From 2494ccc023bccdd41c2a543b6d4d8783d3ac24c6 Mon Sep 17 00:00:00 2001
From: ft-Demo <fischertechnik-team@fischer.de>
Date: Fri, 29 Oct 2021 06:37:20 +0000
Subject: [PATCH] commit by robo pro coding
---
lib/display.qml | 72 +--
lib/display.xml | 2 +-
omniwheels_x4_soccer_goal.blockly | 782 ++++++++++++++++--------------
omniwheels_x4_soccer_goal.py | 53 +-
4 files changed, 476 insertions(+), 433 deletions(-)
diff --git a/lib/display.qml b/lib/display.qml
index 7b6c451..a499b48 100644
--- a/lib/display.qml
+++ b/lib/display.qml
@@ -13,13 +13,13 @@ TXTWindow {
}
TXTSwitch {
id: txt_switch_ball
- text: ""
+ text: "Goal"
font.pixelSize: 16
enabled: true
checked: false
- x: 170
+ x: 120
y: 10
- width: 60
+ width: 120
height: 40
}
TXTLabel {
@@ -27,67 +27,67 @@ TXTWindow {
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 50
- y: 10
- width: 120
- height: 40
+ x: 40
+ y: 20
+ width: 79
+ height: 30
}
TXTLabel {
id: txt_label_goal_left
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 50
- y: 70
- width: 120
- height: 40
+ x: 40
+ y: 80
+ width: 80
+ height: 30
}
TXTLabel {
id: txt_label_goal_right
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 50
- y: 110
- width: 120
- height: 40
+ x: 160
+ y: 80
+ width: 80
+ height: 30
}
StatusIndicator {
id: txt_status_indicator_ball
- color: "#FFB700"
+ color: "#FF9900"
active: false
- x: 20
- y: 20
- width: 20
- height: 20
+ x: 0
+ y: 10
+ width: 40
+ height: 40
}
StatusIndicator {
id: txt_status_indicator_goal_left
color: "#19FF00"
active: false
- x: 20
- y: 80
- width: 20
- height: 20
+ x: 0
+ y: 70
+ width: 40
+ height: 40
}
StatusIndicator {
id: txt_status_indicator_goal_right
color: "#F8FF00"
active: false
- x: 20
- y: 120
- width: 20
- height: 20
+ x: 120
+ y: 70
+ width: 40
+ height: 40
}
TXTSwitch {
id: txt_switch_goal
- text: ""
+ text: "Center"
font.pixelSize: 16
enabled: true
checked: false
- x: 170
- y: 150
- width: 60
+ x: 120
+ y: 180
+ width: 120
height: 40
}
TXTLabel {
@@ -95,9 +95,9 @@ TXTWindow {
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 50
- y: 150
- width: 120
- height: 40
+ x: 40
+ y: 110
+ width: 200
+ height: 30
}
}
diff --git a/lib/display.xml b/lib/display.xml
index d8eb86d..0ea8e48 100644
--- a/lib/display.xml
+++ b/lib/display.xml
@@ -1 +1 @@
-<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_ball</name><enabled>true</enabled><checked>false</checked><text/><geometry><x>170</x><y>10</y><width>60</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>50</x><y>10</y><width>120</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal_left</name><text>-</text><geometry><x>50</x><y>70</y><width>120</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_goal_right</name><text>-</text><geometry><x>50</x><y>110</y><width>120</width><height>40</height></geometry></item><item id="11" class="StatusIndicator"><name>txt_status_indicator_ball</name><color>#FFB700</color><active>false</active><geometry><x>20</x><y>20</y><width>20</width><height>20</height></geometry></item><item id="12" class="StatusIndicator"><name>txt_status_indicator_goal_left</name><color>#19FF00</color><active>false</active><geometry><x>20</x><y>80</y><width>20</width><height>20</height></geometry></item><item id="13" class="StatusIndicator"><name>txt_status_indicator_goal_right</name><color>#F8FF00</color><active>false</active><geometry><x>20</x><y>120</y><width>20</width><height>20</height></geometry></item><item id="14" class="TXTSwitch"><name>txt_switch_goal</name><enabled>true</enabled><checked>false</checked><text/><geometry><x>170</x><y>150</y><width>60</width><height>40</height></geometry></item><item id="15" class="TXTLabel"><name>txt_label_goal_both</name><text>-</text><geometry><x>50</x><y>150</y><width>120</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_ball</name><enabled>true</enabled><checked>false</checked><text>Goal</text><geometry><x>120</x><y>10</y><width>120</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>40</x><y>20</y><width>79</width><height>30</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal_left</name><text>-</text><geometry><x>40</x><y>80</y><width>80</width><height>30</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_goal_right</name><text>-</text><geometry><x>160</x><y>80</y><width>80</width><height>30</height></geometry></item><item id="11" class="StatusIndicator"><name>txt_status_indicator_ball</name><color>#FF9900</color><active>false</active><geometry><x>0</x><y>10</y><width>40</width><height>40</height></geometry></item><item