diff --git a/lib/SLD.blockly b/lib/SLD.blockly
index bb125d010d282157de5381ac384041faf49c779b..985b54531025dd6a7d6ef2de6afd52c769313382 100644
--- a/lib/SLD.blockly
+++ b/lib/SLD.blockly
@@ -9,6 +9,9 @@
<variable id="[V))lfBm^j7t@3LJVWGf">state_active</variable>
<variable id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</variable>
<variable id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</variable>
+ <variable id="?hGLg[3H[9:g]?:4%%_%">calibvalue_white</variable>
+ <variable id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</variable>
+ <variable id="u~VUTh^5;XCqV.t^iE,B">calibvalue_blue</variable>
<variable id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</variable>
<variable id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</variable>
<variable id="g%%DHmT#UX~.YdQn3gcf">_ts_state</variable>
@@ -54,498 +57,683 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="383">
+ <block type="procedures_defreturn" id="qn64~^UH=QV4|-w^OiX3" x="0" y="383">
+ <field name="NAME">get_thresh_list</field>
+ <value name="RETURN">
+ <block type="lists_create_with" id="?W6`HZcED/e(AP1BFbYr">
+ <mutation items="2"/>
+ <value name="ADD0">
+ <block type="variables_get" id="m1@Y1bkb,1*Dg+eexmKl">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="a^.?2Q=ibO,1}0)/Gzic">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ <block type="procedures_defnoreturn" id="]HGe}R8RwUwfQdy0ms1)" x="0" y="533">
+ <field name="NAME">calculate_thresh</field>
+ <statement name="STACK">
+ <block type="variables_set" id="N:HH93LfZOGlsAZG*0jY">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ <value name="VALUE">
+ <block type="math_arithmetic" id="[kHN2Ju34-JM]=ZC}~f?">
+ <field name="OP">DIVIDE</field>
+ <value name="A">
+ <block type="math_arithmetic" id="Fr%[L18*%c*+$xkRRmm`">
+ <field name="OP">ADD</field>
+ <value name="A">
+ <block type="variables_get" id="RSPH{qq0p*_4E(i!EK*8">
+ <field name="VAR" id="?hGLg[3H[9:g]?:4%%_%">calibvalue_white</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="5*`ipxd4{J+n1q|w{zP|">
+ <field name="VAR" id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="LtL_9k`{^Y-{qpG{QxgS">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="3S~xH!-(5jp{N@[Pb]w;">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ <value name="VALUE">
+ <block type="math_arithmetic" id="w,QV?:Z:8I@CqD-ihD0C">
+ <field name="OP">DIVIDE</field>
+ <value name="A">
+ <block type="math_arithmetic" id="wmEObo)Jdr;sB0A=s3aF">
+ <field name="OP">ADD</field>
+ <value name="A">
+ <block type="variables_get" id="]vb#C}h4E[V$hzr5g55@">
+ <field name="VAR" id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="IbH+K4}=A;gbp*8R,31%">
+ <field name="VAR" id="u~VUTh^5;XCqV.t^iE,B">calibvalue_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="h(o(_rZpB6ZmzlHuM9V}">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defreturn" id="9Cj-Yafy$tg0`VH?3)S=" x="0" y="713">
+ <field name="NAME">get_calibvalue_list</field>
+ <value name="RETURN">
+ <block type="lists_create_with" id="Wj)6C/61+mbvY6}p$eoh">
+ <mutation items="3"/>
+ <value name="ADD0">
+ <block type="variables_get" id="5v3ziq5pvqDqT/9ZVwP,">
+ <field name="VAR" id="?hGLg[3H[9:g]?:4%%_%">calibvalue_white</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="jWM[pB(F5IbtNLP-Bpb.">
+ <field name="VAR" id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="variables_get" id="Z@i#@^B6DW,*;PXxhc$4">
+ <field name="VAR" id="u~VUTh^5;XCqV.t^iE,B">calibvalue_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ <block type="procedures_defnoreturn" id="~J*0~mN(wH1HdQ6+g*8O" x="0" y="892">
+ <mutation>
+ <arg name="v" varid="2hXKDa]i2lK78Fcn!kS7" argid="I@B?}jt30*H/Nrzr)p2."/>
+ </mutation>
+ <field name="NAME">set_calibvalue_white</field>
+ <field name="I@B?}jt30*H/Nrzr)p2.">v</field>
+ <statement name="STACK">
+ <block type="variables_set" id="u,NtKTmx-[!KhZUdvkHW">
+ <field name="VAR" id="?hGLg[3H[9:g]?:4%%_%">calibvalue_white</field>
+ <value name="VALUE">
+ <block type="variables_get" id="2c{|eTtuT+eA#t@SrFza">
+ <field name="VAR" id="2hXKDa]i2lK78Fcn!kS7">v</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="uiAN]3!dL*HgM2PpP/Mr" x="0" y="1032">
+ <mutation>
+ <arg name="v" varid="2hXKDa]i2lK78Fcn!kS7" argid="`,@l)KD{{wbrC!|u;.cC"/>
+ </mutation>
+ <field name="NAME">set_calibvalue_red</field>
+ <field name="`,@l)KD{{wbrC!|u;.cC">v</field>
+ <statement name="STACK">
+ <block type="variables_set" id="rAVx5ZwsP~^Ist#lCB4Q">
+ <field name="VAR" id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</field>
+ <value name="VALUE">
+ <block type="variables_get" id="h~F1rD.B2[TwE|gC@qJh">
