diff --git a/lib/camera.py b/lib/camera.py
index 7492c55a174e9c4f4612876bfb63bd6a50033f54..4b59c947fc09c43f3141a3b6f13c6c4b413587f9 100644
--- a/lib/camera.py
+++ b/lib/camera.py
@@ -17,9 +17,9 @@ TXT_M_USB_1_camera.add_blocked_area(blocked_area_right)
blocked_area_left = txt_factory.camera_factory.create_blocked_area(0, 190, 80, 50)
TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
-ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [245,194,79], 25)
+ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [182,142,47], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
-ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [192,57,54], 25)
+ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [157,31,43], 25)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_left)
diff --git a/lib/camera.xml b/lib/camera.xml
index 7b77a7674ef19fb4427475641a613b635d17fde4..f5350366c0ad3c0036bdcdefa4c75a2eda51d50c 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>#f5c24f</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>#c03936</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>#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
diff --git a/lib/display.qml b/lib/display.qml
index 3ca23fc872d1a555b240dfc868489ab4bb2cd72a..88ea15352d455ef290ba8a5dc459606c3c8de098 100644
--- a/lib/display.qml
+++ b/lib/display.qml
@@ -49,7 +49,7 @@ TXTWindow {
elide: Text.ElideRight
x: 20
y: 40
- width: 39
+ width: 40
height: 40
}
TXTLabel {
@@ -58,8 +58,8 @@ TXTWindow {
font.pixelSize: 16
elide: Text.ElideRight
x: 20
- y: 99
- width: 39
+ y: 100
+ width: 40
height: 40
}
}
diff --git a/lib/display.xml b/lib/display.xml
index 06b4c0e7d7c18366a4ff09a7604e85d5df70e003..22cb52cd9760f1dd710ae44ea011d7cdaa439bff 100644
--- a/lib/display.xml
+++ b/lib/display.xml
@@ -1 +1 @@
-<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>false</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>39</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>99</y><width>39</width><height>40</height></geometry></item></xml>
\ No newline at end of file
+<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>false</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>100</y><width>40</width><height>40</height></geometry></item></xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index a1d2f68426909aef43e65715804024c266658f71..54284845620163da181c123fdc3ef75fabea11fb 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -701,153 +701,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="2039">
- <field name="NAME">checkTimeouts</field>
- <statement name="STACK">
- <block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
- <value name="IF0">
- <block type="logic_compare" id="yaTkeEV~1|XTU#NgT)j7" inline="false">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="zgksfhhp2%*/nv0kv]6k">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="j-xyUfRHV,b}kCz08o+m">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="w|9iU`@W=6$!Dl%9u-Y@">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="5_ryZ94QfcJv2_:O]/?g">
- <field name="NUM">500</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="variables_set" id="Z:~u5a?M/hcKIufGbk]L">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- <value name="VALUE">
- <block type="logic_null" id="6nvUE+P$gKwIm:+6*sP!"/>
- </value>
- <next>
- <block type="variables_set" id="$`MFfO6i!mT/klG+$:H]">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- <value name="VALUE">
- <block type="logic_null" id="FHu):3h?Msu%QttHEtj]"/>
- </value>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="controls_if" id="TB*rcFM~i@*D%Dwtx/?U">
- <value name="IF0">
- <block type="logic_compare" id="gPw1GMDTD1_[][5luwe;" inline="false">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="THgFqXlrn6V_SnFEL,qY">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="uw^6{2#8iqZO7RG;YaY7">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="HKOfg8b$oR@vts;7DObj">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id=".b=S3huhD!|a4Hsf^rGL">
- <field name="NUM">500</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="lists_setIndex" id="TkR|_blx2$,hT.aKkf~O">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="3#3BiP+h9}[ccaIDKlj/">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="YWwjvCGqfBBv67F+ib58">
- <field name="NUM">1</field>
- </block>
- </value>
- <value name="TO">
- <block type="logic_null" id="cM8^dckuY:nW*9,QoDS%"/>
- </value>
- </block>
- </statement>
- <next>
- <block type="controls_if" id="3O$%2WU}~L29)rJb:dRd">
- <value name="IF0">
