g`^x1OC=Li" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="[kRD~}Lvl6BXA_+4Ha::">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </next>
</block>
- </value>
- </block>
- </next>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
- <field name="TEXT">NONE</field>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="Vt?gYTO)@8t@tP0loYxP">
- <mutation name="stop"/>
- </block>
- </next>
- </block>
- </statement>
- </block>
- </statement>
- <next>
- <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
- <field name="instance_name">txt_label_ball</field>
- <value name="value">
- <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
- <field name="TEXT">x:{}, y:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal</field>
- <value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="1"/>
- <value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">x:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
- <value name="TEXT">
- <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
- <field name="TEXT"/>
- </shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="7"/>
+ </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="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{}: GOAL_x: {}, {} BALL_pos:{},{} dist_x:{} speed_y:{}</field>
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
+ <field name="TEXT">abc</field>
</shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="lists_getIndex" id=";CdZ:9!xf(3gc%Mh;He0">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block 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="AT">
- <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
- <field name="NUM">1</field>
+ <value name="ADD1">
+ <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
</block>
</value>
- <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>
+ <next>
+ <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
+ <field name="instance_name">txt_label_goal</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="1"/>
+ <value name="value">
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">x:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
- <field name="NUM">2</field>
+ <next>
+ <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
+ <field name="instance_name">txt_label_counters</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
+ <mutation items="1"/>
+ <value name="value">
+ <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
+ <field name="TEXT">{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="XdyZ*L#*0E`A`0/3UYf~">
+ <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
+ <value name="TEXT">
+ <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
+ <field name="TEXT"/>
+ </shadow>
+ <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
+ <mutation items="7"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}: GOAL_x: {}, {} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="lists_getIndex" id=";CdZ:9!xf(3gc%Mh;He0">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="lists_getIndex" id="a4ca)9;+OLbvk6YkfibR">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD4">
+ <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="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>
+ </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>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
- </value>
- </block>
- </value>
- <value name="ADD3">
- <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </next>
</block>
- </value>
- <value name="ADD4">
- <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="ADD5">
- <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
- <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
- </block>
- </value>
- <value name="ADD6">
- <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">100</field>
- </shadow>
- </value>
+ </next>
</block>
</next>
</block>
</next>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
</next>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -1647,7 +2095,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="4373">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5549">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -1793,7 +2241,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="4826">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6002">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -1804,142 +2252,73 @@
</block>
</value>
<next>
- <block type="variables_set" id="k0kHGrWZ;~?%o[,yswY6">
- <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
+ <block type="variables_set" id="{f=3q|ZsTkk%SY=)7#`P">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
<value name="VALUE">
- <block type="math_round" id="=+sbD%%_Q7^+q/i@i4Bl">
- <field name="OP">ROUND</field>
- <field name="DECIMALS">0</field>
- <value name="NUM">
- <block type="math_arithmetic" id="iB==*F=c-4uBpXzv4;w3" inline="false">