+ <field name="VAR" id="2hXKDa]i2lK78Fcn!kS7">v</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="9]2A$:IB|S6O$D~zhA=2" x="0" y="1172">
+ <mutation>
+ <arg name="v" varid="2hXKDa]i2lK78Fcn!kS7" argid="|#3L}sF}`~w2aK|mn7._"/>
+ </mutation>
+ <field name="NAME">set_calibvalue_blue</field>
+ <field name="|#3L}sF}`~w2aK|mn7._">v</field>
+ <statement name="STACK">
+ <block type="variables_set" id="QtVj+{4OkTrFB5EM^Ye@">
+ <field name="VAR" id="u~VUTh^5;XCqV.t^iE,B">calibvalue_blue</field>
+ <value name="VALUE">
+ <block type="variables_get" id="|0z?+.gMKUwLyinAgUEX">
+ <field name="VAR" id="2hXKDa]i2lK78Fcn!kS7">v</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="1312">
<field name="NAME">thread_SLD</field>
<statement name="STACK">
<block type="util_python" id="or=tulIX]{S?#ofKV+]h" inline="true">
<field name="value">logging.log(logging.TRACE, '-')</field>
<next>
- <block type="variables_set" id="[c@.poi;J+,t;%MX-h)V">
- <field name="VAR" id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</field>
+ <block type="variables_set" id="l!)l(ic4rXH/Ks9NLlO2">
+ <field name="VAR" id="?hGLg[3H[9:g]?:4%%_%">calibvalue_white</field>
<value name="VALUE">
- <block type="math_number" id="_Q5JwkrPuEM#+R/5oEG*">
- <field name="NUM">1150</field>
+ <block type="math_number" id="az0%gohkle?@IpRTY`=R">
+ <field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id=":*U%Yl[CmePTgEsjdb{6">
- <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ <block type="variables_set" id="`#qDeNA1zOaZm|uv$h@b">
+ <field name="VAR" id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</field>
<value name="VALUE">
- <block type="variables_get" id="N^w~1k_]qE}9Jwq.mb|p">
- <field name="VAR" id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</field>
+ <block type="math_number" id="t*4f|r}=V7ZxUuFt}Y^0">
+ <field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="bqYP1:Ggci%},kna7%_@">
- <field name="VAR" id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</field>
+ <block type="variables_set" id=";ucm/6TxzxOB}L,=6V0|">
+ <field name="VAR" id="u~VUTh^5;XCqV.t^iE,B">calibvalue_blue</field>
<value name="VALUE">
- <block type="math_number" id="~O=H7IkEjk2PEcX*q9zH">
- <field name="NUM">1600</field>
+ <block type="math_number" id="ixAZB)F$Ynj)2QU^`Z9?">
+ <field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="gK1ky@Q;4_}Xt$@cd*BW">
- <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ <block type="variables_set" id="[c@.poi;J+,t;%MX-h)V">
+ <field name="VAR" id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</field>
<value name="VALUE">
- <block type="variables_get" id="I.3Q0|C4i35Sx)2|P{[$">
- <field name="VAR" id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</field>
+ <block type="math_number" id="_Q5JwkrPuEM#+R/5oEG*">
+ <field name="NUM">1150</field>
</block>
</value>
<next>
- <block type="procedures_callnoreturn" id="6`Jd3ABVNCzCdkyill$]" inline="true">
- <mutation name="_set_state_SLD">
- <arg name="_code"/>
- <arg name="_active"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="rr7u?aoq/Hcx9)LX(Jv$">
- <field name="NUM">1</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="qJb1sEu!T/cW+mqH|6Oc">
- <field name="NUM">0</field>
+ <block type="variables_set" id=":*U%Yl[CmePTgEsjdb{6">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ <value name="VALUE">
+ <block type="variables_get" id="N^w~1k_]qE}9Jwq.mb|p">
+ <field name="VAR" id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</field>
</block>
</value>
<next>
- <block type="loop_endless" id="??ZH|RLC1U|c~MVe9I${">
- <statement name="DO">
- <block type="util_python" id="9:U=/@,Hc3J70C9Na;o," inline="true">
- <field name="value">logging.log(logging.DEBUG, 'start')</field>
+ <block type="variables_set" id="bqYP1:Ggci%},kna7%_@">
+ <field name="VAR" id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</field>
+ <value name="VALUE">
+ <block type="math_number" id="~O=H7IkEjk2PEcX*q9zH">
+ <field name="NUM">1600</field>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="gK1ky@Q;4_}Xt$@cd*BW">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ <value name="VALUE">
+ <block type="variables_get" id="I.3Q0|C4i35Sx)2|P{[$">
+ <field name="VAR" id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</field>
+ </block>
+ </value>
<next>
- <block type="procedures_callnoreturn" id="p,0#!:*0*c~lmV%gtaQ`" inline="true">
+ <block type="procedures_callnoreturn" id="6`Jd3ABVNCzCdkyill$]" inline="true">
<mutation name="_set_state_SLD">
<arg name="_code"/>
<arg name="_active"/>
</mutation>
<value name="ARG0">
- <block type="math_number" id="L%*,:(HtlgK(_/a7WcP(">
- <field name="NUM">2</field>
+ <block type="math_number" id="rr7u?aoq/Hcx9)LX(Jv$">
+ <field name="NUM">1</field>
</block>
</value>
<value name="ARG1">