- <block type="logic_compare" id="KdN#iJT(!{.3f(:7.mAV" inline="false">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="o?sdoD{y^2G_me0TF$8d">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="N%$;|Spy3LX-7f1.cFC$">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="bpKR0|hoi*mdX]v*_:W7">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id=".+UfY)W[?!t8Vr%!Xs/v">
- <field name="NUM">500</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="lists_setIndex" id="~83Uj0HPT|J(,3W!LWCL">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="3?9q,AoE6r,fRB}w,{]i">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=";;rL@zk@9)hLoS)Vv_A?">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="TO">
- <block type="logic_null" id="GUm3tRkD[}|mB@r#$q~4"/>
- </value>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="2492">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="2039">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -1021,7 +875,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="3053">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="2600">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -1092,7 +946,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="3314">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="2861">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -1103,59 +957,332 @@
</block>
</value>
<next>
- <block type="lists_setIndex" id="BgcR)HFQbgQ=c$87H-Rs">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id=":/RJKz|OwJ!nhurLm~w0">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="e-$k}+kU4DW9ZCaq^L6Z">
- <field name="NUM">2</field>
- </block>
+ <block type="lists_setIndex" id="BgcR)HFQbgQ=c$87H-Rs">
+ <mutation at="true"/>
+ <field name="MODE">SET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="LIST">
+ <block type="variables_get" id=":/RJKz|OwJ!nhurLm~w0">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="e-$k}+kU4DW9ZCaq^L6Z">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ <value name="TO">
+ <block type="camera_ball_get_value" id="HD@dB-1^W^R^cl$FEj1B">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="]JXunPguPu4`2m+P=9h!"/>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="text_print" id="q2(^p4SyTCB3V9x$qufL">
+ <value name="TEXT">
+ <shadow type="text">
+ <field name="TEXT"/>
+ </shadow>
+ <block type="text_format" id="pcQS07Q^!C|~pVid{}Ev">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="hWEmmvBo)?2YN$R3?}1C">
+ <field name="TEXT">goal right: posx:{} posy:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="camera_ball_get_value" id="oYhV*54ObZ(bGW#uT|FB">
+ <field name="dropdown_event">x</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="*^dJE~J_!XF_5.jU]mhZ"/>
+ </value>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="camera_ball_get_value" id="_L:jweTen.9z!a~w#+bl">
+ <field name="dropdown_event">y</field>
+ <value name="instance_name">
+ <shadow type="camera_detection_event" id="qo7;3$`+qC4Qpg/`.~+W"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="3122">
+ <field name="NAME">checkTimeouts</field>
+ <statement name="STACK">
+ <block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
+ <value name="IF0">
+ <block type="logic_compare" id="yaTkeEV~1|XTU#NgT)j7" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="zgksfhhp2%*/nv0kv]6k">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="j-xyUfRHV,b}kCz08o+m">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="w|9iU`@W=6$!Dl%9u-Y@">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="5_ryZ94QfcJv2_:O]/?g">
+ <field name="NUM">500</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="Z:~u5a?M/hcKIufGbk]L">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <value name="VALUE">
+ <block type="logic_null" id="6nvUE+P$gKwIm:+6*sP!"/>
+ </value>
+ <next>
+ <block type="variables_set" id="$`MFfO6i!mT/klG+$:H]">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <value name="VALUE">
+ <block type="logic_null" id="FHu):3h?Msu%QttHEtj]"/>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <next>
+ <block type="controls_if" id="TB*rcFM~i@*D%Dwtx/?U">
+ <value name="IF0">
+ <block type="logic_compare" id="gPw1GMDTD1_[][5luwe;" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="THgFqXlrn6V_SnFEL,qY">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="uw^6{2#8iqZO7RG;YaY7">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="HKOfg8b$oR@vts;7DObj">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=".b=S3huhD!|a4Hsf^rGL">
+ <field name="NUM">500</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="lists_setIndex" id="TkR|_blx2$,hT.aKkf~O">
+ <mutation at="true"/>
+ <field name="MODE">SET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="LIST">