- <field name="OP">MULTIPLY</field>
- <value name="A">
- <block type="math_single" id="y+e}Q=^I8@jr}Unw#*sq">
- <field name="OP">ABS</field>
- <value name="NUM">
- <block type="camera_ball_get_value" id="-2U^DqdPe_V!^S~MWieR">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="2`Kt(uC?)c67KtKu,MCD"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="OBQ82j0?kxVN~Q.|]4Si">
- <field name="VAR" id="L([~[g+MhSG}}P1bZ{oS">factor_x</field>
- </block>
- </value>
- </block>
+ <block type="camera_ball_get_value" id="uGhnFUdBttwa9y$-,vt*">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="!K|TG3hpF$dFXPSjQE2K"/>
</value>
</block>
</value>
<next>
- <block type="variables_set" id="u1(g([H2n{u3([v#(86P">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ <block type="variables_set" id="TyZFp8#7;M#A={?.(j#L">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
<value name="VALUE">
- <block type="math_round" id="@1a3LGvD7H7!({7|NP|)">
- <field name="OP">ROUND</field>
- <field name="DECIMALS">0</field>
- <value name="NUM">
- <block type="math_constrain" id="ET01s3*i@ZKH8VsYPnR(" inline="false">
- <value name="VALUE">
- <block type="math_arithmetic" id="Oni0mZ,QeF~y.=RJYC(X" inline="false">
- <field name="OP">ADD</field>
- <value name="A">
- <block type="math_arithmetic" id="JaKS1rr4c~S~|,]F`R)," inline="false">
- <field name="OP">MULTIPLY</field>
- <value name="A">
- <block type="math_single" id="cY9);2vTDTe(@Xxsf_nX">
- <field name="OP">ABS</field>
- <value name="NUM">
- <block type="camera_ball_get_value" id="a=8eO_}zHB/h7ZLNF3#$">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="AdddQ)(I{;8D,r9rlmF!"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="}+x]wBVz9=4;PVzNM_cP">
- <field name="VAR" id="L([~[g+MhSG}}P1bZ{oS">factor_x</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="qH!6~{k)5fi^LW3x2}%S">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- </block>
- </value>
- <value name="LOW">
- <block type="math_number" id="M-^}M,~d+s^%H]3f{X)A">
- <field name="NUM">0</field>
- </block>
- </value>
- <value name="HIGH">
- <block type="math_number" id="Dek*|=,M?_[[M$4OPiaa">
- <field name="NUM">512</field>
- </block>
- </value>
- </block>
+ <block type="camera_ball_get_value" id=")(Meq=Br4:3d0zr`iC|g">
+ <field name="dropdown_event">y</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="a[37]!VADN~!Crqtm3A."/>
</value>
</block>
</value>
<next>
- <block type="variables_set" id="lwov=oQ7wu.d]coe-BD4">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ <block type="variables_set" id="u1(g([H2n{u3([v#(86P">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
<value name="VALUE">
- <block type="math_round" id="-8cT`P`)}D=d$1Q,We[R">
+ <block type="math_round" id="@1a3LGvD7H7!({7|NP|)">
<field name="OP">ROUND</field>
<field name="DECIMALS">0</field>
<value name="NUM">
- <block type="math_constrain" id="ZHX+L;twd_cE3_s;Iti`" inline="false">
+ <block type="math_constrain" id="ET01s3*i@ZKH8VsYPnR(" inline="false">
<value name="VALUE">
- <block type="math_arithmetic" id="_M7S@i4ich6ph)QSmX[u" inline="false">
+ <block type="math_arithmetic" id="Oni0mZ,QeF~y.=RJYC(X" inline="false">
<field name="OP">ADD</field>
<value name="A">
- <block type="math_arithmetic" id="WRF4p1[aH,?D.XVtDFZD" inline="false">
+ <block type="math_arithmetic" id="JaKS1rr4c~S~|,]F`R)," inline="false">
<field name="OP">MULTIPLY</field>
<value name="A">
- <block type="math_single" id=":[Io$cjQk2:3AeQ!8~d|">
+ <block type="math_single" id="cY9);2vTDTe(@Xxsf_nX">
<field name="OP">ABS</field>
<value name="NUM">
- <block type="camera_ball_get_value" id="`bXwRxj-x,LjuN[)hmp4">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="2c#(7[5PUG_dk=K;*vsT"/>
- </value>
+ <block type="variables_get" id="c`64EtZgvorOzI6+m|cC">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="[rROL,Y2oT9:?lBxl?w}">
- <field name="VAR" id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</field>
+ <block type="variables_get" id="}+x]wBVz9=4;PVzNM_cP">
+ <field name="VAR" id="L([~[g+MhSG}}P1bZ{oS">factor_x</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="0omW/!]=`:toS_I@Bt}_">
+ <block type="variables_get" id="qH!6~{k)5fi^LW3x2}%S">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
</block>
</value>
<value name="LOW">
- <block type="math_number" id="CD!leC0?O4!@n5nVffU[">
+ <block type="math_number" id="M-^}M,~d+s^%H]3f{X)A">
<field name="NUM">0</field>
</block>
</value>
<value name="HIGH">
- <block type="math_number" id="x9_?w3PoofJ#.WAv~:)1">
+ <block type="math_number" id="Dek*|=,M?_[[M$4OPiaa">
<field name="NUM">512</field>
</block>
</value>
@@ -1948,79 +2327,108 @@
</block>
</value>
<next>
- <block type="variables_set" id="{f=3q|ZsTkk%SY=)7#`P">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_set" id="lwov=oQ7wu.d]coe-BD4">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
<value name="VALUE">