id="12" class="StatusIndicator"><name>txt_status_indicator_goal_left</name><color>#19FF00</color><active>false</active><geometry><x>0</x><y>70</y><width>40</width><height>40</height></geometry></item><item id="13" class="StatusIndicator"><name>txt_status_indicator_goal_right</name><color>#F8FF00</color><active>false</active><geometry><x>120</x><y>70</y><width>40</width><height>40</height></geometry></item><item id="14" class="TXTSwitch"><name>txt_switch_goal</name><enabled>true</enabled><checked>false</checked><text>Center</text><geometry><x>120</x><y>180</y><width>120</width><height>40</height></geometry></item><item id="15" class="TXTLabel"><name>txt_label_goal_both</name><text>-</text><geometry><x>40</x><y>110</y><width>200</width><height>30</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 b38920e..71c95d9 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -15,11 +15,11 @@
<variable id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</variable>
<variable id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</variable>
<variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
+ <variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</variable>
<variable id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</variable>
<variable id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</variable>
<variable id="+j/X+RCIMajR28(u#7DG">posy_goal_right</variable>
- <variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</variable>
<variable id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
<variable id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</variable>
@@ -27,6 +27,7 @@
<variable id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</variable>
<variable id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</variable>
<variable id="09n]XF2CKURQs)nHOfam">y_ball_near</variable>
+ <variable id="A=j.].x+a4-)iSQbu32#">ts_last_print</variable>
<variable id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</variable>
<variable id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</variable>
</variables>
@@ -196,36 +197,36 @@
</block>
</value>
<next>
- <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <block type="variables_set" id="t-K;R}1T?OZQBG{83kv?">
+ <field name="VAR" id="A=j.].x+a4-)iSQbu32#">ts_last_print</field>
<value name="VALUE">
- <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
- <field name="BOOL">TRUE</field>
+ <block type="util_runtime_measurement" id=",fJ0GJbDd}kQa$Ac%,S/">
+ <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="KM.MX+]F}x6_^($zaJ42">
+ <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
<value name="VALUE">
- <block type="text" id="V.-^bs67=#+RFV.YX~P,">
- <field name="TEXT">NONE</field>
+ <block type="logic_boolean" id="G[2Hre!^[YHSfA#^`k;H">
+ <field name="BOOL">TRUE</field>
</block>
</value>
<next>
- <block type="variables_set" id="!eP!#y!o25=Kc{0p7GDs">
- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <block type="variables_set" id="?^qtAjQUmvZ=U[d1VIhg">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
<value name="VALUE">
- <block type="text" id="vc4C]$ok!Yk@_eIUD8L)">
+ <block type="text" id="V.-^bs67=#+RFV.YX~P,">
<field name="TEXT">NONE</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="!eP!#y!o25=Kc{0p7GDs">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <value name="VALUE">
+ <block type="text" id="vc4C]$ok!Yk@_eIUD8L)">
+ <field name="TEXT">NONE</field>
+ </block>
</value>
<next>
<block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
@@ -943,429 +944,385 @@
</block>
</statement>
<next>
- <block type="display_set_status_indicator_active" id="Ol/kdywTz9GJZec|QWMS">
- <field name="instance_name">txt_status_indicator_ball</field>
- <value name="value">
- <shadow type="logic_boolean" id="C/tmfzzEp6H,:Q-Cbzm5">
- <field name="BOOL">TRUE</field>
- </shadow>
- <block type="logic_compare" id="A*?Wn/psphIs}+%SxVmh">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="s5*njiZc=^N+p)4eIr:g">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="e!/:${Wq/7lIg8.F`rU:"/>
- </value>
- </block>
- </value>
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeoutsSetGoalBoth"/>
<next>
- <block type="display_set_status_indicator_active" id="6raPw1+,67bp]Ic#!]_h">
- <field name="instance_name">txt_status_indicator_goal_left</field>
- <value name="value">
- <shadow type="logic_boolean">
- <field name="BOOL">TRUE</field>
- </shadow>
