From e2cf556aa27a793821be4fc96f205ed1596eb496 Mon Sep 17 00:00:00 2001
From: ft-Demo <fischertechnik-team@fischer.de>
Date: Mon, 25 Oct 2021 09:47:11 +0000
Subject: [PATCH] commit by robo pro coding
---
omniwheels_x4_soccer_goal.blockly | 3270 +++++++++++++----------------
omniwheels_x4_soccer_goal.py | 155 +-
2 files changed, 1576 insertions(+), 1849 deletions(-)
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 0763965..12161d8 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -9,10 +9,11 @@
<variable id="fPH`.@]riH+=v{,A)bP5">cmd</variable>
<variable id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</variable>
<variable id="S4.mduNQC(va3iR{oSdB">posx_ball</variable>
+ <variable id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</variable>
+ <variable id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</variable>
<variable id="5@U(%o_ghQ1;jiB#odH8">counters</variable>
<variable id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</variable>
<variable id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</variable>
- <variable id="=2ARo+;2DS07SU~j29Fk">posx_goal</variable>
<variable id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</variable>
<variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
<variable id="Ym/+Qo0YZe25;%N1d!*f">x_min</variable>
@@ -126,2201 +127,1940 @@
</value>
<next>
<block type="variables_set" id="08j[^aKhj-mzD-up%28Q">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
<value name="VALUE">
- <block type="lists_create_with" id=")t9;_o5:Uk`S#-x6ceH.">
- <mutation items="2"/>
- <value name="ADD0">
- <block type="logic_null" id="x$j.V#h.,j3GQ?l*m7.^"/>
- </value>
- <value name="ADD1">
- <block type="logic_null" id="I%tVa0ny05XAmaVV:F.b"/>
- </value>
- </block>
+ <block type="logic_null" id="I%tVa0ny05XAmaVV:F.b"/>
</value>
<next>
- <block type="variables_set" id="siEn)/PP4ow+$+;v/3DX">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ <block type="variables_set" id="n)6l%*YnRKjZP=Vg]ZPE">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
<value name="VALUE">
- <block type="math_number" id="NQ:~;QX9f2Xsrr91{7//">
- <field name="NUM">0</field>
- </block>
+ <block type="logic_null" id="tTUjF[IPbEc/z,usjG(@"/>
</value>
<next>
- <block type="variables_set" id="hc)5l^82a8Q6o[fFnE0c">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ <block type="variables_set" id="siEn)/PP4ow+$+;v/3DX">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
<value name="VALUE">
- <block type="math_number" id="~Ueydi[Pm-G]oO2Y*H_~">
+ <block type="math_number" id="NQ:~;QX9f2Xsrr91{7//">
<field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="^^;w:J4Fa?h,#*%To;{+">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <block type="variables_set" id="hc)5l^82a8Q6o[fFnE0c">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
<value name="VALUE">
- <block type="lists_create_with" id="1k[v{tojVArtdZ^%5v;1">
- <mutation items="4"/>
- <value name="ADD0">
- <block type="counter_get_value" id="GohWJgM]B+R*n;%2J2t[">
- <field name="instance_name">TXT_M_C1_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="counter_get_value" id="Bb1N_HOP|)`|I9^$Ctm?">
- <field name="instance_name">TXT_M_C2_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD2">
- <block type="counter_get_value" id="ugC,Ex(62_HcLx`w;(}s">
- <field name="instance_name">TXT_M_C3_motor_step_counter</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="counter_get_value" id="0({ry;ZO6]g*8c(EP^h$">
- <field name="instance_name">TXT_M_C4_motor_step_counter</field>
- </block>
- </value>
+ <block type="math_number" id="~Ueydi[Pm-G]oO2Y*H_~">
+ <field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_set" id="^^;w:J4Fa?h,#*%To;{+">
+ <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
<value name="VALUE">
- <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
+ <block type="lists_create_with" id="1k[v{tojVArtdZ^%5v;1">
+ <mutation items="4"/>
+ <value name="ADD0">
+ <block type="counter_get_value" id="GohWJgM]B+R*n;%2J2t[">
+ <field name="instance_name">TXT_M_C1_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="counter_get_value" id="Bb1N_HOP|)`|I9^$Ctm?">
+ <field name="instance_name">TXT_M_C2_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="counter_get_value" id="ugC,Ex(62_HcLx`w;(}s">
+ <field name="instance_name">TXT_M_C3_motor_step_counter</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="counter_get_value" id="0({ry;ZO6]g*8c(EP^h$">
+ <field name="instance_name">TXT_M_C4_motor_step_counter</field>
+ </block>
+ </value>
+ </block>
</value>
<next>
- <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_set" id="PY^XT?g46JMYP[0)HO!l">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
<value name="VALUE">
- <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
+ <block type="logic_null" id="^h(n6DKLT?~XLRAo4CRP"/>
</value>
<next>
- <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
- <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
+ <block type="variables_set" id="aF_J-4Iq4Jy=)dS.]:62">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
- <field name="TIME">MILLISECOND</field>
- </block>
+ <block type="logic_null" id="~`*jJ8l2,?]ICIb*0btf"/>
</value>
<next>
- <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
- <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
+ <block type="variables_set" id="Vyrr#z=fQDk#C,Ymx5FJ">
+ <field name="VAR" id="v3eHF0atAL+ouaa{W$=m">ts_ball</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
+ <block type="util_runtime_measurement" id="O!p9@+{cCQ5ov3?1cB9F">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
- <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</field>
+ <block type="variables_set" id=",#}P8.}lYXpT3LT`P:?w">
+ <field name="VAR" id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</field>
<value name="VALUE">
- <block type="util_runtime_measurement" id="iQYX(E[,RbI0z8A#M9o%">
+ <block type="util_runtime_measurement" id="GONAj}Dx[0?0CBm%nsU6">
<field name="TIME">MILLISECOND</field>
</block>
</value>
<next>
- <block type="variables_set" id="KM.MX+]F}x6_^($zaJ42">
- <field name="VAR" id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</field>
+ <block type="variables_set" id="8`mdTp}$]{VWKH.cNxI;">
+ <field name="VAR" id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</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="iQYX(E[,RbI0z8A#M9o%">
+ <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]$ok!Yk@_eIUD8L)">
+ <field name="TEXT">NONE</field>
+ </block>
</value>
<next>
- <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
- <statement name="DO">
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeouts"/>
- <next>
- <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
- <value name="IF0">
- <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
- <field name="instance_name">txt_switch_active</field>
- <field name="property_name">checked</field>
- </block>
- </value>
- <statement name="DO0">
- <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
- <mutation elseif="6" else="1"/>
+ <block type="util_wait_for" id="psY%VZ5++RBl5.z;}C^B">
+ <field name="format">s</field>
+ <value name="value">
+ <shadow type="math_number" id="((-m~`=x]Jlg;bgN9QH!">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="loop_endless" id="V,Gw25li,3_,;92QCQLj">
+ <statement name="DO">
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeouts"/>
+ <next>
+ <block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
<value name="IF0">
- <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
- </value>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
+ <block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
+ <field name="instance_name">txt_switch_active</field>
+ <field name="property_name">checked</field>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="MN`F(]itK#DR^wQxXz,.">
+ <mutation elseif="6" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="4(iam8G0^]{P-vv8rZ~f" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
- <field name="OP">EQ</field>
+ <block type="logic_operation" id="~/u3*G]LZK9pvIFTV#^q" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="lists_getIndex" id="~GuPJ/(BunJIEuttSlw5">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="D%l9OSY`vM-xzaB}nY1r">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="92sOCNRLiogo~;}oI++#">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="B~Ic{tkFNcdReHWMqxf6">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="UJ,gxhveD7#?I9I*:A(r"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="lists_getIndex" id="Il7jHRe($kU8GqYG+eR#">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="Nd,4OywJ0ocibay-klwh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="xiIzl/p_!nb4$eUrqxet">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id=",RX#r,ztOfES#y;BmliI">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="z0gO+`Su.;sXQ(oI,(y^"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
- </value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
- <field name="TEXT">BALL_NO_GOAL</field>
- </block>
- </value>
- <next>
- <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <value name="B">
+ <block type="logic_operation" id="n+p!xL0Cy:ManlHugN9b" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
- <field name="OP">GTE</field>
+ <block type="logic_compare" id="Vs3%xCaz|qN@}C*=Tq3$">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="GddxTJE,O^,fb~pxb3(b">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
- </block>
+ <block type="logic_null" id="zdJr-qt**l*{;JppUgmP"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
- <field name="OP">LTE</field>
+ <block type="logic_compare" id="1IfAVQZEPrL6SRY?6A28">
+ <field name="OP">EQ</field>
<value name="A">
- <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="I@,t{sciNOi(fg$?r)#f">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
- </block>
+ <block type="logic_null" id="woPk%eJHq,DN-n%_Z+nD"/>
</value>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
- <mutation elseif="3" else="1"/>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="=B4Rj[z{i:0)u!6?C.@u">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Vz)~xH3AGhNl8(w~ZeE1">
+ <field name="TEXT">BALL_NO_GOAL</field>
+ </block>
+ </value>
+ <next>
+ <block type="controls_if" id="+oz+[YfRRkvCLn10-B4d">
+ <mutation elseif="2" else="1"/>
<value name="IF0">
- <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
- <field name="OP">LTE</field>
+ <block type="logic_operation" id="^asrJKsemc}^7|@CcyFs" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="TwsU8jOZc$*pZ+:EbKo8">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="0Ipt`Bjn]B09@rni:!Bt">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="Y{MczN`(?*Y74i0iF|bh">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
- <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ <block type="logic_compare" id="s:+dT(r%}]H#_Y~wHeTE">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="mW,P#kP}6gH1+ZmkJ/L8">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="8:8~qf8*mh3[Jhzmk^A%">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
- </mutation>
- <value name="ARG0">
- <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
- <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
- </block>
- </value>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
- <field name="OP">GT</field>
+ <block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
+ <mutation elseif="3" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
+ <block type="variables_get" id="=t4?53|MsS#r1P:M`ZP4">
<field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="L/RedQ[=!jNwBI,ivSt/">
+ <block type="variables_get" id="nkMArfis6_;l59N|,9yJ">
<field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
- <field name="OP">LTE</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="n=@SEs?8o@WHm;Ad7A2k" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="fZlf#E.-0%/`U+X#~UvW">
+ <field name="VAR" id="1idj3sw*{G$j`2:II{^5">v_fast</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id=".cYqj,XlTza-:6y_=EOC" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="#%BG`,J51l+POEj{Q4Vj">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="KDP(VY1Jh?W1cz~WWh=,">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="L/RedQ[=!jNwBI,ivSt/">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="logic_compare" id="!r4f:gx)bYp.aGG:gEck">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="t$DoS#o~XI)VEHk9e7sN">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="lEUT-.WcN]l3/82:-voJ">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- </block>