- <block type="math_number" id="g8Lk_tA34OsX@!]LiC73">
- <field name="NUM">1</field>
+ <block type="math_number" id="qJb1sEu!T/cW+mqH|6Oc">
+ <field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="4Z?[|d:[z0zGF-MAuDV[">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- <value name="VALUE">
- <block type="math_number" id="7dq9UhKYcF?CH.:+!OrJ">
- <field name="NUM">3000</field>
- </block>
- </value>
- <next>
- <block type="procedures_callnoreturn" id="3lR3C/Xv:^zlf/_JBvY^" inline="true">
- <mutation name="setConvBeltSpeedSLD">
- <arg name="speed"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="l5c-VK(61=0/J@T38dRO">
- <field name="NUM">512</field>
- </block>
- </value>
+ <block type="loop_endless" id="??ZH|RLC1U|c~MVe9I${">
+ <statement name="DO">
+ <block type="util_python" id="9:U=/@,Hc3J70C9Na;o," inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'start')</field>
<next>
- <block type="controls_whileUntil" id="Y3)fnloS|8,DEOQG{n2-">
- <field name="MODE">UNTIL</field>
- <value name="BOOL">
- <block type="procedures_callreturn" id="mewh8q@GplOPE!2od1f?">
- <mutation name="isEjectionTriggered"/>
+ <block type="procedures_callnoreturn" id="p,0#!:*0*c~lmV%gtaQ`" inline="true">
+ <mutation name="_set_state_SLD">
+ <arg name="_code"/>
+ <arg name="_active"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="L%*,:(HtlgK(_/a7WcP(">
+ <field name="NUM">2</field>
</block>
</value>
- <statement name="DO">
- <block type="variables_set" id="[sz4{]_4m6cHGqtK{PO+">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ <value name="ARG1">
+ <block type="math_number" id="g8Lk_tA34OsX@!]LiC73">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="4Z?[|d:[z0zGF-MAuDV[">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
<value name="VALUE">
- <block type="procedures_callreturn" id="UcL=Uv7S99ju,3n:Y0-7">
- <mutation name="readColorValue"/>
+ <block type="math_number" id="7dq9UhKYcF?CH.:+!OrJ">
+ <field name="NUM">3000</field>
</block>
</value>
<next>
- <block type="controls_if" id="qyW_y}R$-,jF[q1v?Q/p">
- <value name="IF0">
- <block type="logic_compare" id="jW1YS6O$PmDf{zaOQ]oc">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="D#aHaqrz_p7^q/~LW7Y]">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="0Aj9O:QXUr$yIykb^nIN">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
+ <block type="procedures_callnoreturn" id="3lR3C/Xv:^zlf/_JBvY^" inline="true">
+ <mutation name="setConvBeltSpeedSLD">
+ <arg name="speed"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="l5c-VK(61=0/J@T38dRO">
+ <field name="NUM">512</field>
</block>
</value>
- <statement name="DO0">
- <block type="variables_set" id="vpyrCX)b0b8(5Q)/CE$7">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- <value name="VALUE">
- <block type="variables_get" id="#9q1($D*Zqbur;(szG#u">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ <next>
+ <block type="controls_whileUntil" id="Y3)fnloS|8,DEOQG{n2-">
+ <field name="MODE">UNTIL</field>
+ <value name="BOOL">
+ <block type="procedures_callreturn" id="mewh8q@GplOPE!2od1f?">
+ <mutation name="isEjectionTriggered"/>
</block>
</value>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="procedures_callnoreturn" id="dBj`=^uA2PbPQQR)%wCI" inline="true">
- <mutation name="setConvBeltSpeedSLD">
- <arg name="speed"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="@vOXIdm1`/*0?9GK?%k!">
- <field name="NUM">0</field>
- </block>
- </value>
- <next>
- <block type="util_python" id="RTDnf9zEhD_)dv}a{N1h" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
- <next>
- <block type="output_compressor_toggle_state" id="fWq}q)%ocS`?nbbfG?zH">
- <field name="instance_name">TXT_SLD_E5_O8_compressor</field>
- <field name="property_name">on</field>
- <next>
- <block type="util_python" id="r;?8M|)NMD`GAg2sSWt8" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'check counter')</field>
+ <statement name="DO">
+ <block type="variables_set" id="[sz4{]_4m6cHGqtK{PO+">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ <value name="VALUE">
+ <block type="procedures_callreturn" id="UcL=Uv7S99ju,3n:Y0-7">
+ <mutation name="readColorValue"/>
+ </block>
+ </value>
<next>
- <block type="variables_set" id="}a!#}^wyf8QJuRLL;bQq">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- <value name="VALUE">
- <block type="math_number" id="DLeT,8FCW_Fi(rjPFKZt">
- <field name="NUM">0</field>
+ <block type="controls_if" id="qyW_y}R$-,jF[q1v?Q/p">
+ <value name="IF0">
+ <block type="logic_compare" id="jW1YS6O$PmDf{zaOQ]oc">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="D#aHaqrz_p7^q/~LW7Y]">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="0Aj9O:QXUr$yIykb^nIN">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