- <block type="logic_compare" id="(Gd1pOPhbD[]9blVQC|s">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="d)kKqkwH4O9u46e{zBnP">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <block type="variables_set" id="6x+{VP+wdcN`Z%}[I.!L">
+ <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
+ <value name="VALUE">
+ <block type="lists_create_with" id="LDomGXVQ/3v0~^mXO=H:">
+ <mutation items="3"/>
+ <value name="ADD0">
+ <block type="math_arithmetic" id="t680,3~Y1s!r4H9oe8JV">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="j%rmr;8@Az.]O/{}Y4_U">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="C/5XJ8aZmH}nTu/c{K/3">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="/s%hwOAf=LC]:$PjiZy?"/>
+ <value name="ADD1">
+ <block type="math_arithmetic" id="$d!a-N+BUJRl4UwINuSA">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="(V|oNw#p7uI.IS-0bNIb">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="^|.#)!4#E5}RC4|@nT=E">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ </block>
+ </value>
+ </block>
</value>
- </block>
- </value>
- <next>
- <block type="display_set_status_indicator_active" id="^O{W3G$em_v6~A^t1K$]">
- <field name="instance_name">txt_status_indicator_goal_right</field>
- <value name="value">
- <shadow type="logic_boolean">
- <field name="BOOL">TRUE</field>
- </shadow>
- <block type="logic_compare" id="2S2X?GGT8}tBgMGb3x=[">
- <field name="OP">NEQ</field>
+ <value name="ADD2">
+ <block type="math_arithmetic" id="g-kAJ}l^chb1#7`^GN})">
+ <field name="OP">MINUS</field>
<value name="A">
- <block type="variables_get" id="4yKol;}{*yD|UJzvYN83">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ <block type="util_runtime_measurement" id="f}EvEIL!N;0K~[,Yj{i|">
+ <field name="TIME">MILLISECOND</field>
</block>
</value>
<value name="B">
- <block type="logic_null" id="?MiF_jh!]il%Rhf3lN~~"/>
+ <block type="variables_get" id="(VfxxD;J|pK4hJH~.L#:">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ </block>
</value>
</block>
</value>
- <next>
- <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
- <field name="instance_name">txt_label_ball</field>
- <value name="value">
- <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
- <field name="TEXT">x:{}, y:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="_f|fti@*DD:6NVcT=@F`">
+ <value name="IF0">
+ <block type="logic_compare" id="S%]]V.~p==`AZ%,pPs$Z" inline="false">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="TQ^Swug!P:_s!71ZBS~h">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="util_runtime_measurement" id="*LO~h?FB2X0V5n!ohqt*">
+ <field name="TIME">MILLISECOND</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>
+ <value name="B">
+ <block type="variables_get" id="N-n}YO-)8MQmOqyQTD-B">
+ <field name="VAR" id="A=j.].x+a4-)iSQbu32#">ts_last_print</field>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="math_number" id="!-?@OIQfTR@2XYd-p;#|">
+ <field name="NUM">200</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="zU`J!L3yHUm.2D0gjNd*">
+ <field name="VAR" id="A=j.].x+a4-)iSQbu32#">ts_last_print</field>
+ <value name="VALUE">
+ <block type="util_runtime_measurement" id="|!8OZ;iGQoa@sml7mN3N">
+ <field name="TIME">MILLISECOND</field>
+ </block>
+ </value>
<next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal_left</field>
+ <block type="display_set_status_indicator_active" id="Ol/kdywTz9GJZec|QWMS">
+ <field name="instance_name">txt_status_indicator_ball</field>
<value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
+ <shadow type="logic_boolean" id="C/tmfzzEp6H,:Q-Cbzm5">
+ <field name="BOOL">TRUE</field>
</shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">{} {}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <block type="logic_compare" id="A*?Wn/psphIs}+%SxVmh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="s5*njiZc=^N+p)4eIr:g">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="ADD1">
- <block type="variables_get" id="Fe?~n3W$cZh6_K]^Dsyx">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="e!/:${Wq/7lIg8.F`rU:"/>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="a{S3p;wE$+yu^C@/gbFc">
- <field name="instance_name">txt_label_goal_right</field>
+ <block type="display_set_status_indicator_active" id="6raPw1+,67bp]Ic#!]_h">
+ <field name="instance_name">txt_status_indicator_goal_left</field>
<value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
+ <shadow type="logic_boolean">
+ <field name="BOOL">TRUE</field>