+ <block type="variables_get" id="3#3BiP+h9}[ccaIDKlj/">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="YWwjvCGqfBBv67F+ib58">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ <value name="TO">
+ <block type="logic_null" id="cM8^dckuY:nW*9,QoDS%"/>
+ </value>
+ </block>
+ </statement>
+ <next>
+ <block type="controls_if" id="3O$%2WU}~L29)rJb:dRd">
+ <value name="IF0">
+ <block type="logic_compare" id="KdN#iJT(!{.3f(:7.mAV" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="o?sdoD{y^2G_me0TF$8d">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="N%$;|Spy3LX-7f1.cFC$">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="bpKR0|hoi*mdX]v*_:W7">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id=".+UfY)W[?!t8Vr%!Xs/v">
+ <field name="NUM">500</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="lists_setIndex" id="~83Uj0HPT|J(,3W!LWCL">
+ <mutation at="true"/>
+ <field name="MODE">SET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="LIST">
+ <block type="variables_get" id="3?9q,AoE6r,fRB}w,{]i">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=";;rL@zk@9)hLoS)Vv_A?">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ <value name="TO">
+ <block type="logic_null" id="GUm3tRkD[}|mB@r#$q~4"/>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="3575">
+ <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>
+ <field name="property_name">dark</field>
+ </block>
+ </value>
+ <statement name="statement">
+ <block type="procedures_callnoreturn" id="5g}yP+C``b}R[T#xBtg|">
+ <mutation name="shotBall"/>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="3684">
+ <field name="NAME">shotBall</field>
+ <statement name="STACK">
+ <block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
+ <field name="instance_name">TXT_M_S1_servomotor</field>
+ <value name="position">
+ <shadow type="servomotor_number" id="3#vdOeDe(0MHgYPRG0eb">
+ <field name="SERVOMOTOR_NUM">400</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="encodermotor_set_values" id="F+hDM}p/#t|XH]+z~~$B">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CCW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="64D3bb)L:IYB~nq!(4hR">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
</value>
- <value name="TO">
- <block type="camera_ball_get_value" id="HD@dB-1^W^R^cl$FEj1B">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="]JXunPguPu4`2m+P=9h!"/>
- </value>
- </block>
+ <value name="distance">
+ <shadow type="math_number" id="!vn0#[@_$kjeevcKcnqF">
+ <field name="NUM">100</field>
+ </shadow>
</value>
<next>
- <block type="text_print" id="q2(^p4SyTCB3V9x$qufL">
- <value name="TEXT">
- <shadow type="text">
- <field name="TEXT"/>
+ <block type="util_wait_for" id="m3t4v%1!lE[H3:*p2qXE">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="[f5FG@r=T8wETvhgPjR#">
+ <field name="NUM">50</field>
</shadow>
- <block type="text_format" id="pcQS07Q^!C|~pVid{}Ev">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="hWEmmvBo)?2YN$R3?}1C">
- <field name="TEXT">goal right: posx:{} posy:{}</field>
+ </value>
+ <next>
+ <block type="servomotor_set_position" id="[6Fc9E204i$BHgyH9F-W">
+ <field name="instance_name">TXT_M_S1_servomotor</field>
+ <value name="position">
+ <shadow type="servomotor_number" id="i.IOaM[DE:d3D.IL`53*">
+ <field name="SERVOMOTOR_NUM">256</field>
</shadow>
</value>
- <value name="ADD0">
- <block type="camera_ball_get_value" id="oYhV*54ObZ(bGW#uT|FB">
- <field name="dropdown_event">x</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="*^dJE~J_!XF_5.jU]mhZ"/>
- </value>
- </block>
- </value>
- <value name="ADD1">
- <block type="camera_ball_get_value" id="_L:jweTen.9z!a~w#+bl">
- <field name="dropdown_event">y</field>
- <value name="instance_name">
- <shadow type="camera_detection_event" id="qo7;3$`+qC4Qpg/`.~+W"/>
+ <next>
+ <block type="util_wait_until" id="kEY!lgl3*DfU:CB]K2{%">
+ <value name="value">
+ <block type="encodermotor_position_read" id="bi9}0jIIDM*S92db?fO[">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
</value>
+ <next>
+ <block type="encodermotor_set_values" id="ZqZiW,6J)cdL38}.8Dp6">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <field name="direction_0">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="Q(^TrT!sMN6[NB-$y!`U">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ </value>
+ <value name="distance">
+ <shadow type="math_number" id="vv:iZ6tXN]M@jx0UY]0T">
+ <field name="NUM">40</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="util_wait_until" id="S:|a({u_(UrXi*)+(pyx">
+ <value name="value">
+ <block type="encodermotor_position_read" id="9n59:FNrXDFp`7c!3gb+">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
+ </block>
+ </value>
+ <next>
+ <block type="sound_play_audio_file" id="-8bCV.(5yrq.DB#~[_}@">