</block>
</value>
- <next>
- <block type="variables_set" id="^Ku:~)-Palwl:g+NfSj1">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ <statement name="DO0">
+ <block type="variables_set" id="vpyrCX)b0b8(5Q)/CE$7">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
<value name="VALUE">
- <block type="input_mini_switch_get_state" id="Lu/Xqez`AYH(xvU~bo1E">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
+ <block type="variables_get" id="#9q1($D*Zqbur;(szG#u">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
</block>
</value>
+ </block>
+ </statement>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <next>
+ <block type="procedures_callnoreturn" id="dBj`=^uA2PbPQQR)%wCI" inline="true">
+ <mutation name="setConvBeltSpeedSLD">
+ <arg name="speed"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="@vOXIdm1`/*0?9GK?%k!">
+ <field name="NUM">0</field>
+ </block>
+ </value>
+ <next>
+ <block type="util_python" id="RTDnf9zEhD_)dv}a{N1h" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="output_compressor_toggle_state" id="fWq}q)%ocS`?nbbfG?zH">
+ <field name="instance_name">TXT_SLD_E5_O8_compressor</field>
+ <field name="property_name">on</field>
<next>
- <block type="motor_set_speed" id="zkY?|Osg#~$*`Qr8u{uI">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <field name="direction">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number" id="Q~bzD*aUU/rsfp6dM,{(">
- <field name="MOTOR_NUM">350</field>
- </shadow>
- </value>
+ <block type="util_python" id="r;?8M|)NMD`GAg2sSWt8" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'check counter')</field>
<next>
- <block type="controls_whileUntil" id="O{q6_~I-KmQ}1i}%hVj?">
- <field name="MODE">WHILE</field>
- <value name="BOOL">
- <block type="logic_compare" id="sU?{Uav{P@vD5{Sj-kgZ">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="Lis}jL`_`*I$?F^O?ch`">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="]n/~EGON9=EwXNd2=M%h">
- <field name="NUM">29</field>
- </block>
- </value>
+ <block type="variables_set" id="}a!#}^wyf8QJuRLL;bQq">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ <value name="VALUE">
+ <block type="math_number" id="DLeT,8FCW_Fi(rjPFKZt">
+ <field name="NUM">0</field>
</block>
</value>
- <statement name="DO">
- <block type="controls_if" id="`@W^kruj%p|@CI0L{q:#">
- <value name="IF0">
- <block type="logic_compare" id="@ae3R,Z*1Xk2HQpYmMbZ">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="input_mini_switch_get_state" id="$}YI${saB#:;*lq})+P0">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id=")8]F+QO3=p.Lob:_kihY">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
- </block>
- </value>
+ <next>
+ <block type="variables_set" id="^Ku:~)-Palwl:g+NfSj1">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ <value name="VALUE">
+ <block type="input_mini_switch_get_state" id="Lu/Xqez`AYH(xvU~bo1E">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
</block>
</value>
- <statement name="DO0">
- <block type="math_change" id="+!G?mN+l_~T`F7?;!kqp">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- <value name="DELTA">
- <shadow type="math_number" id="Dv~%6T9k^}Hf]%eDBbw?">
- <field name="NUM">1</field>
+ <next>
+ <block type="motor_set_speed" id="zkY?|Osg#~$*`Qr8u{uI">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <field name="direction">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="Q~bzD*aUU/rsfp6dM,{(">
+ <field name="MOTOR_NUM">350</field>
</shadow>
</value>
<next>
- <block type="variables_set" id="rVUY6WB`cem}FiG?5U@9">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
- <value name="VALUE">
- <block type="input_mini_switch_get_state" id="+JLI~]-]6:`p6F,0AM|F">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
- </block>
- </value>
- <next>
- <block type="util_python" id="s;3oKGuf4t~q|)i-o.p3" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'counter: %d', counter)</field>
- <next>
- <block type="util_wait_for" id=",}}{@hG+U_SU9=r~_TSW">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="xklDFBfugxb-GyKkoR,I">
- <field name="NUM">1</field>
- </shadow>
- </value>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="controls_if" id="%=@sT#xE/CAW7pi?{e*#">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="|!dZm[p;Jkup*BTe]pPN" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="#xRgpUtg^E]oMU@V4T`i">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="==O{i~i|bE.5}Xrx_JZP">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="::1,wC7M::ixYbwq9eI3">
- <field name="NUM">200</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="`):_GRc/Y8vqapW5*3kX">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="w0^1{9aXCbvFy,k__.v;">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="`;J,uh@c|r^lW(jy6W]8">