</shadow>
- <block type="text_format" id="aM8~sP`fYChiSu}cXXcR">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="iEm4r;N9H6ZV_0W/huA7">
- <field name="TEXT">{} {}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="86hRDB1XQ4so2N5SUnF_">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ <block type="logic_compare" id="(Gd1pOPhbD[]9blVQC|s">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="d)kKqkwH4O9u46e{zBnP">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
- <value name="ADD1">
- <block type="variables_get" id="%A3W)E/]zAMtqytEd%-*">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="/s%hwOAf=LC]:$PjiZy?"/>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
- <field name="instance_name">txt_label_goal_both</field>
+ <block type="display_set_status_indicator_active" id="^O{W3G$em_v6~A^t1K$]">
+ <field name="instance_name">txt_status_indicator_goal_right</field>
<value name="value">
- <shadow type="text" id="}wMC[[!{mYT9LBcx}EtT">
- <field name="TEXT">abc</field>
+ <shadow type="logic_boolean">
+ <field name="BOOL">TRUE</field>
</shadow>
- <block type="text_format" id="zV,[,3k$`H2B5D[4-c.d">
- <mutation items="2"/>
- <value name="value">
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- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="logic_compare" id="2S2X?GGT8}tBgMGb3x=[">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="4yKol;}{*yD|UJzvYN83">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
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- <block type="variables_get" id="CD]^^%xF/1z=fT)6mSMr">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="?MiF_jh!]il%Rhf3lN~~"/>
</value>
</block>
</value>
<next>
- <block type="variables_set" id="6x+{VP+wdcN`Z%}[I.!L">
- <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
- <value name="VALUE">
- <block type="lists_create_with" id="LDomGXVQ/3v0~^mXO=H:">
- <mutation items="3"/>
+ <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
+ <field name="instance_name">txt_label_ball</field>
+ <value name="value">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
+ <field name="TEXT">x:{} y:{}</field>
+ </shadow>
+ </value>
<value name="ADD0">
- <block type="math_arithmetic" id="t680,3~Y1s!r4H9oe8JV">
- <field name="OP">MINUS</field>
- <value name="A">
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- <field name="TIME">MILLISECOND</field>
- </block>
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- <block type="variables_get" id="C/5XJ8aZmH}nTu/c{K/3">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
- </block>
- </value>
+ <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="ADD1">
- <block type="math_arithmetic" id="$d!a-N+BUJRl4UwINuSA">
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- <value name="A">
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- <block type="variables_get" id="^|.#)!4#E5}RC4|@nT=E">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
- </block>
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- <block type="variables_get" id="(VfxxD;J|pK4hJH~.L#:">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
- </block>
- </value>
+ <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="text_print" id="##1hG%c^2!NKjN~e1lyg">
- <value name="TEXT">
- <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
- <field name="TEXT"/>
+ <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
+ <field name="instance_name">txt_label_goal_left</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="15"/>
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{:.1f} {:.1f} {:.1f} {}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">x:{} y:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="lists_getIndex" id="CbdeIGK@44m#g.!M[#x$">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="}7jQPibx;u0_gP;A]},T">
- <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
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- <block type="math_number" id="[Wss|q41wTq{v=?|sD.f">
- <field name="NUM">1</field>
- </block>
- </value>
+ <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="ADD1">
- <block type="lists_getIndex" id="2]ZTjNwL+l|+n=]^@kBa">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="4AF^Nf7uzZK##!V!tCyY">
- <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
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- <block type="math_number" id="`!LwlvmfWrC[X9}c`xAy">
- <field name="NUM">2</field>
- </block>
- </value>