- </value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
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- <value name="ARG0">
- <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="1[SBSPn+FQ.[P7YtUwNZ" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="~7B*FKz:f^U{s6BN1TJ9">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
- </value>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
- <field name="OP">GT</field>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="dKOwmYr|Z6CW(+u8.a:w">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="_PZg0?|Eka9OOdKCVIhZ">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
- <block type="variables_get" id=".5Q?xw/;CtWi-HzsEBhp">
- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="qkncjacBYB1~0@aF1Q[x">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="({,ER8#k!G3+tpPl645Q">
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
+ <mutation name="turnSideLeft"/>
+ </block>
+ </statement>
+ <value name="IF3">
+ <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
<field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="QB39f^ga_-f?bwb+!.8X">
+ <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
<field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="qkncjacBYB1~0@aF1Q[x">
+ <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
<field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
- </block>
- </value>
- <statement name="DO2">
- <block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
- <mutation name="turnSideLeft"/>
+ <statement name="DO3">
+ <block type="procedures_callnoreturn" id=";$*URO!$mNp;(}~rEzSA" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="[3C}+lMgr=zfSwjcYdsJ">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
</statement>
- <value name="IF3">
- <block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
- <field name="OP">LTE</field>
+ <value name="IF1">
+ <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
+ <field name="OP">GT</field>
<value name="A">
- <block type="variables_get" id="a_^h(hS^A_Nr^XWwIDo9">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="cgnlj~O=P[`vJ5ggLQ{z">
- <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
</block>
</value>
</block>
</value>
- <statement name="DO3">
- <block type="procedures_callnoreturn" id=";$*URO!$mNp;(}~rEzSA" inline="true">
- <mutation name="bwd_v">
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="Do:{V-Htoxi(Ky;5q%7)">
+ <mutation name="right">
<arg name="v"/>
+ <arg name="ticks"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="[3C}+lMgr=zfSwjcYdsJ">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_constrain" id="O(GD0npMQ5}pU7S_p6Fw" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id="EmeRL7tak./N9g?B@nFs">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="($1]A%(r+nV+-me@mi{*">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="5*ed5[K7:%|#-rdvwe2p">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="LOW">
+ <block type="math_number" id="ex%*G*X[(1UM%,lV]FfW">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="nqm#GPG6WTZ|}UMKIt!{">
+ <field name="NUM">100</field>
+ </block>
+ </value>
</block>
</value>
</block>
</statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="sx~{uZ4bCDN4vbG6oz~)">
- <mutation name="stop"/>
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- </block>
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- <value name="IF1">
- <block type="logic_compare" id="@i?;*nt)I.q@3:as9$CV">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="r6YxtH4C]YX0#d={f!-G">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="/*nplOY#VKPMyS,KOq3!">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
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- </value>
- </block>
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- <statement name="DO1">
- <block type="procedures_callnoreturn" id="Do:{V-Htoxi(Ky;5q%7)">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id=",KoGdtd-~NDCr4a3[S}!">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ <value name="IF2">
+ <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="J{E0oBqm),8kwbHyQ?=.">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=".ts{wyW$c]RydnDM,}dN">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
+ </block>
+ </value>
</block>
</value>
- <value name="ARG1">
- <block type="math_constrain" id="O(GD0npMQ5}pU7S_p6Fw" inline="false">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
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- <field name="NUM">3</field>
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- </value>
- <value name="HIGH">
- <block type="math_number" id="nqm#GPG6WTZ|}UMKIt!{">
- <field name="NUM">100</field>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="#7@$9Gz4rn?uePi|!w5H">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
</block>
</value>
- </block>
- </value>
- </block>
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- <block type="logic_compare" id="sFua#TKb}~WWPqj6KeIW">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
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- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id="Ur=9P[d2~h+UuLiecS=0">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <value name="ARG1">
+ <block type="math_constrain" id="W3t]erG4jM/-7Ha9Rz8=" inline="false">
+ <value name="VALUE">
+ <block type="math_arithmetic" id=";7U*){*?kwgf!k^}}5GA">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="ii5E[ARI)`Bgg5KUe]}u">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="_rWdYF]99IuNPR?jeS*v">
+ <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ </block>
+ </value>
</block>
</value>
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- <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ <value name="LOW">
+ <block type="math_number" id="fC}]TN}rkpW?/cte-Bp]">
+ <field name="NUM">3</field>
+ </block>
+ </value>
+ <value name="HIGH">
+ <block type="math_number" id="8+tZg^1UjmO}E,sNn-t{">
+ <field name="NUM">100</field>
</block>
</value>
- </block>
- </value>
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- <block type="math_number" id="fC}]TN}rkpW?/cte-Bp]">
- <field name="NUM">3</field>
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- <block type="math_number" id="8+tZg^1UjmO}E,sNn-t{">
- <field name="NUM">100</field>
</block>
</value>
</block>
- </value>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="K2~d9j?nrPh-CWpCKZ^I">
- <mutation name="stop"/>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="K2~d9j?nrPh-CWpCKZ^I">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
- </statement>
+ </next>
</block>
- </next>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="B~L1BuQh-S6uKm^YJSgH" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="4bB{1Bu{%4*rAe!/uepL" inline="false">
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="B~L1BuQh-S6uKm^YJSgH" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="*p.1tBx0!3(A,.#v~}gR">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="4bB{1Bu{%4*rAe!/uepL" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="*p.1tBx0!3(A,.#v~}gR">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="JhBQ6%W7fhLicBS4$+~r">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
+ </value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="/pF(LOrFaYg`Z;:T=pMq"/>
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="|rcsXSAUj_o}mh1L:hw3">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="V1Jj,Q+-!7UMu,ag}Y2#">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="b7),FwxGz-g+3(2a:iAH"/>
+ </value>
</block>
</value>
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</block>
</value>
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- <value name="B">
- <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
- <field name="OP">NEQ</field>
+ <value name="B">
+ <block type="logic_operation" id="fGq*Z2TDY5Aiyb._(iWw" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="lists_getIndex" id="s5?^~_8K{8Ds{9:#%k6@">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id="@zlHHSd5%+h?_A?s;121">
+ <field name="OP">NEQ</field>
+ <value name="A">
<block type="variables_get" id="O/m@rtsP1-]GZu;z!Kd7">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="AHQ$-$-`kl9D]lvFKqEw">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="c0`hO)W_@*rN3v3J#n/b"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="c0`hO)W_@*rN3v3J#n/b"/>
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- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id="ppt3KZ(DNQQ?lul~f,#i">
+ <field name="OP">EQ</field>
+ <value name="A">
<block type="variables_get" id="%*W`_VauA#TUT8Bhr(l[">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="2~D!AD)saoFre@h_@fqZ">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="oSv:/]3N6Gn3|DbI0mHC"/>
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</block>
</value>
</block>
</value>
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- <block type="text" id="y/+X`X}C3$Nc/TH%3_dv">
- <field name="TEXT">BALL_GOAL_LEFT</field>
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- <next>
- <block type="controls_if" id="*BrJG}XZ76}TB4xGqW~`">
- <mutation elseif="2" else="1"/>
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- <block type="logic_compare" id=";t5FsnVMWwTmT^NniB|e">
- <field name="OP">LTE</field>
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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- <block type="variables_get" id="D)b~KYP=}7Q`ujSBZJyh">
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- </block>
- </value>
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- <statement name="DO0">
- <block type="procedures_callnoreturn" id="3TBW}iU2UgA?brmPI5+J" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
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- <block type="variables_get" id="bLDCOqV7YSx,/UkFj)T%">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
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- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
- </block>
- </value>
+ <statement name="DO1">
+ <block type="variables_set" id="%Io@znvhX3QvyZ*mPL},">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="y/+X`X}C3$Nc/TH%3_dv">
+ <field name="TEXT">BALL_GOAL_LEFT</field>
</block>
</value>
- <statement name="DO1">
- <block type="controls_if" id="KJ#o$M|scI;Nb]boFDzc">
- <mutation elseif="1" else="1"/>
+ <next>
+ <block type="controls_if" id="*BrJG}XZ76}TB4xGqW~`">
+ <mutation elseif="2" else="1"/>
<value name="IF0">
- <block type="logic_compare" id="Hvw%^q~Hu5/N%}1^$97E">
- <field name="OP">LT</field>
+ <block type="logic_compare" id=";t5FsnVMWwTmT^NniB|e">
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<value name="A">
- <block type="lists_getIndex" id="XiNY`%tpd`~0oRax[?wl">
- <mutation statement="false" at="true"/>
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- <block type="math_number" id=",`#W`9DPbV_Z3Ay]AI7y">
- <field name="NUM">1</field>
- </block>
- </value>
+ <block type="variables_get" id="T7qB~%1Qe1a.P*MQs$Ij">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id=")Y^E1(LwkP6u5Zr]E#v/">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="D)b~KYP=}7Q`ujSBZJyh">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
- <mutation name="turnSideRight"/>
+ <block type="procedures_callnoreturn" id="3TBW}iU2UgA?brmPI5+J" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="bLDCOqV7YSx,/UkFj)T%">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<value name="IF1">
- <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
- <field name="OP">GT</field>
+ <block type="logic_compare" id=".k[+$zFZm_;CFMOBjQ=U">
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<value name="A">
- <block type="lists_getIndex" id="yIp~#Cn:I`9g1gyN4|22">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="variables_get" id="iY/UC$Qo23IduI}_6|fy">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="NF,/T;m.#62@CZQe#+[`">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="KJ#o$M|scI;Nb]boFDzc">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="Hvw%^q~Hu5/N%}1^$97E">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="]Pnwg,R0`8-u%~|{ySI)">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")Y^E1(LwkP6u5Zr]E#v/">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="),QhMk?KFwaoqgIh6A~w">