- <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="controls_if" id="C,DeIZKYXXMwTy-|VKDb">
- <value name="IF0">
- <block type="logic_compare" id="4@i%+GywVT/eXFM[n:mG">
- <field name="OP">GT</field>
+ <block type="controls_whileUntil" id="O{q6_~I-KmQ}1i}%hVj?">
+ <field name="MODE">WHILE</field>
+ <value name="BOOL">
+ <block type="logic_compare" id="sU?{Uav{P@vD5{Sj-kgZ">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="E[R=0N3LxmxRCnf0_oI7">
+ <block type="variables_get" id="Lis}jL`_`*I$?F^O?ch`">
<field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
</block>
</value>
<value name="B">
- <block type="math_number" id="t1Wzji0hz}Rv$,y%b7~Z">
- <field name="NUM">5</field>
+ <block type="math_number" id="]n/~EGON9=EwXNd2=M%h">
+ <field name="NUM">29</field>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="motor_stop" id="@Nxv_JCs.5z7;K$Jf8cx">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <next>
- <block type="util_python" id="P)rdQ)El,Oq~@1ue6H(e" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
- <next>
- <block type="procedures_callnoreturn" id="g?crz6vB(IpG*dzi*tN*">
- <mutation name="ejectWhite"/>
- <next>
- <block type="controls_flow_statements" id="~WR8i~(H:4XI5UrbxdRZ">
- <field name="FLOW">BREAK</field>
- </block>
- </next>
+ <statement name="DO">
+ <block type="controls_if" id="`@W^kruj%p|@CI0L{q:#">
+ <value name="IF0">
+ <block type="logic_compare" id="@ae3R,Z*1Xk2HQpYmMbZ">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="input_mini_switch_get_state" id="$}YI${saB#:;*lq})+P0">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
</block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="iNsa5o!.e;YIzvbW_wTv" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="e0]4]%Y_?NoA%%G(m6,~">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="i-{^l%mMu/gl?A`U1oS;">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="8{U:mxgMB(6G-QF,%ZYC">
- <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="up.FB6`Io11NLrrLVsDs">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="8C:-+Nfc|+%LT?1P1WK}">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="y}:.yn}a^s|p6aL-*.E*">
- <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")8]F+QO3=p.Lob:_kihY">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ </block>
+ </value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="controls_if" id="?{-a%bv#)`n#kx%q|]Cz">
- <value name="IF0">
- <block type="logic_compare" id="i1pvi)$d3Oys^]PI7+X:">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="=vx{)D5sb}T$+=K9*l7L">
+ <statement name="DO0">
+ <block type="math_change" id="+!G?mN+l_~T`F7?;!kqp">
<field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="$m1Gf69JGF5p?/Ui~a@c">
- <field name="NUM">14</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="motor_stop" id="x,Hw0K?Oo{A`!:]XO,GN">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <next>
- <block type="util_python" id="KjmL^-U4EG5T*#B,q3v1" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <value name="DELTA">
+ <shadow type="math_number" id="Dv~%6T9k^}Hf]%eDBbw?">
+ <field name="NUM">1</field>
+ </shadow>
+ </value>
<next>
- <block type="procedures_callnoreturn" id="cL]:Qu_iLYtB@^AS:fC2">
- <mutation name="ejectRed"/>
+ <block type="variables_set" id="rVUY6WB`cem}FiG?5U@9">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ <value name="VALUE">
+ <block type="input_mini_switch_get_state" id="+JLI~]-]6:`p6F,0AM|F">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
+ </block>
+ </value>
<next>
- <block type="controls_flow_statements" id=".~.zxr`^*Gcw^7BX`TG6">
- <field name="FLOW">BREAK</field>
+ <block type="util_python" id="s;3oKGuf4t~q|)i-o.p3" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'counter: %d', counter)</field>
+ <next>
+ <block type="util_wait_for" id=",}}{@hG+U_SU9=r~_TSW">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="xklDFBfugxb-GyKkoR,I">
+ <field name="NUM">1</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
</block>
</next>
</block>
</next>
</block>
- </next>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="Elsy}a$4e*xBUg`8eL:f" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="s9|uTTT_y0LPHxIx@b]R">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="QQ%r_Nd368,qw}$0/KFm">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="y)s`tKA^Cy++r-gsGqFD">
- <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="8h].$besY~Tc]TBp*UPQ">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="/^cTiAWo7z7rq.pu,t#J">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="va`hEl#rZ9[sPG`(COsp">
- <field name="NUM">2000</field>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="controls_if" id="@IT7YzVF(Zh;X*C-T*xs">