- <block type="camera_ball_get_value" id="uGhnFUdBttwa9y$-,vt*">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="!K|TG3hpF$dFXPSjQE2K"/>
+ <block type="math_round" id="-8cT`P`)}D=d$1Q,We[R">
+ <field name="OP">ROUND</field>
+ <field name="DECIMALS">0</field>
+ <value name="NUM">
+ <block type="math_constrain" id="ZHX+L;twd_cE3_s;Iti`" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="_M7S@i4ich6ph)QSmX[u" inline="false">
+ <field name="OP">ADD</field>
+ <value name="A">
+ <block type="math_arithmetic" id="WRF4p1[aH,?D.XVtDFZD" inline="false">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="math_single" id=":[Io$cjQk2:3AeQ!8~d|">
+ <field name="OP">ABS</field>
+ <value name="NUM">
+ <block type="variables_get" id="OBQ82j0?kxVN~Q.|]4Si">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="[rROL,Y2oT9:?lBxl?w}">
+ <field name="VAR" id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="0omW/!]=`:toS_I@Bt}_">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="CD!leC0?O4!@n5nVffU[">
+ <field name="NUM">0</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="x9_?w3PoofJ#.WAv~:)1">
+ <field name="NUM">512</field>
+ </block>
+ </value>
+ </block>
</value>
</block>
</value>
<next>
- <block type="variables_set" id="TyZFp8#7;M#A={?.(j#L">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- <value name="VALUE">
- <block type="camera_ball_get_value" id=")(Meq=Br4:3d0zr`iC|g">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="a[37]!VADN~!Crqtm3A."/>
- </value>
+ <block type="controls_if" id="H.~sZNdFqbg-l|x*LtxJ">
+ <value name="IF0">
+ <block type="logic_boolean" id=",*H;S(mS^E$SEi|I^akI">
+ <field name="BOOL">FALSE</field>
</block>
</value>
- <next>
- <block type="controls_if" id="H.~sZNdFqbg-l|x*LtxJ">
- <value name="IF0">
- <block type="logic_boolean" id=",*H;S(mS^E$SEi|I^akI">
- <field name="BOOL">FALSE</field>
- </block>
- </value>
- <statement name="DO0">
- <block type="text_print" id="BJX)Y@c~/.?haP/7.z2]">
- <value name="TEXT">
- <shadow type="text" id="~J2+aH%uDJT(D8FADKKR">
- <field name="TEXT"/>
+ <statement name="DO0">
+ <block type="text_print" id="BJX)Y@c~/.?haP/7.z2]">
+ <value name="TEXT">
+ <shadow type="text" id="~J2+aH%uDJT(D8FADKKR">
+ <field name="TEXT"/>
+ </shadow>
+ <block type="text_format" id="fte{F@.%K7ohDj=l1(R3">
+ <mutation items="4"/>
+ <value name="value">
+ <shadow type="text" id="l2A3xrw.^!j6.QD:k]?b">
+ <field name="TEXT">ball posx:{} posy:{} v_x:{} v_y:{}</field>
</shadow>
- <block type="text_format" id="fte{F@.%K7ohDj=l1(R3">
- <mutation items="4"/>
- <value name="value">
- <shadow type="text" id="l2A3xrw.^!j6.QD:k]?b">
- <field name="TEXT">ball posx:{} posy:{} dist_x:{} speed_y:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="camera_ball_get_value" id="3FY5_MtPbRbYe*vw-Z;:">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="RT_#~Jk|2e/8P--T7hO}"/>
- </value>
- </block>
- </value>
- <value name="ADD1">
- <block type="camera_ball_get_value" id="GD)}7I6X3@2).B0XA(Cp">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="g}rfN`jqBda2sqH}dwl}"/>
- </value>
- </block>
- </value>
- <value name="ADD2">
- <block type="variables_get" id="yhW7j_H)=SS)hjSg~G|d">
- <field name="VAR" id="AnbD2s`i`niJf7bj:WR.">dist_x</field>
- </block>
+ </value>
+ <value name="ADD0">
+ <block type="camera_ball_get_value" id="3FY5_MtPbRbYe*vw-Z;:">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="RT_#~Jk|2e/8P--T7hO}"/>
</value>
- <value name="ADD3">
- <block type="variables_get" id="lD6;*mn|mX!,^4V=D13M">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
- </block>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="camera_ball_get_value" id="GD)}7I6X3@2).B0XA(Cp">
+ <field name="dropdown_event">y</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="g}rfN`jqBda2sqH}dwl}"/>
</value>
</block>
</value>
+ <value name="ADD2">
+ <block type="variables_get" id="yhW7j_H)=SS)hjSg~G|d">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="lD6;*mn|mX!,^4V=D13M">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ </block>
+ </value>
</block>
- </statement>
+ </value>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
@@ -2034,7 +2442,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="5579">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6669">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2114,7 +2522,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="5882">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="6972">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2194,7 +2602,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="6185">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7275">
<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>