+ <mutation name="turnSideRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="nUbsUlJ45(hnk!)6CNAr">
+ <field name="OP">GT</field>
+ <value name="A">
<block type="variables_get" id="tchE8Qc)Kp|9?UE;Fpe%">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="saTD#QpS5Cx+?U!E/:[:">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="variables_get" id="M9wjV+z*e*Hh*PspIXEY">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
</block>
</value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
+ <mutation name="turnSideLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="4!};}Pi@kx7+v]x,}fg2">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="Bl$M.GwPg~+!37[;`0o2">
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+ <block type="variables_get" id="hk4|9x7W)79Bt`+.QJ}h">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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+ </value>
<value name="B">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="lFZoL.IQB6RM@%_m9*-3">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="_q6X5`*YO|;FU%~(RZ2?">
- <mutation name="turnSideLeft"/>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="QN+5a=dUZe|3;6UVwiue" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
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+ <value name="ARG0">
+ <block type="variables_get" id="v5iy]*Vt3nsse;Eg[EjI">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<statement name="ELSE">
- <block type="procedures_callnoreturn" id="4!};}Pi@kx7+v]x,}fg2">
+ <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
<mutation name="stop"/>
</block>
</statement>
</block>
- </statement>
- <value name="IF2">
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- <block type="procedures_callnoreturn" id="`pvAUE*_G,HFP6Y*ra9~">
- <mutation name="stop"/>
- </block>
- </statement>
+ </next>
</block>
- </next>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="QKmOZD,=Y4S|jqiAJ4.k" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="OeAZ19W_g)]s*LP0=8r,">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="Xu[n/TE:SYcd;s+dYubv" inline="false">
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<value name="A">
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="OeAZ19W_g)]s*LP0=8r,">
+ <field name="OP">NEQ</field>
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+ <block type="variables_get" id="M/Nu-s2$K?+~7cG|vO,;">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
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</block>
</value>
<value name="B">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="d9U8).!K)LC)*3RzV-$z">
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+ <block type="variables_get" id="^H7sM5ajVqht|@UM.F/m">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
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</block>
</value>
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- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
- <field name="OP">EQ</field>
+ <value name="B">
+ <block type="logic_operation" id="?A+N_1,#}@kRY%dxQMa9" inline="false">
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<value name="A">
- <block type="lists_getIndex" id="wBVqviD0-D3E`(V(uiV~">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id="`~AJbhHRzn/)DgR4fRI;">
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<block type="variables_get" id="?uA|$zvDe+x4kMz%-{d.">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="3~ZXLDV~ZSV8RX_^%[6]">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
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</block>
</value>
<value name="B">
- <block type="logic_null" id="vG[m`V+N^1KjrN:te9QO"/>
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- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id=";P}d!ou6kF,_]Y}2c}oU">
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+ <value name="A">
<block type="variables_get" id="D3C[P^f3vp}xb!,-2#r5">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="@69b4byUu7@Wfx)U/;Xp">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="1@:,7WVUfe~r2),.)v7f"/>
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</block>
</value>
</block>
</value>
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- <field name="TEXT">BALL_GOAL_RIGHT</field>
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- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
- </block>
- </value>
+ <statement name="DO2">
+ <block type="variables_set" id=",9T_FbUWwGZlugNQ_c#x">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="5?`m/5fCq/Z(s/u)oR*~">
+ <field name="TEXT">BALL_GOAL_RIGHT</field>
</block>
</value>
- <statement name="DO1">
- <block type="controls_if" id="s(!f@_5wN)RYM`|~CC8r">
- <mutation elseif="1" else="1"/>
+ <next>
+ <block type="controls_if" id="oOSLtR1E1%!.Oz+LD*|O">
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<value name="IF0">
- <block type="logic_compare" id="!5NG0L6Qc4L9!/ENQ#^6">
- <field name="OP">LT</field>
+ <block type="logic_compare" id="{AkiSJ!:M-e{%|_5,Va{">
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<value name="A">
- <block type="lists_getIndex" id="hPhr1/4Q89owPRmZ4=A@">
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- <block type="math_number" id="vC3tOvv+vwtnqY^-oVd,">
- <field name="NUM">2</field>
- </block>
- </value>
+ <block type="variables_get" id="u2W_3eBph941yf[`AO1:">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="m`EhNfvklFtISL#l0*_4">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
- <mutation name="turnSideRight"/>
+ <block type="procedures_callnoreturn" id="]2;?=Iy9hHyC!C}^y~h~" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="Ytx*_*[sy$_4eoX:jjS#">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<value name="IF1">
- <block type="logic_compare" id="Y-@u6Td#HTIS8}mNdpK3">
- <field name="OP">GT</field>
+ <block type="logic_compare" id="rWZfl+Ze,4+*KK/_Y|f2">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="lists_getIndex" id="d]*F5d_Lln-:DXn6cPxb">
- <mutation statement="false" at="true"/>
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_get" id=".K(H|%8UHLv-,l~)q36:">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
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+ <block type="variables_get" id="~UptJA?^oJ2DWj=i2Yfh">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="s(!f@_5wN)RYM`|~CC8r">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="!5NG0L6Qc4L9!/ENQ#^6">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="BBBFnF[e5`GyH[7wiUs#">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id=";]Yk({gn.(Ha3=/nM5`]">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="variables_get" id="Pu,Rl$nTFT,nE2be^LM2">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
</block>
</value>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="@$;_yG?U8opM|/]Of75$">
+ <mutation name="turnSideRight"/>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="Y-@u6Td#HTIS8}mNdpK3">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="9ve,4}tDg.,ZfkLL0wUL">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
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+ <block type="variables_get" id="=$ulk!vkDhWA^fYK?b*b">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
+ <mutation name="turnSideLeft"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="faLX{cmn%m5GLE$Qa$jP">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="p/ukr6sWeNnUPhQlK[{B">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
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<value name="B">
- <block type="variables_get" id="=$ulk!vkDhWA^fYK?b*b">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="variables_get" id="}Tawuqa_TE/qeAVT.RC5">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
</block>
</value>
</block>
</value>
- <statement name="DO1">
- <block type="procedures_callnoreturn" id="0il^Cdoc`7I6eVmi6htz">
- <mutation name="turnSideLeft"/>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="$Z+:;,t[mQ]aaUe_UNhM" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="|eX:`Adtu3l.8ZaYcgJF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<statement name="ELSE">
- <block type="procedures_callnoreturn" id="Vc$f(+c;1~P{_)XVhUsj">
+ <block type="procedures_callnoreturn" id="bi9hG~0MI@s}v(fCd[tp">
<mutation name="stop"/>
- </block>
- </statement>
- </block>
- </statement>
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- </block>
- </value>
- <value name="B">
- <block type="logic_null" id="lP$*f:B}Uv4E]8^Ao)y2"/>
- </value>
+ </block>
+ </statement>
</block>
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+ </next>
</block>
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- <value name="B">
- <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
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+ <block type="logic_operation" id="ohFi[Z{Xu0.EXNHvg7!|" inline="false">
<field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="JDmD0uu$,6*6XI.*8Y=T" inline="false">
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<value name="A">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="JvLUnlLulIk{o},vW~}y">
+ <field name="OP">NEQ</field>
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+ <block type="variables_get" id="$-jleAiV2GHR%[$RfY4I">
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</block>
</value>
- <value name="AT">
- <block type="math_number" id="l]wQ?}.TM,m@sJl.9c$4">
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</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="%PXc[::|r[K5tThFGgi."/>
+ <block type="logic_compare" id="9/b,vDMaH:m,r{gleX7O">
+ <field name="OP">NEQ</field>
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+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
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</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="RoSQV[2xNmOan/JtAO~{">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="V+@.6tZ~:.0S4;fVjGa/" inline="false">
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<value name="A">
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- <block type="variables_get" id="k9g4HbL]=_@lVwgYM*{e">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="[y%,{E^TI)LH+?|meGy_">
+ <field name="OP">NEQ</field>
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+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
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</value>
- <value name="AT">
- <block type="math_number" id="lm,[gP|qh0[95%Rr2M|@">
- <field name="NUM">2</field>
- </block>
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+ <block type="logic_null" id="%PXc[::|r[K5tThFGgi."/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="aboD!(qALukkFe}v6#WN"/>
+ <block type="logic_compare" id="RoSQV[2xNmOan/JtAO~{">
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+ <block type="variables_get" id="k9g4HbL]=_@lVwgYM*{e">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
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+ </value>
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</value>
</block>
</value>
</block>
</value>
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- <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
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+ <statement name="DO3">
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+ <block type="text" id="Y4VWl.KGLr*CB@5lWqMT">
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</block>
</value>
- <statement name="DO1">
- <block type="controls_if" id="u:~b5-PiU+[pu_1,Xa98">
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<value name="IF0">
- <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
- <field name="OP">AND</field>
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<value name="A">
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- <field name="NUM">1</field>
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+ <block type="variables_get" id="eNn.jAQuZB`.!|a-}8Bm">
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</value>
<value name="B">
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+ <block type="variables_get" id="Vn}:ap@@leJ;ERn5!ulQ">