- <value name="IF0">
- <block type="logic_compare" id="Fa3_6txQs*L35z]0FIpl">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="l1ANb09JI#!q!R8=AKLD">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="y~:??=(1r/zsX?WM=mub">
- <field name="NUM">25</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="motor_stop" id="Vp2M3gw;YRD~2SPd:ijZ">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ </statement>
<next>
- <block type="util_python" id="306U;Vh=uzU#3HX6D.aR" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
- <next>
- <block type="procedures_callnoreturn" id="ThSO,:]IQ-1.G_c;8$4`">
- <mutation name="ejectBlue"/>
- <next>
- <block type="controls_flow_statements" id="*4m_zPA@WtM_dmS!6lO.">
- <field name="FLOW">BREAK</field>
+ <block type="controls_if" id="%=@sT#xE/CAW7pi?{e*#">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="|!dZm[p;Jkup*BTe]pPN" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="#xRgpUtg^E]oMU@V4T`i">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="==O{i~i|bE.5}Xrx_JZP">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="::1,wC7M::ixYbwq9eI3">
+ <field name="NUM">200</field>
+ </block>
+ </value>
</block>
- </next>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="`):_GRc/Y8vqapW5*3kX">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="w0^1{9aXCbvFy,k__.v;">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="`;J,uh@c|r^lW(jy6W]8">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
- </next>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="C,DeIZKYXXMwTy-|VKDb">
+ <value name="IF0">
+ <block type="logic_compare" id="4@i%+GywVT/eXFM[n:mG">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="E[R=0N3LxmxRCnf0_oI7">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="t1Wzji0hz}Rv$,y%b7~Z">
+ <field name="NUM">5</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="motor_stop" id="@Nxv_JCs.5z7;K$Jf8cx">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <next>
+ <block type="util_python" id="P)rdQ)El,Oq~@1ue6H(e" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="procedures_callnoreturn" id="g?crz6vB(IpG*dzi*tN*">
+ <mutation name="ejectWhite"/>
+ <next>
+ <block type="controls_flow_statements" id="~WR8i~(H:4XI5UrbxdRZ">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="iNsa5o!.e;YIzvbW_wTv" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="e0]4]%Y_?NoA%%G(m6,~">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="i-{^l%mMu/gl?A`U1oS;">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="8{U:mxgMB(6G-QF,%ZYC">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="up.FB6`Io11NLrrLVsDs">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="8C:-+Nfc|+%LT?1P1WK}">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="y}:.yn}a^s|p6aL-*.E*">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="?{-a%bv#)`n#kx%q|]Cz">
+ <value name="IF0">
+ <block type="logic_compare" id="i1pvi)$d3Oys^]PI7+X:">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="=vx{)D5sb}T$+=K9*l7L">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="$m1Gf69JGF5p?/Ui~a@c">
+ <field name="NUM">14</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="motor_stop" id="x,Hw0K?Oo{A`!:]XO,GN">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <next>
+ <block type="util_python" id="KjmL^-U4EG5T*#B,q3v1" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="procedures_callnoreturn" id="cL]:Qu_iLYtB@^AS:fC2">
+ <mutation name="ejectRed"/>
+ <next>
+ <block type="controls_flow_statements" id=".~.zxr`^*Gcw^7BX`TG6">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="Elsy}a$4e*xBUg`8eL:f" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="s9|uTTT_y0LPHxIx@b]R">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="QQ%r_Nd368,qw}$0/KFm">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="y)s`tKA^Cy++r-gsGqFD">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="8h].$besY~Tc]TBp*UPQ">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="/^cTiAWo7z7rq.pu,t#J">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="va`hEl#rZ9[sPG`(COsp">
+ <field name="NUM">2000</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="controls_if" id="@IT7YzVF(Zh;X*C-T*xs">
+ <value name="IF0">
+ <block type="logic_compare" id="Fa3_6txQs*L35z]0FIpl">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="l1ANb09JI#!q!R8=AKLD">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="y~:??=(1r/zsX?WM=mub">
+ <field name="NUM">25</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="motor_stop" id="Vp2M3gw;YRD~2SPd:ijZ">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <next>
