From b48a15595186c6a8593c4a7b19276e7d24827944 Mon Sep 17 00:00:00 2001
From: ft-Demo <fischertechnik-team@fischer.de>
Date: Wed, 27 Oct 2021 08:54:12 +0000
Subject: [PATCH] commit by robo pro coding
---
omniwheels_x4_soccer_goal.blockly | 364 ++++++++++++++++++++----------
omniwheels_x4_soccer_goal.py | 36 +--
2 files changed, 262 insertions(+), 138 deletions(-)
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 9c0d452..b38920e 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -576,7 +576,7 @@
</value>
<value name="ARG1">
<block type="math_number" id="@YEXBoGu~5nsOT/q7WTv">
- <field name="NUM">10</field>
+ <field name="NUM">20</field>
</block>
</value>
<next>
@@ -592,7 +592,7 @@
</value>
<value name="ARG1">
<block type="math_number" id="gcH1Ps(J*{a)=3pi9diY">
- <field name="NUM">10</field>
+ <field name="NUM">20</field>
</block>
</value>
</block>
@@ -653,7 +653,7 @@
</value>
<value name="ARG1">
<block type="math_number" id="@QQ[enP43_i]i}wq_G_L">
- <field name="NUM">10</field>
+ <field name="NUM">20</field>
</block>
</value>
<next>
@@ -669,7 +669,7 @@
</value>
<value name="ARG1">
<block type="math_number" id=")k]SdR3F1bII`Mo!4Q2T">
- <field name="NUM">10</field>
+ <field name="NUM">20</field>
</block>
</value>
</block>
@@ -1286,22 +1286,86 @@
<block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
<mutation name="checkTimeoutsSetGoalBoth"/>
<next>
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">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 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,$rBm.H7N">
+ <field name="NUM">10</field>
+ </shadow>
+ </value>
+ </block>
+ </statement>
</block>
</next>
</block>
@@ -1381,110 +1445,212 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="En/f/xqq^SH?wf?Q!C!`" x="0" y="4297">
+ <block type="procedures_defnoreturn" id="En/f/xqq^SH?wf?Q!C!`" x="0" y="4467">
<field name="NAME">stepOnlyGoal</field>
<statement name="STACK">
- <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
- <mutation elseif="2" else="1"/>
+ <block type="controls_if" id="zah5aZ58,g+zkkR*Mxzn">
+ <mutation elseif="0" else="1"/>
<value name="IF0">
- <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
+ <block type="logic_operation" id="|jb.F)~1:puCl!{}r6_I" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
- <field name="OP">GTE</field>
+ <block type="logic_compare" id="+M4sm=kRHpM(wk3]KOW|">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="CDb^~4feXbvngdh004${">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="variables_get" id="R,M4RK_6eKHQ87~Hv{j^">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
+ <block type="logic_null" id="+RruptQK^:Jq~)r3E@3o"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
- <field name="OP">LTE</field>
+ <block type="logic_compare" id="_p`@6%BE*cgqgwC4*Os%">
+ <field name="OP">NEQ</field>
<value name="A">
- <block type="variables_get" id="z~zx!V^G#Ywd}HPCLcCn">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="variables_get" id="U|N/CJ:8}9nm|s_g)v.*">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
+ <block type="logic_null" id="GwpsaRc%]ya$hNQLT~5c"/>
</value>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="controls_if" id="#R16p?0!Rt1}82Q_5zO2">
- <mutation elseif="1" else="1"/>
+ <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
+ <mutation elseif="2" else="1"/>
<value name="IF0">
- <block type="logic_compare" id="UzXI%rAMZA[}UE*cbXUd">
- <field name="OP">LT</field>
+ <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="@5%T+t9W1)BZT@oXqnww">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="CDb^~4feXbvngdh004${">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="cR*DIW$3$NL#u11S8#v,">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="math_number" id="Wb8s[K5@WIquU`@,7c@w">
- <field name="NUM">130</field>
+ <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="z~zx!V^G#Ywd}HPCLcCn">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="pu3s6{_T@bDFusTBxc)c">
- <mutation name="fwd">
+ <block type="controls_if" id="#R16p?0!Rt1}82Q_5zO2">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="UzXI%rAMZA[}UE*cbXUd">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="@5%T+t9W1)BZT@oXqnww">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="Wb8s[K5@WIquU`@,7c@w">
+ <field name="NUM">130</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="pu3s6{_T@bDFusTBxc)c">
+ <mutation name="fwd">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </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>
+ <value name="ARG1">
+ <block type="math_number" id="v0c-z!Z^U6/IWhKEPnE*">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="XoLsJ}.)nZb?`6tpIqv-">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="9NAs7T{MBx/=YP5BpW43">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="|2@A]z`Rs0UlH}Ovv9`T">
+ <field name="NUM">40</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="Y6^M7Oqd:JSsRteXXtVD">
+ <mutation name="bwd">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="8F$+J#P35!A!gFI[:AHU">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="dFB2rRWf.tj`$C?![{FH">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </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="variables_get" id="D`d-ScN5}NDq#So6U%2M">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </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="DO1">
+ <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
+ <mutation name="left">
<arg name="v"/>
<arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
+ <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<value name="ARG1">
- <block type="math_number" id="v0c-z!Z^U6/IWhKEPnE*">
+ <block type="math_number" id="xRlPd!,I^P3`5.OAFO-L">
<field name="NUM">10</field>
</block>
</value>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="XoLsJ}.)nZb?`6tpIqv-">
+ <value name="IF2">
+ <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
<field name="OP">GT</field>
<value name="A">
- <block type="variables_get" id="9NAs7T{MBx/=YP5BpW43">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ <block type="variables_get" id="-;*b3g{dTtQ{%@$gw6P)">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
</block>
</value>
<value name="B">
- <block type="math_number" id="|2@A]z`Rs0UlH}Ovv9`T">
- <field name="NUM">40</field>
+ <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="Y6^M7Oqd:JSsRteXXtVD">