+ <field name="VAR" id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="procedures_callnoreturn" id="sZ-Q381UDm_7-@_=u,Nb" inline="true">
+ <block type="procedures_callnoreturn" id="ug]~pSocMN6aC`I.!9FY" inline="true">
<mutation name="fwd_v">
<arg name="v"/>
</mutation>
<value name="ARG0">
- <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
+ <block type="variables_get" id="3-Iarkq=#yiSq^]Squ6+">
<field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
</block>
</statement>
<value name="IF1">
- <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
- <field name="OP">AND</field>
+ <block type="logic_compare" id="Gm+JczBwo$*$lI1hn(bE">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
- <field name="OP">LT</field>
+ <block type="variables_get" id="}m|a8Yo5TtRP74mP_mv`">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
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+ <block type="variables_get" id="$#D6FdXJ6/Dl!OW3tB3d">
+ <field name="VAR" id="09n]XF2CKURQs)nHOfam">y_ball_near</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="u:~b5-PiU+[pu_1,Xa98">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="aA(*kb?~twOr6-H-5Y6L" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="s@[Z^y:V@HE1Rj;{0kMC">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="i5K6*S_7LI]YP*oc?o#(">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="2.y#4B,;Y:6:KX.dWY!e">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="pj/D#[B!S_nEJX02j9b`">
+ <field name="OP">LT</field>
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+ <block type="variables_get" id="$R,CQ$q_:mge?X159P8L">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="rMzpQD@SM~G/b$@x(bzw">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="variables_get" id="ru(1|is|xmE}.]MuY*xT">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
</block>
</value>
</block>
</value>
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- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="sZ-Q381UDm_7-@_=u,Nb" inline="true">
+ <mutation name="fwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="EZ7O-Q%B5i4/XcO)EWY*">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
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- <block type="lists_getIndex" id="H3fd}ZOe,bwQPX(LV4rW">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="y1toQcQ?JoXNUk]#BWyd" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id=".p%vg@`T{)!T6f3i$rO9">
+ <field name="OP">LT</field>
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+ <block type="variables_get" id="V2_?}A{Yt7$iai=yCSJ)">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="m)e`~6DTp@f%oR$^?1@u">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="variables_get" id="lpS.y*[{cEi1+0~K+1A0">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
</block>
</value>
- </block>
- </value>
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- <block type="procedures_callnoreturn" id="|6(M2ayv;Mt,H:l*)L@e">
- <mutation name="turnSideLeft"/>
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- <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
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<value name="B">
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- <block type="variables_get" id="[=.-l*d|=LkB@kx^g=zQ">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="-I~|7,G,H7p/(=+cA3L}">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="g-:OONj{*4WfXZ](X!%a">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="*X%si/+l#z3E95A1SS{L">
- <field name="NUM">1</field>
+ <value name="B">
+ <block type="variables_get" id="QgHqf)%|h?u;iSsKC}HP">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
- <field name="OP">GT</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="|6(M2ayv;Mt,H:l*)L@e">
+ <mutation name="turnSideLeft"/>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="}V=E{bot4=a@4;{W:Eqi" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="(Dk1+3wh2]HCao.dq?PS">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="Z{tUKy/pPWJWfeWiqZqa">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="1MDI2fR,ALRZOi}FccVJ">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="B[@Bq0mDVmk`6X84BFeR">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
</block>
</value>
<value name="B">
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- <mutation statement="false" at="true"/>
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="FkJHQ#CLjJp,s#{H{pha">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="(Dk1+3wh2]HCao.dq?PS">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="ZI-BpoG=~}GC}.1GY4L?">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="variables_get" id="6=]nXa6@Nlp}dkXwpg6@">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
</block>
</value>
</block>
</value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="R590b9iY$aQ~B7!m8f2l">
+ <mutation name="turnSideRight"/>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <mutation name="stop"/>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_compare" id="cn5,`k@5*q#XXj0ugN64">
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+ <value name="A">
+ <block type="variables_get" id="%s03s#6dgd9,gsBFI%jB">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="[p/x;`ab/;Bg4Kn8589%">
+ <field name="VAR" id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</field>
+ </block>
+ </value>
</block>
</value>
<statement name="DO2">
- <block type="procedures_callnoreturn" id="R590b9iY$aQ~B7!m8f2l">
- <mutation name="turnSideRight"/>
+ <block type="procedures_callnoreturn" id="0`3ax3Vh.zGnD9];Yb=W" inline="true">
+ <mutation name="bwd_v">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="@%~/x=Q=6h3dYJ8NF`SF">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
</statement>
<statement name="ELSE">
- <block type="procedures_callnoreturn" id="Xa4Y={.L=QNVSnwr3E|_">
+ <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
<mutation name="stop"/>
</block>
</statement>
</block>
- </statement>
- <value name="IF2">
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- <block type="procedures_callnoreturn" id="=56A!T,|yxe![pQgmxd5">
- <mutation name="stop"/>
- </block>
- </statement>
+ </next>
</block>
- </next>
- </block>
- </statement>
- <value name="IF4">
- <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
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- <value name="A">
- <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
- <field name="OP">NEQ</field>
+ </statement>
+ <value name="IF4">
+ <block type="logic_operation" id="awUXoJ:Avy=jfaq3Lnw2" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="lists_getIndex" id="a2r-4w=%vQYhSHM`~eZ]">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id="yh3|ZUJR1=Q-QK;7j4Vq">
+ <field name="OP">NEQ</field>
+ <value name="A">
<block type="variables_get" id="T$V8$ZEi|{};;VR5guWF">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="CkEN:gECzR=^Fe$@:9TJ">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="o5dj.]+Z)07l-FMKaT%{"/>
</value>
</block>
</value>
<value name="B">
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="L1~%)SdSHa$uo6A.8#6f">
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+ <block type="variables_get" id="WAl1M*;;q)J/[%+s[Nt^">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="km]HFZtzI)v+!+!)*q`7">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="_D1?^^LL[mra-s}9x67K"/>
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- <statement name="DO4">
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- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Gi1v,-rKbpMdik!jz5aA">
- <field name="TEXT">NO_BALL_GOAL_BOTH</field>
</block>
</value>
- <next>
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- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- <value name="VALUE">
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- <mutation statement="false" at="true"/>
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- <field name="NUM">1</field>
- </block>
- </value>
- </block>
- </value>
+ <statement name="DO4">
+ <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">NO_BALL_GOAL_BOTH</field>
</block>
</value>
<next>
- <block type="variables_set" id="VutK`C):{nbAi#Axhu!x">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ <block type="variables_set" id="[N80,Pt{V6fUM/*V.[V,">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
<value name="VALUE">
- <block type="math_arithmetic" id="(KM3-N3=G5B(T:(!4_lq">
- <field name="OP">ADD</field>
+ <block type="math_arithmetic" id="stzng{bs`Stm,oBHUX4!">
+ <field name="OP">MINUS</field>
<value name="A">
- <block type="lists_getIndex" id="O5iD_F}AP}iER@R$NK33">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="bS|/)kwXja$*IpF01zL/">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
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- <value name="AT">
- <block type="math_number" id=":4|cpDZKz*Q32q4rCR4[">
- <field name="NUM">1</field>
- </block>
- </value>
+ <block type="variables_get" id="((%]wA!T|%@cv3,wHB|j">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
<value name="B">
- <block type="math_arithmetic" id="X;-9(dOX5-El:hAx$.=B">
- <field name="OP">DIVIDE</field>
- <value name="A">
- <block type="variables_get" id="Z4=3XhJOodeLD~q6l?{4">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
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- <value name="B">
- <block type="math_number" id="+%Vyps+4_*q%/:(:2j+E">
- <field name="NUM">2</field>
- </block>
- </value>
+ <block type="variables_get" id="0%WOX|exw*bIEaQ3.`9q">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
</block>
</value>
<next>
- <block type="controls_if" id="ip*`sP8:b(5pR4)~R_an">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="fn=DRPVeg$aV~zkMY*tl" inline="false">
- <field name="OP">AND</field>
+ <block type="variables_set" id="VutK`C):{nbAi#Axhu!x">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ <value name="VALUE">
+ <block type="math_arithmetic" id="(KM3-N3=G5B(T:(!4_lq">
+ <field name="OP">ADD</field>
<value name="A">
- <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
- <field name="OP">GTE</field>
+ <block type="variables_get" id="bS|/)kwXja$*IpF01zL/">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_arithmetic" id="X;-9(dOX5-El:hAx$.=B">
+ <field name="OP">DIVIDE</field>
<value name="A">
- <block type="variables_get" id="CDb^~4feXbvngdh004${">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ <block type="variables_get" id="Z4=3XhJOodeLD~q6l?{4">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</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 type="math_number" id="+%Vyps+4_*q%/:(:2j+E">
+ <field name="NUM">2</field>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
- <field name="OP">LTE</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$aV~zkMY*tl" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="z~zx!V^G#Ywd}HPCLcCn">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ <block type="logic_compare" id="2Q5e3vZ!5/=nainF0od+">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="CDb^~4feXbvngdh004${">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_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="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
- <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ <block type="logic_compare" id="c(LuogB[ECxBtM-6/r4b">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="z~zx!V^G#Ywd}HPCLcCn">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")0O+HGV1!`X_dJGq4=yZ">
+ <field name="VAR" id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</field>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- </block>
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- <block type="procedures_callnoreturn" id="Hv;PVkTzhtVls=i_!Gc@" inline="true">
- <mutation name="fwd_v">
- <arg name="v"/>
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- <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
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- <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
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- <block type="variables_get" id="D`d-ScN5}NDq#So6U%2M">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
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- <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