+ <field name="soundfile_name">26_Augenzwinkern.wav</field>
+ <field name="checkbox">FALSE</field>
+ <next>
+ <block type="util_wait_until" id="O|8(q6;n0}n@CgSBRQCl">
+ <value name="value">
+ <block type="logic_negate" id="g4~%p~r;1tU)2+XmU,@N">
+ <value name="BOOL">
+ <block type="sound_is_playing_audiofile" id="kaPo^8PCo^/;@S8JJp^2"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
- </value>
+ </next>
</block>
- </value>
+ </next>
</block>
</next>
</block>
@@ -1163,7 +1290,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="3575">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" collapsed="true" x="0" y="4242">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -1191,7 +1318,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="3796">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" collapsed="true" x="0" y="4309">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -1219,7 +1346,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="4017">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" collapsed="true" x="0" y="4376">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1247,7 +1374,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="4238">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="4443">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1275,7 +1402,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="4459">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" collapsed="true" x="0" y="4510">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1303,7 +1430,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="4680">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="4577">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -1331,7 +1458,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="4901">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="4644">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
@@ -1343,7 +1470,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="5094">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="4711">
<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{"/>
@@ -1409,7 +1536,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="5451">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="4778">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -1475,7 +1602,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="5808">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" collapsed="true" x="0" y="4845">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -1541,7 +1668,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="6165">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" collapsed="true" x="0" y="4912">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -1607,7 +1734,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="6522">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" collapsed="true" x="0" y="4979">
<field name="NAME">turnLeft</field>
<statement name="STACK">
<block type="procedures_callnoreturn" id="n2^-(/I;nyLq_t.8g0Hh" inline="true">
@@ -1656,7 +1783,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="$nY7HNz^i}wlpk/f(Dja" x="0" y="6707">
+ <block type="procedures_defnoreturn" id="$nY7HNz^i}wlpk/f(Dja" collapsed="true" x="0" y="5046">
<field name="NAME">turnRight</field>
<statement name="STACK">
<block type="procedures_callnoreturn" id="%_T=@p6r8~Uq5{@hAFr2" inline="true">
@@ -1705,131 +1832,4 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="6892">
- <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>
- <field name="property_name">dark</field>
- </block>
- </value>
- <statement name="statement">
- <block type="procedures_callnoreturn" id="5g}yP+C``b}R[T#xBtg|">
- <mutation name="shotBall"/>
- </block>
- </statement>
- </block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="7001">
- <field name="NAME">shotBall</field>
- <statement name="STACK">
- <block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
- <field name="instance_name">TXT_M_S1_servomotor</field>
- <value name="position">
- <shadow type="servomotor_number" id="3#vdOeDe(0MHgYPRG0eb">
- <field name="SERVOMOTOR_NUM">400</field>
- </shadow>
- </value>
- <next>
- <block type="encodermotor_set_values" id="F+hDM}p/#t|XH]+z~~$B">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CCW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CCW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
- <value name="speed">
- <shadow type="motor_number" id="64D3bb)L:IYB~nq!(4hR">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- </value>
- <value name="distance">
- <shadow type="math_number" id="!vn0#[@_$kjeevcKcnqF">
- <field name="NUM">100</field>
- </shadow>
- </value>
- <next>