- <mutation name="bwd">
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="oGweCRo;|ZbP%1KR7B]a">
+ <mutation name="right">
<arg name="v"/>
<arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="8F$+J#P35!A!gFI[:AHU">
+ <block type="variables_get" id="Vc7Fp*A$WDu^X7t.%1`9">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<value name="ARG1">
- <block type="math_number" id="dFB2rRWf.tj`$C?![{FH">
+ <block type="math_number" id="E-tWBnGP,8}Za*a95_6n">
<field name="NUM">10</field>
</block>
</value>
@@ -1492,67 +1658,19 @@
</statement>
</block>
</statement>
- <value name="IF1">
- <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="D`d-ScN5}NDq#So6U%2M">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="CgcwFgGSHS9~{^Ao1,f$">
<mutation name="left">
<arg name="v"/>
<arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="xRlPd!,I^P3`5.OAFO-L">
- <field name="NUM">10</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_compare" id="VxyB%0*)9[A{wCi_b~$0">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="-;*b3g{dTtQ{%@$gw6P)">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="?q##-)hY2%F2{Lx*2U0U">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="oGweCRo;|ZbP%1KR7B]a">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="Vc7Fp*A$WDu^X7t.%1`9">
+ <block type="variables_get" id="]LCdf3.eTMlu[kypLz(U">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
<value name="ARG1">
- <block type="math_number" id="E-tWBnGP,8}Za*a95_6n">
+ <block type="math_number" id="?/[a6Z`/|ETvT*oceSVt">
<field name="NUM">10</field>
</block>
</value>
@@ -1561,7 +1679,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="5050">
+ <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="5408">
<mutation>
<arg name="shot" varid="ymkMx:g,wGvcvRtYUanL" argid=":62/?4I]sXmWy2!AnMxj"/>
</mutation>
@@ -1926,7 +2044,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6289">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6647">
<field name="NAME">checkTimeoutsSetGoalBoth</field>
<statement name="STACK">
<block type="controls_if" id="fRY+n0,2r=7:t9`dVQYz">
@@ -2166,7 +2284,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="7024">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="7382">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2367,7 +2485,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7691">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="8049">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2448,7 +2566,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="8022">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="8380">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2529,7 +2647,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8353">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8711">
<value name="condition">
<block type="input_photo_transistor_if_state" id="dX]-jf`=2/tNnEnHfKvx">
<field name="instance_name">TXT_M_I8_photo_transistor</field>
@@ -2552,7 +2670,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8490">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8848">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -2664,7 +2782,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="9047">
+ <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="9405">
<field name="NAME">soundGoal</field>
<statement name="STACK">
<block type="variables_set" id="o^c1yss2pIv%8YmX`=6X">
@@ -2705,7 +2823,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="9241">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="9599">
<mutation>
<arg name="v" varid="DfDz@$]?^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["/>
@@ -2802,7 +2920,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="9654">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="10012">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="k6At@e}Qga_x|SmVlf6C"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="~VyZflQ+9HCPP`ynQ/=Y"/>
@@ -2899,7 +3017,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="10067">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="10425">
<mutation>
<arg name="v" varid="DfDz@$]?^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{"/>
@@ -2975,7 +3093,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="10452">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="10810">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -3051,7 +3169,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10837">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="11195">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -3142,7 +3260,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11278">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="11636">
<mutation>
<arg name="v" varid="DfDz@$]?^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 1fd31f8..29594db 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -58,19 +58,22 @@ 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, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, v_slow, 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
- if posx_goal_both >= x_min and posx_goal_both <= x_max:
- if goal_width < 130:
- fwd(v_slow, 10)
- elif goal_width > 40:
- bwd(v_slow, 10)
+ 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:
+ fwd(v_slow, 10)
+ elif goal_width > 40:
+ bwd(v_slow, 10)
+ else:
+ pass
+ elif posx_goal_both < x_min:
+ left(v_slow, 10)
+ elif posx_goal_both > x_max:
+ right(v_slow, 10)
else:
pass
- elif posx_goal_both < x_min:
- left(v_slow, 10)
- elif posx_goal_both > x_max:
- right(v_slow, 10)
else:
- pass
+ left(v_slow, 10)
def stepBall(shot):
@@ -315,12 +318,12 @@ while True:
turnSideRight(v_slow, 20)
elif posx_goal_left != None and posx_goal_right == None:
state = 'BALL_GOAL_LEFT'
- right(v_slow, 10)
- turnSideLeft(v_slow, 10)
+ right(v_slow, 20)
+ turnSideLeft(v_slow, 20)
elif posx_goal_left == None and posx_goal_right != None:
state = 'BALL_GOAL_RIGHT'
- left(v_slow, 10)
- turnSideRight(v_slow, 10)
+ left(v_slow, 20)
+ turnSideRight(v_slow, 20)
else:
state = 'BALL_NO_GOAL'
stepBall(False)
@@ -350,6 +353,9 @@ while True:
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()
- time.sleep(min(ts_deltas) / 1000)
+ if posx_ball != None and posx_goal_left != None and posx_goal_right != None:
+ time.sleep(min(ts_deltas) / 1000)
+ else:
+ time.sleep(0.01)
--
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