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- <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
- <mutation name="left">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
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- <value name="VALUE">
- <block type="math_arithmetic" id="9e@Xpj!L)E*5)/BWxD;,">
- <field name="OP">MULTIPLY</field>
+ <statement name="DO0">
+ <block type="controls_if" id="#R16p?0!Rt1}82Q_5zO2">
+ <mutation elseif="0" 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*]zYtMm]955K1])q46">
+ <block type="variables_get" id="@5%T+t9W1)BZT@oXqnww">
<field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
</block>
</value>
<value name="B">
- <block type="variables_get" id="#5;psA_RhR%yG7b(w2_o">
- <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ <block type="math_number" id="Wb8s[K5@WIquU`@,7c@w">
+ <field name="NUM">130</field>
</block>
</value>
</block>
</value>
- <value name="LOW">
- <block type="math_number" id="JYPL-h1Mqs4eUAnK^1.:">
- <field name="NUM">3</field>
+ <statement name="DO0">
+ <block type="procedures_callnoreturn" id="pu3s6{_T@bDFusTBxc)c">
+ <mutation name="fwd">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="]RO~:%x7+T~!YzQ5FD:C">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="v0c-z!Z^U6/IWhKEPnE*">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="Y6^M7Oqd:JSsRteXXtVD">
+ <mutation name="bwd">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="8F$+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`$C?![{FH">
+ <field name="NUM">10</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="(H+T:yEGNo[y%GO7P;Dz">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="D`d-ScN5}NDq#So6U%2M">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
</block>
</value>
- <value name="HIGH">
- <block type="math_number" id="M2ZTdr0Emu8qUo79k/Mh">
- <field name="NUM">100</field>
+ <value name="B">
+ <block type="variables_get" id="kw^gNGg!Q00uE[+DZwGg">
+ <field name="VAR" id="Ym/+Qo0YZe25;%N1d!*f">x_min</field>
</block>
</value>
</block>
</value>
- </block>
- </statement>
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- <value name="A">
- <block type="variables_get" id="-;*b3g{dTtQ{%@$gw6P)">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
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- <block type="procedures_callnoreturn" id="oGweCRo;|ZbP%1KR7B]a">
- <mutation name="right">
- <arg name="v"/>
- <arg name="ticks"/>
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- <value name="ARG0">
- <block type="variables_get" id="Vc7Fp*A$WDu^X7t.%1`9">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
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- <value name="ARG1">
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- <field name="VAR" id="rOE96qIEVvA5gBu*K^?x">factor_ball_rot</field>
+ <statement name="DO1">
+ <block type="procedures_callnoreturn" id="mG-?FU_hknyuqCH{oWJT">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="R%Oe)=kR9%E%`E3L[QVN">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_round" id="6n}aM10-I0P:)!Gr(]i5">
+ <field name="OP">ROUND</field>
+ <field name="DECIMALS">0</field>
+ <value name="NUM">
+ <block type="math_arithmetic" id="9e@Xpj!L)E*5)/BWxD;,">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="|5*]zYtMm]955K1])q46">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="=Vugu-k,xt8LKJmb5/PQ">
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+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <value name="LOW">
- <block type="math_number" id="BoQu)s$L=Rc2L5S(D@ma">
- <field name="NUM">3</field>
+ </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[">pos_goal_both</field>
</block>
</value>
- <value name="HIGH">
- <block type="math_number" id=".!t|yj:@W/3s;L{GOC@@">
- <field name="NUM">100</field>
+ <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">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_round" id="5^^7yxNg{mw+_^(*rmC#">
+ <field name="OP">ROUND</field>
+ <field name="DECIMALS">0</field>
+ <value name="NUM">
+ <block type="math_arithmetic" id="eW}|s]3dmm#iEvK%uj/1">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="B}iVX#7NZ$fvR1!YH6@S">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="(n)Uz^8S1N!C^7@](sJ)">
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+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <statement name="ELSE">
+ <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
+ <mutation name="stop"/>
+ </block>
+ </statement>
</block>
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- <block type="procedures_callnoreturn" id="txDc~?FC/.mMwB2ftP!t">
- <mutation name="stop"/>
- </block>
- </statement>
+ </next>
</block>
</next>
</block>
</next>
</block>
- </next>
- </block>
- </statement>
- <value name="IF5">
- <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" inline="false">
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- <value name="A">
- <block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
- <field name="OP">OR</field>
+ </statement>
+ <value name="IF5">
+ <block type="logic_operation" id="n;fJ-X=w7VQ~lqJ!9izM" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="R$,3LHh`g+6Wa:m#*[Ys">
- <field name="OP">EQ</field>
+ <block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="variables_get" id="rwEBIEg)#f$fNY):g16?">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <block type="logic_compare" id="R$,3LHh`g+6Wa:m#*[Ys">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="rwEBIEg)#f$fNY):g16?">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
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</block>
</value>
<value name="B">
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- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <block type="logic_compare" id="chjUw+0f?gW,C~KalQZQ">
+ <field name="OP">EQ</field>
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+ <block type="variables_get" id="J;t`p`a%Tr`zE:+/Lx%x">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="tsl[NONq~[]^~}KRpNQy"/>
+ </value>
</block>
</value>
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</block>
</value>
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- <value name="A">
- <block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
- <field name="OP">NEQ</field>
+ <value name="B">
+ <block type="logic_operation" id="w[--Ee4II.j.3yFUzaHC" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="lists_getIndex" id="0+*2|0;-#|/B`S;lfIBC">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
+ <field name="OP">NEQ</field>
+ <value name="A">
<block type="variables_get" id="XnSX|A;Vc=7XtVTPe;II">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="m3$DlVvf.(6%$hkU0F]c">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="fWFBJEE}YZGKJY)tiNyv"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="fWFBJEE}YZGKJY)tiNyv"/>
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- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="w[W/2lkK6=`$]ikD=RR|">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="J-=Q(vP@Rc16*!had-;y">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="-X+nB:-/Qb=rz:Dh_h8H">
- <field name="NUM">2</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="@Is_#Ked]NGd$K2MW-N^"/>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="@Is_#Ked]NGd$K2MW-N^"/>
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</block>
</value>
</block>
</value>
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- <field name="TEXT">NO_BALL_GOAL_LEFT</field>
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- <next>
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- <mutation name="right_v">
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- <value name="ARG0">
- <block type="variables_get" id="p@Lz?df8Zva_P-,/=ix9">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <statement name="DO5">
+ <block type="variables_set" id="qjHV]^:Wo)#J|x`[z9Dw">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="0tLy^$!b-,Fdll2TwLa0">
+ <field name="TEXT">NO_BALL_GOAL_LEFT</field>
</block>
</value>
- </block>
- </next>
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- <block type="logic_operation" id="@A84Nx^IpXz%LCYDf+3a" inline="false">
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- <block type="variables_get" id="N|{6x7I=]/-FV.9c}m6;">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ <next>
+ <block type="procedures_callnoreturn" id="U96^i60j(oeYzU8kTgU}">
+ <mutation name="right">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="NNO?/UcvB5S=//YOQ51j">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="_]3{l!O7]TQml!/!$`],"/>
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- <block type="variables_get" id="P)7_c}h5-WzhIT2+Sm!3">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ <value name="ARG1">
+ <block type="math_round" id=")kbJ+|FY0:`OyFD|5o1n">
+ <field name="OP">ROUND</field>
+ <field name="DECIMALS">0</field>
+ <value name="NUM">
+ <block type="math_single" id="w#OguMAoO|^wrS9~m7QM">
+ <field name="OP">ABS</field>
+ <value name="NUM">
+ <block type="math_arithmetic" id="A9MgtS+IiS%Ns7f$JnJ`">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="^$$6dKK$Lr7ThLi|d_3y">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="=+CXXJ[n-?V=f6zroOtS">
+ <field name="NUM">0.1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="6|946y1Dt?3;v$m7}3b#"/>
- </value>
</block>
- </value>
+ </next>
</block>
- </value>
- <value name="B">
- <block type="logic_operation" id="/CB,rxMtGbnS.o4@P$H9" inline="false">
- <field name="OP">OR</field>
+ </statement>
+ <value name="IF6">
+ <block type="logic_operation" id="@A84Nx^IpXz%LCYDf+3a" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="logic_compare" id="5}=h$U=O8]*WCIA_=(9a">
- <field name="OP">EQ</field>
+ <block type="logic_operation" id="9{.L1,^dK`cx%gkekh((" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="lists_getIndex" id="rFSJLYcW!+@P?N?y|r7f">
- <mutation statement="false" at="true"/>
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- <block type="variables_get" id="wmkBU3vd)/J=a~DAmk#]">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="logic_compare" id="B.4G5j0lpHiK^%Co:jY(">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="N|{6x7I=]/-FV.9c}m6;">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="K.RepJQLnfVsjvX78zRj">
- <field name="NUM">1</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="_]3{l!O7]TQml!/!$`],"/>
</value>
</block>
</value>
<value name="B">
- <block type="logic_null" id="wSe^9aT1?BoFCiEZ)67i"/>
+ <block type="logic_compare" id="1rtp?f;WQuGueC0!fsF1">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="P)7_c}h5-WzhIT2+Sm!3">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="6|946y1Dt?3;v$m7}3b#"/>
+ </value>
+ </block>
</value>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="E}DH@Yb00(X!:w660oS^">
- <field name="OP">NEQ</field>
+ <block type="logic_operation" id="/CB,rxMtGbnS.o4@P$H9" inline="false">
+ <field name="OP">OR</field>
<value name="A">
- <block type="lists_getIndex" id="p!/e={0EJkLtZyh?3PC$">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <block type="logic_compare" id="5}=h$U=O8]*WCIA_=(9a">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="SSnH/1RJv#G9|cl`hYc*">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_null" id="wSe^9aT1?BoFCiEZ)67i"/>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="E}DH@Yb00(X!:w660oS^">
+ <field name="OP">NEQ</field>
+ <value name="A">
<block type="variables_get" id="i@GB;88$3cms~;*_]d*C">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="neYV=.Td3fuL+NU,#Tfy">
- <field name="NUM">2</field>
+ <value name="B">
+ <block type="logic_null" id="_]zY;9N^B,D_VA;,OV8_"/>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO6">
+ <block type="variables_set" id="zX@s(@}$N7L6cM*{mc:{">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="Zw4*=firw67G(Xw@?.}|">
+ <field name="TEXT">NO_BALL_GOAL_RIGHT</field>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="Wizmeh4`g4Fgmk1A|sV@">
+ <mutation name="left">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="s+91j;@jAXoyAP!%ls#{">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_round" id="!9XkF[+`Qfl(y.B94[cc">
+ <field name="OP">ROUND</field>
+ <field name="DECIMALS">0</field>
+ <value name="NUM">
+ <block type="math_single" id="gOM#UD(tV-_1Cyz:a;/^">