+ <block type="variables_get" id="Fe?~n3W$cZh6_K]^Dsyx">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
</block>
</value>
- <value name="ADD2">
- <block type="lists_getIndex" id="4C()}[ATkY^*1!#aVh,d">
- <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_TvMk8V]tf,^rAwG;{_">
- <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
+ </block>
+ </value>
+ <next>
+ <block type="display_set_label_text" id="a{S3p;wE$+yu^C@/gbFc">
+ <field name="instance_name">txt_label_goal_right</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="aM8~sP`fYChiSu}cXXcR">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="iEm4r;N9H6ZV_0W/huA7">
+ <field name="TEXT">x:{} y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="86hRDB1XQ4so2N5SUnF_">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="LTfrlTDNfb/=}Ze]-s^V">
- <field name="NUM">3</field>
+ <value name="ADD1">
+ <block type="variables_get" id="%A3W)E/]zAMtqytEd%-*">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
</block>
</value>
</block>
</value>
- <value name="ADD3">
- <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- </block>
- </value>
- <value name="ADD4">
- <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
- </block>
- </value>
- <value name="ADD5">
- <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="ADD6">
- <block type="variables_get" id="kiYnqn=QqrO`bh^F{AQ#">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
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- <value name="ADD7">
- <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="ADD8">
- <block type="variables_get" id=",3+x;7D(bN-41WySQn.v">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
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- <value name="ADD9">
- <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="ADD10">
- <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
- </value>
- <value name="ADD11">
- <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD12">
- <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="ADD13">
- <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
- </value>
- <value name="ADD14">
- <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
- </block>
- </value>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeoutsSetGoalBoth"/>
<next>
- <block type="controls_if" id="Z$wtxmrLE4LaAG1{sYQ-">
- <mutation elseif="0" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="XJP@}}]qO=9.DRuZ6kOw" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="GV`j(N(o|%%+GzYguL?k">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="aI8GrNum0NwA4j*$vftb">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="Y4tx,oy!5n_pO~5Dp2,5"/>
- </value>
+ <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
+ <field name="instance_name">txt_label_goal_both</field>
+ <value name="value">
+ <shadow type="text" id="}wMC[[!{mYT9LBcx}EtT">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="zV,[,3k$`H2B5D[4-c.d">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="pLr%-2L|$X9_^)k~m;J(">
+ <field name="TEXT">x:{}, width:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="1/;a8^BqFI^^?=Ea;HdL">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
</block>
</value>
- <value name="B">
- <block type="logic_operation" id="%qFLdANE2,^a9zb/tNDw" inline="false">
- <field name="OP">AND</field>
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- <block type="logic_compare" id="@3@P[D$yBYrT:0;tTPbI">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="d`]q|p5vuvo6@#Vk30I3">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <value name="ADD1">
+ <block type="variables_get" id="CD]^^%xF/1z=fT)6mSMr">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
+ <value name="TEXT">
+ <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
+ <field name="TEXT"/>
+ </shadow>
+ <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
+ <mutation items="15"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{:.1f} {:.1f} {:.1f} {}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="lists_getIndex" id="CbdeIGK@44m#g.!M[#x$">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="}7jQPibx;u0_gP;A]},T">
+ <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="[Wss|q41wTq{v=?|sD.f">
+ <field name="NUM">1</field>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="rDzB|:95l=q`!x,aL@3W"/>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="lists_getIndex" id="2]ZTjNwL+l|+n=]^@kBa">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="4AF^Nf7uzZK##!V!tCyY">