@@ -2242,7 +2650,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="6332">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7422">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2290,7 +2698,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="6479">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7569">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -2338,7 +2746,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="6626">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7716">
<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>
@@ -2386,7 +2794,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="6773">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="7863">
<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>
@@ -2409,7 +2817,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" collapsed="true" x="0" y="6910">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8000">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
@@ -2495,17 +2903,6 @@
<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="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>
@@ -2523,7 +2920,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="6977">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="8530">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
@@ -2535,7 +2932,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="7044">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="8597">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -2572,7 +2969,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="7293">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="8846">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -2609,7 +3006,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="7542">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9095">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -2646,7 +3043,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="7791">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="9344">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -2683,19 +3080,63 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8040">
+ <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="9593">
+ <mutation>
+ <arg name="v" varid="DfDz@$]?^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>
+ </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>
+ </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>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="9834">
<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.CW</field>
+ <field name="direction_0">Motor.CCW</field>
<field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
+ <field name="direction_1">Motor.CW</field>
<value name="speed">
<shadow type="motor_number" id="KbM1XwSZ`0p4OfObK%2d">
- <field name="MOTOR_NUM">0</field>
+ <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>
</value>
<next>
<block type="encodermotor_set_speed" id="?-}PDl2[=K?(SrBgJg-U">
@@ -2726,19 +3167,22 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="8261">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10055">
<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.CCW</field>
+ <field name="direction_0">Motor.CW</field>
<field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
+ <field name="direction_1">Motor.CCW</field>
<value name="speed">
<shadow type="motor_number" id="dD.1u9Pwx-^rnKZyWQx/">
- <field name="MOTOR_NUM">0</field>
+ <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>
</value>
<next>
<block type="encodermotor_set_speed" id="b:w42I;ulm2~l(S-#ER(">
@@ -2769,7 +3213,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="8482">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="10276">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -2797,7 +3241,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="8549">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="10343">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -2825,7 +3269,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="8616">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="10410">
<mutation>
<arg name="v" varid="DfDz@$]?^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{"/>
@@ -2891,7 +3335,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="8683">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="10477">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -2957,7 +3401,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" collapsed="true" x="0" y="8750">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10544">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3023,7 +3467,78 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" collapsed="true" x="0" y="8817">
+ <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="10901">
+ <mutation>
+ <arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
+ <arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
+ </mutation>
+ <field name="NAME">left2</field>