- <block type="util_wait_for" id="m3t4v%1!lE[H3:*p2qXE">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="[f5FG@r=T8wETvhgPjR#">
- <field name="NUM">50</field>
- </shadow>
- </value>
- <next>
- <block type="servomotor_set_position" id="[6Fc9E204i$BHgyH9F-W">
- <field name="instance_name">TXT_M_S1_servomotor</field>
- <value name="position">
- <shadow type="servomotor_number" id="i.IOaM[DE:d3D.IL`53*">
- <field name="SERVOMOTOR_NUM">256</field>
- </shadow>
- </value>
- <next>
- <block type="util_wait_until" id="kEY!lgl3*DfU:CB]K2{%">
- <value name="value">
- <block type="encodermotor_position_read" id="bi9}0jIIDM*S92db?fO[">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
- </block>
- </value>
- <next>
- <block type="encodermotor_set_values" id="ZqZiW,6J)cdL38}.8Dp6">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
- <field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number" id="Q(^TrT!sMN6[NB-$y!`U">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- </value>
- <value name="distance">
- <shadow type="math_number" id="vv:iZ6tXN]M@jx0UY]0T">
- <field name="NUM">40</field>
- </shadow>
- </value>
- <next>
- <block type="util_wait_until" id="S:|a({u_(UrXi*)+(pyx">
- <value name="value">
- <block type="encodermotor_position_read" id="9n59:FNrXDFp`7c!3gb+">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
- </block>
- </value>
- <next>
- <block type="sound_play_audio_file" id="-8bCV.(5yrq.DB#~[_}@">
- <field name="soundfile_name">26_Augenzwinkern.wav</field>
- <field name="checkbox">FALSE</field>
- <next>
- <block type="util_wait_until" id="O|8(q6;n0}n@CgSBRQCl">
- <value name="value">
- <block type="logic_negate" id="g4~%p~r;1tU)2+XmU,@N">
- <value name="BOOL">
- <block type="sound_is_playing_audiofile" id="kaPo^8PCo^/;@S8JJp^2"/>
- </value>
- </block>
- </value>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </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 148307325597526105b3af86eaced78c6befff3a..b19ca943b301ef258ddd89a25a7e33bc746212e1 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -67,6 +67,45 @@ def ball_callback23(event):
ball_detector_goal_right.add_detection_listener(ball_callback23)
+def callback(event):
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
+ if TXT_M_I8_photo_transistor.is_dark():
+ shotBall()
+
+
+TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
+
+
+def shotBall():
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
+ 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)
+ TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
+ TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
+ TXT_M_M1_encodermotor.set_distance(int(100), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+ time.sleep(0.05)
+ TXT_M_S1_servomotor.set_position(int(256))
+ while True:
+ if (not TXT_M_M1_encodermotor.is_running()):
+ break
+ time.sleep(0.010)
+ TXT_M_M1_encodermotor.set_speed(int(512), Motor.CW)
+ TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
+ TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
+ TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
+ TXT_M_M1_encodermotor.set_distance(int(40), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+ while True:
+ if (not TXT_M_M1_encodermotor.is_running()):
+ 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 fwd_v(v):
global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -196,45 +235,6 @@ def turnRight():
left(512, 100)
-def callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- if TXT_M_I8_photo_transistor.is_dark():
- shotBall()
-
-
-TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
-
-
-def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, posx_ball, dist_x, speed_y, posy_ball, posx_goal, x_min, x_max, y_min, y_max, v_slow, v_fast
- 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)
- TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
- TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
- TXT_M_M1_encodermotor.set_distance(int(100), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
- time.sleep(0.05)
- TXT_M_S1_servomotor.set_position(int(256))
- while True:
- if (not TXT_M_M1_encodermotor.is_running()):
- break
- time.sleep(0.010)
- TXT_M_M1_encodermotor.set_speed(int(512), Motor.CW)
- TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
- TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
- TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
- TXT_M_M1_encodermotor.set_distance(int(40), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
- while True:
- if (not TXT_M_M1_encodermotor.is_running()):
- 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)
-
-
factor_x = 0.2
factor_y = 3.5
speed_y = 300