+ <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="`!LwlvmfWrC[X9}c`xAy">
+ <field name="NUM">2</field>
+ </block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="#FlkYV9:b#G6XH`-xHbp">
- <field name="OP">NEQ</field>
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- <block type="variables_get" id="0]K(_#XpH.@zCOsIXEf7">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ <value name="ADD2">
+ <block type="lists_getIndex" id="4C()}[ATkY^*1!#aVh,d">
+ <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_TvMk8V]tf,^rAwG;{_">
+ <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="M$0*hkR:/MNk}_}~4+oB"/>
+ <value name="AT">
+ <block type="math_number" id="LTfrlTDNfb/=}Ze]-s^V">
+ <field name="NUM">3</field>
+ </block>
</value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">10</field>
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- <block type="math_on_list" id="@13*5nlwbH6_4qGl%Fa8">
- <mutation op="MIN"/>
- <field name="OP">MIN</field>
- <value name="LIST">
- <block type="variables_get" id="*ir?dEyI42euOFBWsvl{">
- <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
+ <value name="ADD3">
+ <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ </block>
+ </value>
+ <value name="ADD4">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD6">
+ <block type="variables_get" id="kiYnqn=QqrO`bh^F{AQ#">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD7">
+ <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD8">
+ <block type="variables_get" id=",3+x;7D(bN-41WySQn.v">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD9">
+ <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD10">
+ <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="ADD11">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD12">
+ <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="ADD13">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ADD14">
+ <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
</block>
</value>
</block>
</value>
</block>
- </statement>
- <statement name="ELSE">
- <block type="util_wait_for" id="qqc)duhLBbH_Hv}ao$rB">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="K8b0Rgu#U4v,$rBm.H7N">
- <field name="NUM">10</field>
- </shadow>
- </value>
- </block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -1381,6 +1338,89 @@
</block>
</next>
</block>
+ </statement>
+ <next>
+ <block type="controls_if" id="Z$wtxmrLE4LaAG1{sYQ-">
+ <mutation elseif="0" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="XJP@}}]qO=9.DRuZ6kOw" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="GV`j(N(o|%%+GzYguL?k">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="aI8GrNum0NwA4j*$vftb">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="Y4tx,oy!5n_pO~5Dp2,5"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_operation" id="%qFLdANE2,^a9zb/tNDw" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="@3@P[D$yBYrT:0;tTPbI">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="d`]q|p5vuvo6@#Vk30I3">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="rDzB|:95l=q`!x,aL@3W"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="#FlkYV9:b#G6XH`-xHbp">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="0]K(_#XpH.@zCOsIXEf7">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="M$0*hkR:/MNk}_}~4+oB"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
+ <field name="NUM">10</field>
+ </shadow>
+ <block type="math_on_list" id="@13*5nlwbH6_4qGl%Fa8">
+ <mutation op="MIN"/>
+ <field name="OP">MIN</field>
+ <value name="LIST">
+ <block type="variables_get" id="*ir?dEyI42euOFBWsvl{">
+ <field name="VAR" id="4w5r@LJD+|NUZ5,*H@JC">ts_deltas</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="util_wait_for" id="qqc)duhLBbH_Hv}ao$rB">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="K8b0Rgu#U4v,$rBm.H7N">
+ <field name="NUM">10</field>
+ </shadow>
+ </value>
+ </block>
+ </statement>
+ </block>
</next>
</block>
</next>
@@ -1445,7 +1485,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="En/f/xqq^SH?wf?Q!C!`" x="0" y="4467">
+ <block type="procedures_defnoreturn" id="En/f/xqq^SH?wf?Q!C!`" x="0" y="4575">
<field name="NAME">stepOnlyGoal</field>
<statement name="STACK">
<block type="controls_if" id="zah5aZ58,g+zkkR*Mxzn">
@@ -1679,7 +1719,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="5408">
+ <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="5516">
<mutation>
<arg name="shot" varid="ymkMx:g,wGvcvRtYUanL" argid=":62/?4I]sXmWy2!AnMxj"/>