+ <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="}$zB71Q]4`P@feibL2fu">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=",[,X9TSiPq4iUUtrUmK`">
+ <field name="NUM">0</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="+;!!Z=]w_K!uA/Xr8|S9">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M2_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M4_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ <block type="variables_get" id="p;kkWp~F[]J`zNw|vvtD">
+ <field name="VAR" id="DfDz@$]?^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>
+ </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>
+ </block>
+ </value>
+ <next>
+ <block type="text_print" id="Wb]$Cc5^}s:pDYFNs81K">
+ <value name="TEXT">
+ <shadow type="text" id="RZRjBUJ5J3nPpeC#IW5H">
+ <field name="TEXT">right2</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11230">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -3089,4 +3604,66 @@
</block>
</statement>
</block>
+ <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="11587">
+ <mutation>
+ <arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
+ <arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
+ </mutation>
+ <field name="NAME">right2</field>
+ <field name="8Z2n_ZVA.)85]V7j%3;7">v</field>
+ <field name="J(gJ~*9ZJJa,[V1)[xn#">ticks</field>
+ <statement name="STACK">
+ <block type="controls_if" id="lp~ks}%o(L5|/7T|.OjC">
+ <value name="IF0">
+ <block type="logic_compare" id="sO)7$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>
+ </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@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="distance">
+ <shadow type="math_number">
+ <field name="NUM">100</field>
+ </shadow>
+ <block type="variables_get" id="~aVmZ51ntm~OA:X=Iu0M">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
+ <next>
+ <block type="util_wait_until" id="@c8|rKBWD1*xgH{JbtQy">
+ <value name="value">
+ <block type="encodermotor_position_read" id="M-]LhjAT~p$Nfe`JXqlc">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ </block>
</xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 75bf23f8a6f4c3741660d196074bd65f60779914..0a74282212d914ad3bb0592abcb18a07c1d1dd96 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -15,22 +15,23 @@ ts_goal_left = None
ts_goal_right = None
factor_y = None
posx_ball = None
-dist_x = None
+v_slow = None
counters = None
-x_min = None
+search_dir_left = None
+factor_ball_rot = None
posy_ball = None
-v_var_ball_xpos = None
posx_goal = None
+v_var_ball_xpos = None
+x_min = None
x_max = None
v_var_ball_ypos = None
y_ball_far = None
y_ball_near = None
y_ball_touch = None
-v_slow = None
v_fast = None
state = None
def checkTimeouts():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
@@ -42,21 +43,20 @@ def checkTimeouts():
def ball_callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
ts_ball = (time.time() * 1000)
- dist_x = round(math.fabs(event.value.x) * factor_x)
- v_var_ball_xpos = round(min(max(math.fabs(event.value.x) * factor_x + v_slow, 0), 512))
- v_var_ball_ypos = round(min(max(math.fabs(event.value.y) * factor_y + v_slow, 0), 512))
posx_ball = event.value.x
posy_ball = event.value.y
+ v_var_ball_xpos = round(min(max(math.fabs(posx_ball) * factor_x + v_slow, 0), 512))
+ v_var_ball_ypos = round(min(max(math.fabs(v_var_ball_ypos) * factor_y + v_slow, 0), 512))
if False:
- print('ball posx:{} posy:{} dist_x:{} speed_y:{}'.format(event.value.x, event.value.y, dist_x, v_var_ball_ypos))
+ print('ball posx:{} posy:{} v_x:{} v_y:{}'.format(event.value.x, event.value.y, v_var_ball_xpos, v_var_ball_ypos))
ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
ts_goal_left = (time.time() * 1000)
posx_goal[0] = event.value.x
if False:
@@ -66,7 +66,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
ts_goal_right = (time.time() * 1000)
posx_goal[1] = event.value.x
if False:
@@ -76,7 +76,7 @@ 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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 +86,7 @@ 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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 +96,7 @@ 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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 +106,7 @@ 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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 +116,7 @@ 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -126,7 +126,7 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback5)
def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -149,19 +149,15 @@ def shotBall():
break
time.sleep(0.010)
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
- 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
TXT_M_M1_encodermotor.stop_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
def fwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -171,7 +167,7 @@ def fwd_v(v):
def bwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -181,7 +177,7 @@ def bwd_v(v):
def left_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -191,7 +187,7 @@ def left_v(v):
def right_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -200,10 +196,18 @@ def right_v(v):
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
+ if search_dir_left:
+ left_v(v)
+ else:
+ right_v(v)
+
+
def turnBallLeft():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
- TXT_M_M1_encodermotor.set_speed(int(0), Motor.CW)
- TXT_M_M2_encodermotor.set_speed(int(0), Motor.CCW)
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, 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
+ 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)
@@ -212,9 +216,9 @@ def turnBallLeft():
def turnBallRight():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
- TXT_M_M1_encodermotor.set_speed(int(0), Motor.CCW)
- TXT_M_M2_encodermotor.set_speed(int(0), Motor.CW)
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, 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
+ 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)
@@ -223,7 +227,7 @@ def turnBallRight():
def sideleft_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -232,7 +236,7 @@ def sideleft_v(v):
def sideright_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
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)
@@ -241,7 +245,7 @@ def sideright_v(v):
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -255,7 +259,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -269,7 +273,7 @@ def bwd(v, ticks):
def left(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -282,8 +286,21 @@ def left(v, ticks):
time.sleep(0.010)
+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
+ if ticks > 0:
+ TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+ TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+ TXT_M_M2_encodermotor.set_distance(int(ticks), TXT_M_M4_encodermotor)
+ while True:
+ 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, dist_x, counters, x_min, posy_ball, v_var_ball_xpos, posx_goal, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, state
+ 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
if ticks > 0:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -296,23 +313,38 @@ def right(v, ticks):
time.sleep(0.010)
+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
+ if ticks > 0:
+ TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
+ TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
+ TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M3_encodermotor)
+ while True:
+ if (not TXT_M_M1_encodermotor.is_running()):
+ break
+ time.sleep(0.010)
+
+
factor_x = 0.2
factor_y = 3.5
-x_min = -20
-x_max = 20
+factor_ball_rot = 0.02
+x_min = -5
+x_max = 5
y_ball_far = -5
-y_ball_near = 45
+y_ball_near = 50
y_ball_touch = 74
-v_slow = 200
+v_slow = 250
v_fast = 512
v_var_ball_xpos = 512
v_var_ball_ypos = 512
posx_goal = [None, None]
+counters = [TXT_M_C1_motor_step_counter.get_count(), TXT_M_C2_motor_step_counter.get_count(), TXT_M_C3_motor_step_counter.get_count(), TXT_M_C4_motor_step_counter.get_count()]
posx_ball = None
posy_ball = None
ts_ball = (time.time() * 1000)
ts_goal_left = (time.time() * 1000)
ts_goal_right = (time.time() * 1000)
+search_dir_left = True
state = 'NONE'
time.sleep(2)
while True:
@@ -320,19 +352,23 @@ while True:
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'
- if posx_ball < x_min:
- left_v(v_var_ball_xpos)
- elif posx_ball > x_max:
- right_v(v_var_ball_xpos)
- else:
+ if posx_ball >= x_min and posx_ball <= x_max:
if posy_ball <= y_ball_far:
+ fwd_v(v_fast)
+ elif posy_ball > y_ball_far and posy_ball <= y_ball_near:
fwd_v(v_slow)
- elif posy_ball <= y_ball_near:
+ elif posy_ball > y_ball_near and posy_ball <= y_ball_touch:
turnBallLeft()
elif posy_ball <= y_ball_touch:
bwd_v(v_slow)
else:
stop()
+ elif posx_ball > x_max:
+ right(v_var_ball_xpos, min(max(posy_ball * factor_ball_rot, 3), 100))
+ elif posx_ball < x_min:
+ left(v_var_ball_xpos, min(max(posy_ball * factor_ball_rot, 3), 100))
+ else:
+ stop()
elif posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] == None:
state = 'BALL_AND_GOAL_LEFT'
if posy_ball <= y_ball_far:
@@ -380,15 +416,27 @@ while True:
bwd_v(v_slow)
else:
stop()
+ elif posx_goal[0] != None and posx_goal[1] != None:
+ if posx_goal[0] - posx_goal[1] < x_min:
+ left_v(v_slow)
+ elif posx_goal[0] - posx_goal[1] > x_min:
+ 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'
- left_v(v_slow)
+ search_dir_left = not search_dir_left
else:
state = 'NONE'
- stop()
+ 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)))
- print('{}: GOAL_x: {}, {} BALL_pos:{},{} dist_x:{} speed_y:{}'.format(state, posx_goal[0], posx_goal[1], posx_ball, posy_ball, dist_x, v_var_ball_ypos))
- time.sleep(0.1)
+ 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)