+ <block type="util_python" id="306U;Vh=uzU#3HX6D.aR" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="procedures_callnoreturn" id="ThSO,:]IQ-1.G_c;8$4`">
+ <mutation name="ejectBlue"/>
+ <next>
+ <block type="controls_flow_statements" id="*4m_zPA@WtM_dmS!6lO.">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
</block>
</next>
</block>
</statement>
+ <next>
+ <block type="util_wait_for" id="x6/]Zl3-?BK17)M_Y;7O">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="Y|(QX~;eqSh42`H}AOb[">
+ <field name="NUM">500</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
- </statement>
- <next>
- <block type="util_wait_for" id="x6/]Zl3-?BK17)M_Y;7O">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="Y|(QX~;eqSh42`H}AOb[">
- <field name="NUM">500</field>
- </shadow>
- </value>
- </block>
</next>
</block>
</next>
@@ -566,13 +754,13 @@
</block>
</next>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
</next>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -588,7 +776,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2279">
+ <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="3295">
<field name="NAME">get_calib_data_SLD_defaults</field>
<statement name="STACK">
<block type="util_python" id="cO!#.ICg79WkS?A?cG[j" inline="true">
@@ -611,7 +799,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2444">
+ <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="3460">
<field name="NAME">get_calib_data_SLD</field>
<statement name="STACK">
<block type="util_python" id="t;Zg(`vb3R)aQZ])LhpC" inline="true">
@@ -634,7 +822,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2609">
+ <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="3625">
<mutation>
<arg name="_data" varid="$E/GDp,,dwQrGbs7N*=C" argid="^}Z*XZLpIfstV5L7ggN|"/>
</mutation>
@@ -690,7 +878,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="2833">
+ <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="3849">
<mutation>
<arg name="_code" varid="x?rbx}Z!7+Jx9E.L=:pX" argid=",ZCb|vi(m3g0A4u*(!{`"/>
<arg name="_active" varid="Hq*BSR/(QEo9c0kQRW{y" argid="mqa@Al(.5xeP*B]Jl`8%"/>
@@ -773,7 +961,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="3187">
+ <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="4203">
<field name="NAME">get_state_code_SLD</field>
<statement name="STACK">
<block type="util_python" id="(HOmJd*Bw@nwPNCHY0mu" inline="true">
@@ -786,7 +974,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3323">
+ <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="4339">
<field name="NAME">get_state_active_SLD</field>
<statement name="STACK">
<block type="util_python" id="Ht%%JB`?HUum}h9K*t-9" inline="true">
@@ -799,7 +987,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3459">
+ <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="4475">
<mutation>
<arg name="speed" varid="1X|m)*QO^oo}EfHf=nBO" argid="pePpK@*+w{Ry]Ltz(Z95"/>
</mutation>
@@ -825,7 +1013,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="3634">
+ <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="4650">
<field name="NAME">ejectWhite</field>
<statement name="STACK">
<block type="util_python" id="L9].u`N0?,H+tU)=o?Me" inline="true">
@@ -901,7 +1089,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="4011">
+ <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="5027">
<field name="NAME">ejectRed</field>
<statement name="STACK">
<block type="util_python" id="?:UCrMJUl%q(jYcN8(IE" inline="true">
@@ -977,7 +1165,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4388">
+ <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="5404">
<field name="NAME">ejectBlue</field>
<statement name="STACK">
<block type="util_python" id="n-s%L0Ie7qkf@WU-[H8o" inline="true">
@@ -1053,7 +1241,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="4765">
+ <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="5781">
<field name="NAME">isColorSensorTriggered</field>
<statement name="STACK">
<block type="util_python" id="23n|f!bBfO#m?@_HlHB}" inline="true">
@@ -1067,7 +1255,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="4901">
+ <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="5917">
<field name="NAME">isEjectionTriggered</field>
<statement name="STACK">
<block type="util_python" id="wrT1c1;%@kF-Riy28O;." inline="true">
@@ -1081,7 +1269,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="5037">
+ <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="6053">
<field name="NAME">isWhite</field>
<statement name="STACK">
<block type="util_python" id="h?(Tr@S1VYchJ5e6())[" inline="true">
@@ -1095,7 +1283,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="5173">
+ <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="6189">
<field name="NAME">isRed</field>
<statement name="STACK">