+ <field name="OP">ABS</field>
+ <value name="NUM">
+ <block type="math_arithmetic" id="nqa/Wid0hzlziX,(MK#4">
+ <field name="OP">MULTIPLY</field>
+ <value name="A">
+ <block type="variables_get" id="1sebS=sup~V3d9+*a:d=">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="qoM$8go,0,2xd@dr`hjO">
+ <field name="NUM">0.1</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
</block>
</value>
- <value name="B">
- <block type="logic_null" id="_]zY;9N^B,D_VA;,OV8_"/>
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</block>
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- <statement name="DO6">
- <block type="variables_set" id="zX@s(@}$N7L6cM*{mc:{">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="Zw4*=firw67G(Xw@?.}|">
- <field name="TEXT">NO_BALL_GOAL_RIGHT</field>
+ </next>
</block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="#IIK^*qJGd9$K|c1_i9*" inline="true">
- <mutation name="left_v">
- <arg name="v"/>
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- <value name="ARG0">
- <block type="variables_get" id="S4bwFlwPS0iZ(K5:^)mj">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </statement>
+ <statement name="ELSE">
+ <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ <value name="VALUE">
+ <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
+ <field name="TEXT">NONE</field>
</block>
</value>
- </block>
- </next>
- </block>
- </statement>
- <statement name="ELSE">
- <block type="variables_set" id="50o[ObTwzWD=aupUSv#W">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- <value name="VALUE">
- <block type="text" id="BaG@T;!/Smm@WZeM1+h#">
- <field name="TEXT">NONE</field>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="_X-|0l5pe^4k**|RuSSZ" inline="true">
- <mutation name="search_ball_rot">
- <arg name="v"/>
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- <value name="ARG0">
- <block type="variables_get" id="q9XrN{.:T$USmI[ZR79Q">
- <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ <next>
+ <block type="procedures_callnoreturn" id="_X-|0l5pe^4k**|RuSSZ" inline="true">
+ <mutation name="search_ball_rot">
+ <arg name="v"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="q9XrN{.:T$USmI[ZR79Q">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
</block>
- </value>
+ </next>
</block>
- </next>
+ </statement>
</block>
</statement>
- </block>
- </statement>
- <next>
- <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
- <field name="instance_name">txt_label_ball</field>
- <value name="value">
- <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
- <field name="TEXT">abc</field>
- </shadow>
- <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
- <field name="TEXT">x:{}, y:{}</field>
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- <value name="ADD0">
- <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
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- <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>
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- </value>
- </block>
- </value>
<next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal</field>
+ <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">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="3"/>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">x:{}, {}, w:{}</field>
+ <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="ppSdz+]@cvkJ)r-5HdD^">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
<value name="ADD1">
- <block type="variables_get" id="#`/5m819@:#HS;yIM[b0">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
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- <value name="ADD2">
- <block type="variables_get" id="FtuJ6v[UEy/YEuJ3qlsr">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
- <field name="instance_name">txt_label_counters</field>
+ <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
+ <field name="instance_name">txt_label_goal</field>
<value name="value">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
- <mutation items="1"/>
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="4"/>
<value name="value">
- <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
- <field name="TEXT">{}</field>
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">x:{}, {}, p:{}, w:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="XdyZ*L#*0E`A`0/3UYf~">
- <field name="VAR" id="5@U(%o_ghQ1;jiB#odH8">counters</field>
+ <block 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="variables_get" id="^dcWdBa0xHuSF#~S44{U">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="variables_get" id="#`/5m819@:#HS;yIM[b0">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="FtuJ6v[UEy/YEuJ3qlsr">
+ <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"/>
+ <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
+ <field name="instance_name">txt_label_counters</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="10"/>
+ <block type="text_format" id="XRX)WXoaE,9N}4t?YAI#">
+ <mutation items="1"/>
<value name="value">
- <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{}:{} GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ <shadow type="text" id="UlS|}~2{uOl01S@(ahiE">
+ <field name="TEXT">{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
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- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ <block type="variables_get" id="XdyZ*L#*0E`A`0/3UYf~">
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</block>
</value>
- <value name="ADD2">
- <block type="lists_getIndex" id=";CdZ:9!xf(3gc%Mh;He0">
- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
- <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ </block>
+ </value>
+ <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="10"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}:{} GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
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</block>
</value>
- <value name="AT">
- <block type="math_number" id="Vn9o7R1/1Q!=L_;i9X4o">
- <field name="NUM">1</field>
+ <value name="ADD1">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
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</block>
</value>
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- <mutation statement="false" at="true"/>
- <field name="MODE">GET</field>
- <field name="WHERE">FROM_START</field>
- <value name="VALUE">
+ <value name="ADD2">
+ <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>
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<block type="variables_get" id="/(B3zJewppd~EofXj-kV">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="AT">
- <block type="math_number" id="EqI.1mGPgXG[7av.gZ71">
- <field name="NUM">2</field>
+ <value name="ADD4">
+ <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="ADD6">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD7">
+ <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="ADD8">
+ <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="ADD9">
+ <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>
- <value name="ADD4">
- <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">pos_goal_both</field>
- </block>
- </value>
- <value name="ADD5">
- <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
- </value>
- <value name="ADD6">
- <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
- <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
- </block>
- </value>
- <value name="ADD7">
- <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="ADD8">
- <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="ADD9">
- <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ <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">50</field>
+ </shadow>
+ </value>
</block>
- </value>
- </block>
- </value>
- <next>
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">70</field>
- </shadow>
- </value>
+ </next>
</block>
</next>
</block>
@@ -2332,9 +2072,9 @@
</block>
</next>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -2388,7 +2128,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6395">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="6321">
<field name="NAME">checkTimeouts</field>
<statement name="STACK">
<block type="controls_if" id="o.;j7*F0}TW}ju0E18(_">
@@ -2461,21 +2201,9 @@
</block>
</value>
<statement name="DO0">
- <block type="lists_setIndex" id="TkR|_blx2$,hT.aKkf~O">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="3#3BiP+h9}[ccaIDKlj/">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="YWwjvCGqfBBv67F+ib58">
- <field name="NUM">1</field>
- </block>
- </value>
- <value name="TO">
+ <block type="variables_set" id="9zHV?OMe7TGQwr6uc)dD">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <value name="VALUE">
<block type="logic_null" id="cM8^dckuY:nW*9,QoDS%"/>
</value>
</block>
@@ -2508,22 +2236,10 @@
</block>
</value>
<statement name="DO0">
- <block type="lists_setIndex" id="~83Uj0HPT|J(,3W!LWCL">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="3?9q,AoE6r,fRB}w,{]i">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id=";;rL@zk@9)hLoS)Vv_A?">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="TO">
- <block type="logic_null" id="GUm3tRkD[}|mB@r#$q~4"/>
+ <block type="variables_set" id="5!z7rY5T3ynPTu}d$.l[">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ <value name="VALUE">
+ <block type="logic_null" id="oiV/Q5_]2ENQr*Jd5%nz"/>
</value>
</block>
</statement>
@@ -2534,7 +2250,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6848">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6754">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2735,7 +2451,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7515">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="7421">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2746,21 +2462,9 @@
</block>
</value>
<next>
- <block type="lists_setIndex" id="#5n/eE/V2+G?+8)t@Pmt">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id="kZXOf?_4oWjS9q0.:[91">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="n^.Dx%cm8zH/g4:qm{o_">
- <field name="NUM">1</field>
- </block>
- </value>
- <value name="TO">
+ <block type="variables_set" id="-Pb{DsrWWjr,AXK#u,S8">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ <value name="VALUE">
<block type="camera_ball_get_value" id="auJ,XX2D[0NDd:J4)DaU">
<field name="dropdown_event">x</field>
<value name="instance_name">
@@ -2815,7 +2519,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7818">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7714">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2826,25 +2530,13 @@
</block>
</value>
<next>
- <block type="lists_setIndex" id="BgcR)HFQbgQ=c$87H-Rs">
- <mutation at="true"/>
- <field name="MODE">SET</field>
- <field name="WHERE">FROM_START</field>
- <value name="LIST">
- <block type="variables_get" id=":/RJKz|OwJ!nhurLm~w0">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal</field>
- </block>
- </value>
- <value name="AT">
- <block type="math_number" id="e-$k}+kU4DW9ZCaq^L6Z">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="TO">
- <block type="camera_ball_get_value" id="HD@dB-1^W^R^cl$FEj1B">
+ <block type="variables_set" id="51S2o5UVc-A=JRn2M6Zz">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ <value name="VALUE">
+ <block type="camera_ball_get_value" id="rjz(6MwWI7/0NjlV?HnL">
<field name="dropdown_event">x</field>
<value name="instance_name">
- <shadow type="camera_detection_event" id="]JXunPguPu4`2m+P=9h!"/>
+ <shadow type="camera_detection_event" id="z,Atey2YY7UwxFYmRX{F"/>
</value>
</block>
</value>
@@ -2895,7 +2587,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="8121">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="8007">
<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>
@@ -2943,7 +2635,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="8268">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="8154">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2991,7 +2683,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8415">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="8301">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -3039,7 +2731,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8562">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="8448">
<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>
