From 60f18aa66d03593f6e09c9235c86febd6279de80 Mon Sep 17 00:00:00 2001
From: ft-Demo <fischertechnik-team@fischer.de>
Date: Fri, 22 Oct 2021 14:41:49 +0000
Subject: [PATCH] commit by robo pro coding
---
lib/display.qml | 2 +-
lib/display.xml | 2 +-
omniwheels_x4_soccer_goal.blockly | 388 ++++++++++++++++++++----------
omniwheels_x4_soccer_goal.py | 9 +-
4 files changed, 263 insertions(+), 138 deletions(-)
diff --git a/lib/display.qml b/lib/display.qml
index 8367dce..0cab849 100644
--- a/lib/display.qml
+++ b/lib/display.qml
@@ -13,7 +13,7 @@ TXTWindow {
}
TXTSwitch {
id: txt_switch_active
- text: "active"
+ text: "START"
font.pixelSize: 16
enabled: true
checked: true
diff --git a/lib/display.xml b/lib/display.xml
index 3a16681..211e50a 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>true</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>70</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>120</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>70</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>120</y><width>40</width><height>40</height></geometry></item><item id="9" class="TXTLabel"><name>txt_label_counters_</name><text>C1...4</text><geometry><x>20</x><y>20</y><width>40</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_counters</name><text>-</text><geometry><x>60</x><y>20</y><width>100</width><height>40</height></geometry></item></xml>
\ No newline at end of file
+<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>true</checked><text>START</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>70</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>120</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>70</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>120</y><width>40</width><height>40</height></geometry></item><item id="9" class="TXTLabel"><name>txt_label_counters_</name><text>C1...4</text><geometry><x>20</x><y>20</y><width>40</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_counters</name><text>-</text><geometry><x>60</x><y>20</y><width>100</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 65fef18..1b2c15a 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -1603,135 +1603,260 @@
</block>
</value>
<statement name="DO4">
- <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
- <mutation elseif="1" else="1"/>
- <value name="IF0">
- <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
- <field name="OP">LT</field>
- <value name="A">
- <block type="math_arithmetic" id="Ai7:`$F~9O2YGCqE}7]%" inline="false">
- <field name="OP">MINUS</field>
+ <block type="variables_set" id="u#?[x*W2[}s=7T+@kGX3">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
+ <field name="TEXT">ONLY_GOAL</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="lists_getIndex" id="R=vnD6%qBZ6oMp]rsnuD">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="4$hv.8aI05y@,%h(#M!|">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="stzng{bs`Stm,oBHUX4!" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="F)PC`z6pXXfHV8yp+0wg">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="-dLwf7e|7vM#7`Euo5:Y">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=":L~QVzvDi@-0k$E#ST]q">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="oV|[T86~]QE#t,i.$w||">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="T_7UifGjb/lr2J{Ts/T0">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="z+~r?hm,C-QOOBj55O`=">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="ATE$C[5@_7i#/$0#A=C,">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id=";}IGw$j4`qR]-V6y1F{C">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="qeaIcn2J!s[tLnzs1-TD">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="4Y=iZrdYGWmqI3n^Qia^" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="1ChGpLd?q.BTzqaV^%Kd">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="$3]ihsX$QqGH0*uM8$0}">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="!`XkfPY{Xf%.#?+~LDkZ">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="lists_getIndex" id="^h3?BJeP34MIrWaZ9@rY">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="4[dCFY5H/eN@cFMa{f^Y">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="b@F!?=;Ry:$m$S6*-q%?">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="$@C}!!6KJsxT:/2%*qFq">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="procedures_callnoreturn" id="xH1rS2h$??lsC(b5|}S%" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="J/%Oa`9f,Y13y_bOs_ef">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="Hv;PVkTzhtVls=i_!Gc@" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="|7Z%Ki.3uN~;7c7dD[@e" inline="false">
- <field name="OP">MINUS</field>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
+ <field name="OP">LT</field>
<value name="A">
- <block type="lists_getIndex" id="jeo$Tn_DQK0@K|6xywSs">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="YHmHsZ0^]EkM`Q2Ii*yl">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="math_arithmetic" id="Ai7:`$F~9O2YGCqE}7]%" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id=";}IGw$j4`qR]-V6y1F{C">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="qeaIcn2J!s[tLnzs1-TD">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="$@C}!!6KJsxT:/2%*qFq">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="t,gX6}8J!Fj1f.N[r~Zp">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="lists_getIndex" id="R=vnD6%qBZ6oMp]rsnuD">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="4$hv.8aI05y@,%h(#M!|">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="ATE$C[5@_7i#/$0#A=C,">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<value name="B">
- <block type="lists_getIndex" id="#uNz,SfO~+zP4,sS`C6;">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="kQ1V6dYMl=T|wiWBB:yK">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="xH1rS2h$??lsC(b5|}S%" inline="true">
+ <mutation name="left_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="J/%Oa`9f,Y13y_bOs_ef">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="math_arithmetic" id="|7Z%Ki.3uN~;7c7dD[@e" inline="false">
+ <field name="OP">MINUS</field>
+ <value name="A">
+ <block type="lists_getIndex" id="#uNz,SfO~+zP4,sS`C6;">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="kQ1V6dYMl=T|wiWBB:yK">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="=oK,TS$D{KF$),BuO%b-">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="=oK,TS$D{KF$),BuO%b-">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="lists_getIndex" id="jeo$Tn_DQK0@K|6xywSs">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="variables_get" id="YHmHsZ0^]EkM`Q2Ii*yl">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="t,gX6}8J!Fj1f.N[r~Zp">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
+ <value name="B">
+ <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
+ <mutation name="right_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="nCzWllccVaUk{$/gd9*b">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="jYQXBtRHSn.adQq~G7@Z" inline="true">
- <mutation name="right_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="nCzWllccVaUk{$/gd9*b">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
+ <mutation name="stop"/>
</block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
- <mutation name="stop"/>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</statement>
<value name="IF5">
@@ -1833,20 +1958,6 @@
<field name="TEXT">NO_BALL</field>
</block>
</value>
- <next>