</mutation>
@@ -2044,7 +2084,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6647">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6755">
<field name="NAME">checkTimeoutsSetGoalBoth</field>
<statement name="STACK">
<block type="controls_if" id="fRY+n0,2r=7:t9`dVQYz">
@@ -2284,7 +2324,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="7382">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="7490">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2485,7 +2525,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="8049">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="8157">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2566,7 +2606,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="8380">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="8488">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2647,7 +2687,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8711">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8819">
<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>
@@ -2670,7 +2710,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8848">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8956">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -2782,7 +2822,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="9405">
+ <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="9513">
<field name="NAME">soundGoal</field>
<statement name="STACK">
<block type="variables_set" id="o^c1yss2pIv%8YmX`=6X">
@@ -2823,7 +2863,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="9599">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="9707">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="-fFb#6a:h}yA(|L+pf*l"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="h?@dWX*~x|BDzo:O{is["/>
@@ -2920,7 +2960,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10012">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10120">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="k6At@e}Qga_x|SmVlf6C"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="~VyZflQ+9HCPP`ynQ/=Y"/>
@@ -3017,7 +3057,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="10425">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="10533">
<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{"/>
@@ -3093,7 +3133,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="10810">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="10918">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -3169,7 +3209,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="11195">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="11303">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3260,7 +3300,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11636">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11744">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 8e0879c..b1c5b27 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -34,10 +34,11 @@ v_fast = None
y_ball_touch = None
v_var_ball_ypos = None
y_ball_near = None
+ts_last_print = None
search_dir_left = None
ts_deltas = None
def checkTimeoutsSetGoalBoth():
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
if posx_goal_left != None and posx_goal_right != None:
goal_width = posx_goal_right - posx_goal_left
posx_goal_both = posx_goal_left + goal_width / 2
@@ -57,7 +58,7 @@ def checkTimeoutsSetGoalBoth():
def stepOnlyGoal():
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
if posx_goal_left != None and posx_goal_right != None:
if posx_goal_both >= x_min and posx_goal_both <= x_max:
if goal_width < 130:
@@ -77,7 +78,7 @@ def stepOnlyGoal():
def stepBall(shot):
- global v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
state = 'stepBall'
if posx_ball < x_min:
left(v_slow, round(math.fabs(posx_ball) * 0.07))
@@ -99,7 +100,7 @@ def stepBall(shot):
def ball_callback(event):
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -112,7 +113,7 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
ts_goal_left = (time.time() * 1000)
posx_goal_left = event.value.x
posy_goal_left = event.value.y
@@ -123,7 +124,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
ts_goal_right = (time.time() * 1000)
posx_goal_right = event.value.x
posy_goal_right = event.value.y
@@ -134,7 +135,7 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -144,7 +145,7 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
def shotBall():
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'shotBall'