@@ -3087,7 +2779,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8709">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8595">
<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>
@@ -3110,7 +2802,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8846">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8732">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -3245,7 +2937,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9460">
+ <block type="procedures_defnoreturn" id="+FKt%DE[[q%Zp0T.Fn}d" x="0" y="9346">
<field name="NAME">stop</field>
<statement name="STACK">
<block type="variables_set" id="0lb+=KDkMxl8Q(.f(!U4">
@@ -3267,7 +2959,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9681">
+ <block type="procedures_defnoreturn" id="/pGK)WReTLfX`L_7oAMD" x="0" y="9567">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3305,7 +2997,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9930">
+ <block type="procedures_defnoreturn" id="qX~e_RBh^tj];fOb=cq6" x="0" y="9816">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="{M*n_!I)eN0.4..0Bzo#"/>
</mutation>
@@ -3343,7 +3035,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="10179">
+ <block type="procedures_defnoreturn" id="!zD7YDZ.5n?En8cYle4R" x="0" y="10065">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3381,7 +3073,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10428">
+ <block type="procedures_defnoreturn" id="}KXL0=RKLgCT~yQ];aw:" x="0" y="10314">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3419,7 +3111,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10677">
+ <block type="procedures_defnoreturn" id="0R.p||vBpkt08x[mI=z[" x="0" y="10563">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3470,7 +3162,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10946">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="10832">
<field name="NAME">turnSideLeft</field>
<statement name="STACK">
<block type="variables_set" id="nf?K,a/5MLaj.5?J/IGs">
@@ -3517,7 +3209,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="11167">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="11053">
<field name="NAME">turnSideRight</field>
<statement name="STACK">
<block type="variables_set" id="$K=E,g/}k}au~ZyqB!+S">
@@ -3564,7 +3256,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11388">
+ <block type="procedures_defnoreturn" id="dhS+rZWE[`RZz:fU3A)e" x="0" y="11274">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3602,7 +3294,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11637">
+ <block type="procedures_defnoreturn" id=")G33?J{l2sdl+nL3hpBp" x="0" y="11523">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid=",q%qjDTJ~Z@[BoMwORuq"/>
</mutation>
@@ -3640,7 +3332,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11886">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="11772">
<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{"/>
@@ -3660,7 +3352,7 @@
<block type="controls_if" id="}6GMVKI!7)8iWzn?N8eh">
<value name="IF0">
<block type="logic_compare" id="N{,H09?n%LxG(t2{;y3[">
- <field name="OP">GT</field>
+ <field name="OP">GTE</field>
<value name="A">
<block type="variables_get" id="5=|v_JXiQ3|FSb0o#e*T">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
@@ -3668,7 +3360,7 @@
</value>
<value name="B">
<block type="math_number" id=";4t3pp,?qIG*SjzMC$xM">
- <field name="NUM">0</field>
+ <field name="NUM">1</field>
</block>
</value>
</block>
@@ -3716,7 +3408,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="12271">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="12157">
<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"/>
@@ -3736,7 +3428,7 @@
<block type="controls_if" id="+CQwW92VB+7[9JkLba3m">
<value name="IF0">
<block type="logic_compare" id="c@lZ^[Jxt_h1Hw_.}+{R">
- <field name="OP">GT</field>
+ <field name="OP">GTE</field>
<value name="A">
<block type="variables_get" id="vEU_WSa{;D=G]]q!@#el">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
@@ -3744,7 +3436,7 @@
</value>
<value name="B">
<block type="math_number" id="TE]og4kshy?@X*N=vQxJ">
- <field name="NUM">0</field>
+ <field name="NUM">1</field>
</block>
</value>
</block>
@@ -3792,7 +3484,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12656">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="12542">
<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"/>
@@ -3804,15 +3496,30 @@
<block type="variables_set" id="e]VGa@|MGbbGzKB:9K,u">
<field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
- <block type="text" id="~LP?,`6xSHnWI(4/6{+]">
- <field name="TEXT">left</field>
+ <block type="text_format" id="o,^d1QH?!!HK?:qe^b_3">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="-Gy%$89)SO+1IR+)x`Hz">
+ <field name="TEXT">left ({}, {})</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id=",[DJ$c,.rc:~Z.{l2hqY">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="J3)*_[Mi9ux(nc=SO-L6">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
</block>
</value>
<next>
<block type="controls_if" id="ru=4O_U5AHiXk(bAH~.*">
<value name="IF0">
<block type="logic_compare" id="85MxtAjA5dlu;2C_S1R#">
- <field name="OP">GT</field>
+ <field name="OP">GTE</field>
<value name="A">
<block type="variables_get" id="-$H$Lx#iW.cRG)R1R{%#">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
@@ -3820,7 +3527,7 @@
</value>
<value name="B">
<block type="math_number" id="ki98?zabGRpGF2Xh@B0.">
- <field name="NUM">0</field>
+ <field name="NUM">1</field>
</block>
</value>
</block>
@@ -3868,51 +3575,70 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="13041">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="12983">
<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"/>
+ <arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
+ <arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
</mutation>
- <field name="NAME">left2</field>
- <field name="~d8Z+AHZ!wz|G]JHW0lQ">v</field>
- <field name="jRMx@L,Ya|zd@/bBb#1T">ticks</field>
+ <field name="NAME">right</field>
+ <field name="8Z2n_ZVA.)85]V7j%3;7">v</field>
+ <field name="J(gJ~*9ZJJa,[V1)[xn#">ticks</field>
<statement name="STACK">
- <block type="variables_set" id="A]{I6TpDT17JbK|7n6=a">
+ <block type="variables_set" id="St{udUa]BhV49^]d)5`/">
<field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
- <block type="text" id="%ih=tz@Th_ON![?}E),L">
- <field name="TEXT">left2</field>
+ <block type="text_format" id="FlI?#gbuTB/-c#pQO!b:">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="|B6y`P`2$T2$S69sAR[$">
+ <field name="TEXT">right ({}, {})</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="dm{0w2KGD@q^y6DC@9I,">
+ <field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="!bxdKW=7rxD}cL!KZ.*!">
+ <field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
+ </block>
+ </value>
</block>
</value>
<next>
- <block type="controls_if" id="o}S)]f3}2XEN7MUlYw$u">
+ <block type="controls_if" id="39e*D=YEL(1q(LD_RSW~">
<value name="IF0">
- <block type="logic_compare" id="/{eGv/K=g!(^C:9P6$xv">
- <field name="OP">GT</field>
+ <block type="logic_compare" id="Jg6_Yhvqvg5CkB6L^{Ob">
+ <field name="OP">GTE</field>
<value name="A">
- <block type="variables_get" id="}$zB71Q]4`P@feibL2fu">
+ <block type="variables_get" id="hS@CNKx9jiT$$M=6?`@C">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
<value name="B">
- <block type="math_number" id=",[,X9TSiPq4iUUtrUmK`">
- <field name="NUM">0</field>
+ <block type="math_number" id="W+,G1525Tt!%_S*tpXtP">
+ <field name="NUM">1</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="encodermotor_set_values" id="+;!!Z=]w_K!uA/Xr8|S9">
- <mutation syncBlocks="1"/>
- <field name="instance_name_0">TXT_M_M2_encodermotor</field>
+ <block type="encodermotor_set_values" id="~3+Emzx77Kgy^8c_O*]K">
+ <mutation syncBlocks="3"/>
+ <field name="instance_name_0">TXT_M_M1_encodermotor</field>
<field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M4_encodermotor</field>
- <field name="direction_1">Motor.CW</field>
+ <field name="instance_name_1">TXT_M_M2_encodermotor</field>
+ <field name="direction_1">Motor.CCW</field>
+ <field name="instance_name_2">TXT_M_M3_encodermotor</field>
+ <field name="direction_2">Motor.CW</field>
+ <field name="instance_name_3">TXT_M_M4_encodermotor</field>
+ <field name="direction_3">Motor.CCW</field>
<value name="speed">
<shadow type="motor_number">
<field name="MOTOR_NUM">512</field>
</shadow>
- <block type="variables_get" id="p;kkWp~F[]J`zNw|vvtD">
+ <block type="variables_get" id="D_l{lsbzk};@:z!ZrKp+">
<field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
@@ -3920,15 +3646,15 @@
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
- <block type="variables_get" id="u77Xwm,Q_bZ~tZ0@BLBn">
+ <block type="variables_get" id="*eo}?f6B#r`aR::n}Ev@">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
<next>
- <block type="util_wait_until" id=";XC@(3f=D+v6lmnb_QuP">
+ <block type="util_wait_until" id="PLN$5RIPrD%I0T|eF`)w">
<value name="value">
- <block type="encodermotor_position_read" id="MYE]zy/B%RxZ2xKvlDUB">
- <field name="instance_name">TXT_M_M2_encodermotor</field>
+ <block type="encodermotor_position_read" id="C+pGU3f{|3!mz{V*UyDs">
+ <field name="instance_name">TXT_M_M1_encodermotor</field>
</block>
</value>
</block>
@@ -3940,55 +3666,51 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="13370">
+ <block type="procedures_defnoreturn" id="0yb4y~)e=F^~rds6/HYd" x="0" y="13424">
<mutation>
- <arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
- <arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
+ <arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
+ <arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
</mutation>
- <field name="NAME">right</field>
- <field name="8Z2n_ZVA.)85]V7j%3;7">v</field>
- <field name="J(gJ~*9ZJJa,[V1)[xn#">ticks</field>
+ <field name="NAME">left2</field>
+ <field name="~d8Z+AHZ!wz|G]JHW0lQ">v</field>
+ <field name="jRMx@L,Ya|zd@/bBb#1T">ticks</field>
<statement name="STACK">
- <block type="variables_set" id="`ngB0F2FnMQ*EgqbtK@?">
+ <block type="variables_set" id="A]{I6TpDT17JbK|7n6=a">
<field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
<value name="VALUE">
- <block type="text" id="1XTwRFMI78X)o|:=-T8a">
- <field name="TEXT">right</field>
+ <block type="text" id="%ih=tz@Th_ON![?}E),L">
+ <field name="TEXT">left2</field>
</block>
</value>
<next>
- <block type="controls_if" id="39e*D=YEL(1q(LD_RSW~">
+ <block type="controls_if" id="o}S)]f3}2XEN7MUlYw$u">
<value name="IF0">
- <block type="logic_compare" id="Jg6_Yhvqvg5CkB6L^{Ob">
- <field name="OP">GT</field>
+ <block type="logic_compare" id="/{eGv/K=g!(^C:9P6$xv">
+ <field name="OP">GTE</field>
<value name="A">
- <block type="variables_get" id="hS@CNKx9jiT$$M=6?`@C">
+ <block type="variables_get" id="}$zB71Q]4`P@feibL2fu">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
<value name="B">
- <block type="math_number" id="W+,G1525Tt!%_S*tpXtP">
- <field name="NUM">0</field>
+ <block type="math_number" id=",[,X9TSiPq4iUUtrUmK`">
+ <field name="NUM">1</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="encodermotor_set_values" id="~3+Emzx77Kgy^8c_O*]K">
- <mutation syncBlocks="3"/>
- <field name="instance_name_0">TXT_M_M1_encodermotor</field>
+ <block type="encodermotor_set_values" id="+;!!Z=]w_K!uA/Xr8|S9">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">TXT_M_M2_encodermotor</field>
<field name="direction_0">Motor.CW</field>
- <field name="instance_name_1">TXT_M_M2_encodermotor</field>
- <field name="direction_1">Motor.CCW</field>
- <field name="instance_name_2">TXT_M_M3_encodermotor</field>
- <field name="direction_2">Motor.CW</field>
- <field name="instance_name_3">TXT_M_M4_encodermotor</field>
- <field name="direction_3">Motor.CCW</field>
+ <field name="instance_name_1">TXT_M_M4_encodermotor</field>
+ <field name="direction_1">Motor.CW</field>
<value name="speed">
<shadow type="motor_number">
<field name="MOTOR_NUM">512</field>
</shadow>
- <block type="variables_get" id="D_l{lsbzk};@:z!ZrKp+">
+ <block type="variables_get" id="p;kkWp~F[]J`zNw|vvtD">
<field name="VAR" id="DfDz@$]?^P=(6r:%^xC*">v</field>
</block>
</value>
@@ -3996,15 +3718,15 @@
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
- <block type="variables_get" id="*eo}?f6B#r`aR::n}Ev@">
+ <block type="variables_get" id="u77Xwm,Q_bZ~tZ0@BLBn">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
</block>
</value>
<next>
- <block type="util_wait_until" id="PLN$5RIPrD%I0T|eF`)w">