- <block type="variables_set" id="f[tU/WJU9.%1;^OAkqZd">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
- <value name="VALUE">
- <block type="logic_negate" id="JJa{!NOx2:RP--3T:;.m">
- <value name="BOOL">
- <block type="variables_get" id="7RbY5FX}VSC*Zjq0j1#!">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
- </block>
- </value>
- </block>
- </value>
- </block>
- </next>
</block>
</statement>
<statement name="ELSE">
@@ -2095,7 +2206,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5549">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5763">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -2241,7 +2352,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6002">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6216">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2442,7 +2553,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6669">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6883">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2522,7 +2633,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="6972">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7186">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2602,7 +2713,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7275">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7489">
<value name="condition">
<shadow type="counter_if_value" id="9`P*eh,|:Wnytp?G[|;{">
<field name="instance_name">TXT_M_C1_motor_step_counter</field>
@@ -2650,7 +2761,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7422">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7636">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2698,7 +2809,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7569">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7783">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -2746,7 +2857,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7716">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7930">
<value name="condition">
<shadow type="counter_if_value" id="N9]b*Kn_Nxk}[I9e!^Z.">
<field name="instance_name">TXT_M_C4_motor_step_counter</field>
@@ -2794,7 +2905,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="7863">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8077">
<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>
@@ -2817,7 +2928,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8000">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8214">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="servomotor_set_position" id="9C*rGH2+bsy8H4Xzz#gk">
@@ -2903,6 +3014,17 @@
<block type="sound_play_audio_file" id="-8bCV.(5yrq.DB#~[_}@">
<field name="soundfile_name">26_Augenzwinkern.wav</field>
<field name="checkbox">FALSE</field>
+ <next>
+ <block type="display_set_switch_checked" id=")N/~DtYFy8cPbOpo-I50">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
+ <value name="value">
+ <shadow type="logic_boolean" id="@Yk!SDjWfHi4@-ozuu_d">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -2920,7 +3042,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="8530">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" collapsed="true" x="0" y="8772">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="encodermotor_stop" id="}]1#.xeDc*.k9aGX5P?4">
@@ -2932,7 +3054,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="8597">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="8839">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -2969,7 +3091,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="8846">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9088">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3006,7 +3128,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9095">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="9337">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3043,7 +3165,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="9344">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="9586">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3080,7 +3202,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="9593">
+ <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="9835">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3121,7 +3243,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="9834">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10076">
<field name="NAME">turnBallLeft</field>
<statement name="STACK">
<block type="encodermotor_set_speed" id="I[S{vjf1EdjHVhk32Irr">
@@ -3167,7 +3289,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10055">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10297">
<field name="NAME">turnBallRight</field>
<statement name="STACK">
<block type="encodermotor_set_speed" id="c8~SXys:o35ETKj;GX?m">
@@ -3213,7 +3335,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="10276">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" collapsed="true" x="0" y="10518">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3241,7 +3363,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="10343">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" collapsed="true" x="0" y="10585">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3269,7 +3391,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="10410">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" collapsed="true" x="0" y="10652">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="K)Z,8|d5@gck+Q]pnW01"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="(Id`t]O(jxfZJay}20X{"/>
@@ -3335,7 +3457,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="10477">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" collapsed="true" x="0" y="10719">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -3401,7 +3523,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10544">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10786">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3467,7 +3589,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="10901">
+ <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="11143">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3538,7 +3660,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11230">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11472">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -3604,7 +3726,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="11587">
+ <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="11829">
<mutation>
<arg name="v" varid="DfDz@$]?^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 0a74282..ae99daa 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -149,6 +149,7 @@ def shotBall():
break
time.sleep(0.010)
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
+ display.set_attr("txt_switch_active.checked", str(False).lower())
def stop():
@@ -417,15 +418,17 @@ while True:
else:
stop()
elif posx_goal[0] != None and posx_goal[1] != None:
- if posx_goal[0] - posx_goal[1] < x_min:
+ state = 'ONLY_GOAL'
+ if posx_goal[1] - posx_goal[0] < x_min and posx_goal[1] - posx_goal[0] > x_min:
+ fwd_v(v_slow)
+ elif posx_goal[1] - posx_goal[0] < x_min:
left_v(v_slow)
- elif posx_goal[0] - posx_goal[1] > x_min:
+ elif posx_goal[1] - posx_goal[0] > x_min:
right_v(v_slow)
else:
stop()
elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] != None):
state = 'NO_BALL'
- search_dir_left = not search_dir_left
else:
state = 'NONE'
search_ball_rot(v_slow)
--
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