<block type="util_python" id="fN{]~9g]|*Kx,bpmy_i$" inline="true">
@@ -1109,7 +1297,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="5309">
+ <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="6325">
<field name="NAME">isBlue</field>
<statement name="STACK">
<block type="util_python" id="U(Y(8WN=vCJzgw~oLdbs" inline="true">
@@ -1123,7 +1311,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5445">
+ <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="6461">
<field name="NAME">readColorValue</field>
<statement name="STACK">
<block type="util_python" id="JSm|]EZ0cs6:5)g-C23(" inline="true">
diff --git a/lib/SLD.py b/lib/SLD.py
index cff8ce1815bc91053403df2d3734ad4d8be42b7e..7825af8facd124248fc8941c2c327438b4982b62 100644
--- a/lib/SLD.py
+++ b/lib/SLD.py
@@ -13,6 +13,9 @@ _active = None
speed = None
thresh_white_red = None
thresh_red_blue = None
+calibvalue_white = None
+calibvalue_red = None
+calibvalue_blue = None
state_code = None
state_active = None
thresh_white_red_defaults = None
@@ -25,18 +28,52 @@ lastStateCounterSwitch = None
def set_thresh_white_red(v):
- global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
thresh_white_red = v
def set_thresh_red_blue(v):
- global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
thresh_red_blue = v
+def get_thresh_list():
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ return [thresh_white_red, thresh_red_blue]
+
+
+def calculate_thresh():
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ thresh_white_red = (calibvalue_white + calibvalue_red) / 2
+ thresh_red_blue = (calibvalue_red + calibvalue_blue) / 2
+
+
+def get_calibvalue_list():
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ return [calibvalue_white, calibvalue_red, calibvalue_blue]
+
+
+def set_calibvalue_white(v):
+ global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ calibvalue_white = v
+
+
+def set_calibvalue_red(v):
+ global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ calibvalue_red = v
+
+
+def set_calibvalue_blue(v):
+ global _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ calibvalue_blue = v
+
+
def thread_SLD():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
+ calibvalue_white = 0
+ calibvalue_red = 0
+ calibvalue_blue = 0
thresh_white_red_defaults = 1150
thresh_white_red = thresh_white_red_defaults
thresh_red_blue_defaults = 1600
@@ -89,26 +126,26 @@ def thread_SLD():
def get_calib_data_SLD_defaults():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
return [thresh_white_red_defaults, thresh_red_blue_defaults]
def get_calib_data_SLD():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
return [thresh_white_red, thresh_red_blue]
def set_calib_data_SLD(_data):
- global v, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, _data)
thresh_white_red = _data[0]
thresh_red_blue = _data[1]
def _set_state_SLD(_code, _active):
- global v, _data, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
if state_code != _code or state_active != _active:
_ts_state = 0
@@ -117,26 +154,26 @@ def _set_state_SLD(_code, _active):
def get_state_code_SLD():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return state_code
def get_state_active_SLD():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return state_active
def setConvBeltSpeedSLD(speed):
- global v, _data, _code, _active, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, 'speed: %d', speed)
TXT_SLD_E5_M1_encodermotor.set_speed(int(speed), Motor.CW)
TXT_SLD_E5_M1_encodermotor.start()
def ejectWhite():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O5_magnetic_valve.on()
time.sleep(0.5)
@@ -150,7 +187,7 @@ def ejectWhite():
def ejectRed():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O6_magnetic_valve.on()
time.sleep(0.5)
@@ -164,7 +201,7 @@ def ejectRed():
def ejectBlue():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O7_magnetic_valve.on()
time.sleep(0.5)
@@ -178,37 +215,37 @@ def ejectBlue():
def isColorSensorTriggered():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I1_photo_transistor.is_dark()
def isEjectionTriggered():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I3_photo_transistor.is_dark()
def isWhite():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I6_photo_transistor.is_dark()
def isRed():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I7_photo_transistor.is_dark()
def isBlue():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I8_photo_transistor.is_dark()
def readColorValue():
- global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global v, _data, _code, _active, speed, thresh_white_red, thresh_red_blue, calibvalue_white, calibvalue_red, calibvalue_blue, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I2_color_sensor.get_voltage()