+ <block type="util_wait_until" id=";XC@(3f=D+v6lmnb_QuP">
<value name="value">
- <block type="encodermotor_position_read" id="C+pGU3f{|3!mz{V*UyDs">
- <field name="instance_name">TXT_M_M1_encodermotor</field>
+ <block type="encodermotor_position_read" id="MYE]zy/B%RxZ2xKvlDUB">
+ <field name="instance_name">TXT_M_M2_encodermotor</field>
</block>
</value>
</block>
@@ -4016,7 +3738,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13755">
+ <block type="procedures_defnoreturn" id="qiCJ8lc,P.U`J8k0us:C" x="0" y="13753">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
@@ -4036,7 +3758,7 @@
<block type="controls_if" id="lp~ks}%o(L5|/7T|.OjC">
<value name="IF0">
<block type="logic_compare" id="sO)7$Q2lYogwSoKBo1wg">
- <field name="OP">GT</field>
+ <field name="OP">GTE</field>
<value name="A">
<block type="variables_get" id="+A)3lC*iL0Z74oq;{]:z">
<field name="VAR" id="l9lR0!)Laya}3RYVW(ZQ">ticks</field>
@@ -4044,7 +3766,7 @@
</value>
<value name="B">
<block type="math_number" id="kb1Pk8v*VCf8Xe3@+.qk">
- <field name="NUM">0</field>
+ <field name="NUM">1</field>
</block>
</value>
</block>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 154036c..d6a5d50 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -16,10 +16,11 @@ ts_goal_right = None
cmd = None
factor_y = None
posx_ball = None
+posx_goal_left = None
+posx_goal_right = None
counters = None
factor_ball_rot = None
posy_ball = None
-posx_goal = None
search_dir_left = None
v_slow = None
x_min = None
@@ -34,19 +35,19 @@ goal_width = None
pos_goal_both = None
state = None
def checkTimeouts():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if (time.time() * 1000) - ts_ball > 500:
posx_ball = None
posy_ball = None
if (time.time() * 1000) - ts_goal_left > 500:
- posx_goal[0] = None
+ posx_goal_left = None
if (time.time() * 1000) - ts_goal_right > 500:
- posx_goal[1] = None
+ posx_goal_right = None
def ball_callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -59,9 +60,9 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
ts_goal_left = (time.time() * 1000)
- posx_goal[0] = event.value.x
+ posx_goal_left = event.value.x
if False:
print('goal left: posx:{} posy:{}'.format(event.value.x, event.value.y))
@@ -69,9 +70,9 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
ts_goal_right = (time.time() * 1000)
- posx_goal[1] = event.value.x
+ posx_goal_right = event.value.x
if False:
print('goal right: posx:{} posy:{}'.format(event.value.x, event.value.y))
@@ -79,7 +80,7 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if TXT_M_C1_motor_step_counter.get_count() >= 0:
counters[0] = TXT_M_C1_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -89,7 +90,7 @@ TXT_M_C1_motor_step_counter.add_change_listener("count", callback)
def callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if TXT_M_C2_motor_step_counter.get_count() >= 0:
counters[1] = TXT_M_C2_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -99,7 +100,7 @@ TXT_M_C2_motor_step_counter.add_change_listener("count", callback2)
def callback3(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if TXT_M_C3_motor_step_counter.get_count() >= 0:
counters[2] = TXT_M_C3_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -109,7 +110,7 @@ TXT_M_C3_motor_step_counter.add_change_listener("count", callback3)
def callback4(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if TXT_M_C4_motor_step_counter.get_count() >= 0:
counters[3] = TXT_M_C4_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -119,7 +120,7 @@ TXT_M_C4_motor_step_counter.add_change_listener("count", callback4)
def callback5(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -129,7 +130,7 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback5)
def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'shotBall'
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
@@ -161,13 +162,13 @@ def shotBall():
def stop():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'stop'
TXT_M_M1_encodermotor.stop_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
def fwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'fwd_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -177,7 +178,7 @@ def fwd_v(v):
def bwd_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'bwd_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -187,7 +188,7 @@ def bwd_v(v):
def left_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'left_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -197,7 +198,7 @@ def left_v(v):
def right_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'right_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -207,7 +208,7 @@ def right_v(v):
def search_ball_rot(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'search_ball_rot'
if search_dir_left:
left_v(v)
@@ -216,7 +217,7 @@ def search_ball_rot(v):
def turnSideLeft():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'turnSideLeft'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CW)
@@ -227,7 +228,7 @@ def turnSideLeft():
def turnSideRight():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'turnSideRight'
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CCW)
@@ -238,7 +239,7 @@ def turnSideRight():
def sideleft_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'sideleft_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
@@ -248,7 +249,7 @@ def sideleft_v(v):
def sideright_v(v):
- global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'sideright_v'
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
@@ -258,9 +259,9 @@ def sideright_v(v):
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'fwd'
- if ticks > 0:
+ if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
@@ -273,9 +274,9 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'bwd'
- if ticks > 0:
+ if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
@@ -288,9 +289,9 @@ def bwd(v, ticks):
def left(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
- cmd = 'left'
- if ticks > 0:
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ cmd = 'left ({}, {})'.format(v, ticks)
+ if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
@@ -302,23 +303,10 @@ def left(v, ticks):
time.sleep(0.010)
-def left2(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
- cmd = 'left2'
- if ticks > 0:
- TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
- TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
- TXT_M_M2_encodermotor.set_distance(int(ticks), TXT_M_M4_encodermotor)
- while True:
- if (not TXT_M_M2_encodermotor.is_running()):
- break
- time.sleep(0.010)
-
-
def right(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
- cmd = 'right'
- if ticks > 0:
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ cmd = 'right ({}, {})'.format(v, ticks)
+ if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
@@ -330,10 +318,23 @@ def right(v, ticks):
time.sleep(0.010)
+def left2(v, ticks):
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ cmd = 'left2'
+ if ticks >= 1:
+ TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+ TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+ TXT_M_M2_encodermotor.set_distance(int(ticks), TXT_M_M4_encodermotor)
+ while True:
+ if (not TXT_M_M2_encodermotor.is_running()):
+ break
+ time.sleep(0.010)
+
+
def right2(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
+ global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
cmd = 'right2'
- if ticks > 0:
+ if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M3_encodermotor)
@@ -355,7 +356,8 @@ v_slow = 250
v_fast = 512
v_var_ball_xpos = 512
v_var_ball_ypos = 512
-posx_goal = [None, None]
+posx_goal_left = None
+posx_goal_right = None
goal_width = 0
pos_goal_both = 0
counters = [TXT_M_C1_motor_step_counter.get_count(), TXT_M_C2_motor_step_counter.get_count(), TXT_M_C3_motor_step_counter.get_count(), TXT_M_C4_motor_step_counter.get_count()]
@@ -371,7 +373,7 @@ time.sleep(2)
while True:
checkTimeouts()
if display.get_attr("txt_switch_active.checked"):
- if posx_ball != None and posy_ball != None and posx_goal[0] == None and posx_goal[1] == None:
+ if posx_ball != None and posy_ball != None and posx_goal_left == None and posx_goal_right == None:
state = 'BALL_NO_GOAL'
if posx_ball >= x_min and posx_ball <= x_max:
if posy_ball <= y_ball_far:
@@ -390,14 +392,14 @@ while True:
left(v_var_ball_xpos, min(max(posy_ball * factor_ball_rot, 3), 100))
else:
stop()
- elif posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] == None:
+ elif posx_ball != None and posy_ball != None and posx_goal_left != None and posx_goal_right == None:
state = 'BALL_GOAL_LEFT'
if posy_ball <= y_ball_far:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
- if posx_goal[0] < posx_ball:
+ if posx_goal_left < posx_ball:
turnSideRight()
- elif posx_goal[0] > posx_ball:
+ elif posx_goal_right > posx_ball:
turnSideLeft()
else:
stop()
@@ -405,14 +407,14 @@ while True:
bwd_v(v_slow)
else:
stop()
- elif posx_ball != None and posy_ball != None and posx_goal[0] == None and posx_goal[1] != None:
+ elif posx_ball != None and posy_ball != None and posx_goal_left == None and posx_goal_right != None:
state = 'BALL_GOAL_RIGHT'
if posy_ball <= y_ball_far:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
- if posx_goal[1] < posx_ball:
+ if posx_goal_right < posx_ball:
turnSideRight()
- elif posx_goal[1] > posx_ball:
+ elif posx_goal_right > posx_ball:
turnSideLeft()
else:
stop()
@@ -420,16 +422,16 @@ while True:
bwd_v(v_slow)
else:
stop()
- elif posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] != None:
+ elif posx_ball != None and posy_ball != None and posx_goal_left != None and posx_goal_right != None:
state = 'BALL_GOAL_BOTH'
if posy_ball <= y_ball_far:
fwd_v(v_slow)
elif posy_ball <= y_ball_near:
- if posx_ball > posx_goal[0] and posx_ball < posx_goal[1]:
+ if posx_ball > posx_goal_left and posx_ball < posx_goal_right:
fwd_v(v_slow)
- elif posx_ball < posx_goal[0] and posx_ball < posx_goal[1]:
+ elif posx_ball < posx_goal_left and posx_ball < posx_goal_right:
turnSideLeft()
- elif posx_ball > posx_goal[0] and posx_ball > posx_goal[1]:
+ elif posx_ball > posx_goal_left and posx_ball > posx_goal_right:
turnSideRight()
else:
stop()
@@ -437,31 +439,34 @@ while True:
bwd_v(v_slow)
else:
stop()
- elif posx_goal[0] != None and posx_goal[1] != None:
+ elif posx_goal_left != None and posx_goal_right != None:
state = 'NO_BALL_GOAL_BOTH'
- goal_width = posx_goal[1] - posx_goal[0]
- pos_goal_both = posx_goal[0] + goal_width / 2
+ goal_width = posx_goal_right - posx_goal_left
+ pos_goal_both = posx_goal_left + goal_width / 2
if pos_goal_both >= x_min and pos_goal_both <= x_max:
- fwd_v(v_slow)
+ if goal_width < 130:
+ fwd(v_slow, 10)
+ else:
+ bwd(v_slow, 10)
elif pos_goal_both < x_min:
- left(v_var_ball_xpos, min(max(goal_width * factor_ball_rot, 3), 100))
+ left(v_slow, round(goal_width * 0.01))
elif pos_goal_both > x_max:
- right(v_var_ball_xpos, min(max(goal_width * factor_ball_rot, 3), 100))
+ right(v_slow, round(goal_width * 0.01))
else:
stop()
- elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] == None):
+ elif (posx_ball == None or posy_ball == None) and (posx_goal_left != None or posx_goal_right == None):
state = 'NO_BALL_GOAL_LEFT'
- right_v(v_slow)
- elif (posx_ball == None or posy_ball == None) and (posx_goal[0] == None or posx_goal[1] != None):
+ right(v_slow, round(math.fabs(posx_goal_left * 0.1)))
+ elif (posx_ball == None or posy_ball == None) and (posx_goal_left == None or posx_goal_right != None):
state = 'NO_BALL_GOAL_RIGHT'
- left_v(v_slow)
+ left(v_slow, round(math.fabs(posx_goal_right * 0.1)))
else:
state = 'NONE'
search_ball_rot(v_slow)
display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
- display.set_attr("txt_label_goal.text", str('x:{}, {}, w:{}'.format(posx_goal, pos_goal_both, goal_width)))
+ display.set_attr("txt_label_goal.text", str('x:{}, {}, p:{}, w:{}'.format(posx_goal_left, posx_goal_right, pos_goal_both, goal_width)))
display.set_attr("txt_label_counters.text", str('{}'.format(counters)))
- print('{}:{} GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal[0], posx_goal[1], pos_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
- time.sleep(0.07)
+ print('{}:{} GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal_left, posx_goal_right, pos_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
+ time.sleep(0.05)
--
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