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
@@ -171,7 +172,7 @@ def shotBall():
def soundGoal():
- global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'soundGOAL'
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
display.set_attr("txt_switch_ball.checked", str(False).lower())
@@ -182,7 +183,7 @@ def soundGoal():
def turnSideLeft(v, ticks):
- global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'turnSideLeft'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
@@ -198,7 +199,7 @@ def turnSideLeft(v, ticks):
def turnSideRight(v, ticks):
- global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'turnSideRight'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
@@ -214,7 +215,7 @@ def turnSideRight(v, ticks):
def fwd(v, ticks):
- global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'fwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -229,7 +230,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'bwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -244,7 +245,7 @@ def bwd(v, ticks):
def left(v, ticks):
- global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'left ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -259,7 +260,7 @@ def left(v, ticks):
def right(v, ticks):
- global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
+ global shot, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, v_slow, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, ts_last_print, search_dir_left, ts_deltas
cmd = 'right ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -295,10 +296,10 @@ posy_ball = None
ts_ball = (time.time() * 1000)
ts_goal_left = (time.time() * 1000)
ts_goal_right = (time.time() * 1000)
+ts_last_print = (time.time() * 1000)
search_dir_left = True
state = 'NONE'
cmd = 'NONE'
-time.sleep(2)
while True:
if display.get_attr("txt_switch_ball.checked"):
display.set_attr("txt_switch_goal.checked", str(False).lower())
@@ -343,16 +344,18 @@ while True:
elif display.get_attr("txt_switch_goal.checked"):
display.set_attr("txt_switch_ball.checked", str(False).lower())
stepOnlyGoal()
- display.set_attr("txt_status_indicator_ball.active", str(posx_ball != None).lower())
- display.set_attr("txt_status_indicator_goal_left.active", str(posx_goal_left != None).lower())
- display.set_attr("txt_status_indicator_goal_right.active", str(posx_goal_right != None).lower())
- display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
- display.set_attr("txt_label_goal_left.text", str('{} {}'.format(posx_goal_left, posy_goal_left)))
- display.set_attr("txt_label_goal_right.text", str('{} {}'.format(posx_goal_right, posy_goal_right)))
- display.set_attr("txt_label_goal_both.text", str('p:{}, w:{}'.format(posx_goal_both, goal_width)))
- ts_deltas = [(time.time() * 1000) - ts_ball, (time.time() * 1000) - ts_goal_left, (time.time() * 1000) - ts_goal_right]
- print('{:.1f} {:.1f} {:.1f} {}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(ts_deltas[0], ts_deltas[1], ts_deltas[2], state, cmd, posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right, posx_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
checkTimeoutsSetGoalBoth()
+ ts_deltas = [(time.time() * 1000) - ts_ball, (time.time() * 1000) - ts_goal_left, (time.time() * 1000) - ts_goal_right]
+ if (time.time() * 1000) - ts_last_print > 200:
+ ts_last_print = (time.time() * 1000)
+ display.set_attr("txt_status_indicator_ball.active", str(posx_ball != None).lower())
+ display.set_attr("txt_status_indicator_goal_left.active", str(posx_goal_left != None).lower())
+ display.set_attr("txt_status_indicator_goal_right.active", str(posx_goal_right != None).lower())
+ display.set_attr("txt_label_ball.text", str('x:{} y:{}'.format(posx_ball, posy_ball)))
+ display.set_attr("txt_label_goal_left.text", str('x:{} y:{}'.format(posx_goal_left, posy_goal_left)))
+ display.set_attr("txt_label_goal_right.text", str('x:{} y:{}'.format(posx_goal_right, posy_goal_right)))
+ display.set_attr("txt_label_goal_both.text", str('x:{}, width:{}'.format(posx_goal_both, goal_width)))
+ print('{:.1f} {:.1f} {:.1f} {}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(ts_deltas[0], ts_deltas[1], ts_deltas[2], state, cmd, posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right, posx_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
if posx_ball != None and posx_goal_left != None and posx_goal_right != None:
time.sleep(min(ts_deltas) / 1000)
else:
--
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