diff --git a/FactoryCalib.blockly b/FactoryCalib.blockly
index 621baf800df0bc94c5157ad95476eabe8f0774e7..de50bce5e1e41735ba2aec40ee7e522ee0efdc7b 100644
--- a/FactoryCalib.blockly
+++ b/FactoryCalib.blockly
@@ -5,7 +5,7 @@
<field name="instance_name">txt_label_version</field>
<value name="value">
<shadow type="text" id="T9nyAyJIRL7l_Nn(S-rd">
- <field name="TEXT">Version 2022/11/04</field>
+ <field name="TEXT">Version 2022/11/07</field>
</shadow>
</value>
<next>
diff --git a/FactoryCalib.py b/FactoryCalib.py
index 6eb2fa6ecb6d1edc8eac389d2ac32b71237ea945..ca154aa683376a1b7354ca79761263611eb3218b 100644
--- a/FactoryCalib.py
+++ b/FactoryCalib.py
@@ -23,7 +23,7 @@ from lib.VGR_Axes1Ref import *
from lib.VGR_NodeRED import *
-display.set_attr("txt_label_version.text", str('Version 2022/11/04'))
+display.set_attr("txt_label_version.text", str('Version 2022/11/07'))
initlib_log(5)
threading.Thread(target=thread_lights, daemon=True).start()
initlib_Axes1Ref()
diff --git a/lib/NodeRED.blockly b/lib/NodeRED.blockly
index 33bfa1ea09a5fc6a8b9bd9a649b1ba8e9b9874cb..c6cac11ca555c6d723bd7e22270aeac00d479e22 100644
--- a/lib/NodeRED.blockly
+++ b/lib/NodeRED.blockly
@@ -1137,7 +1137,7 @@
<field name="OP">EQ</field>
<value name="A">
<block type="variables_get" id="$fas2_adI*|Cw;HQeIg5">
- <field name="VAR" id="#ZVIt[,H@%Ms3XJhPF7y">gtyp_Setup_i_Pos_Selection</field>
+ <field name="VAR" id=")XfA{xXx7sN)MA=qSY=H">gtyp_Setup_i_Color_Sensor_Selection</field>
</block>
</value>
<value name="B">
diff --git a/lib/NodeRED.py b/lib/NodeRED.py
index 21888cbc267fa86890ae9711c95a2a3dc4f96c8e..32a7e36ecd110dd6330d66039617527f440b5372 100644
--- a/lib/NodeRED.py
+++ b/lib/NodeRED.py
@@ -141,7 +141,7 @@ def processReceivedMessage(topic, m_decode):
gtyp_Setup_i_Color_Sensor_Selection = int(m_decode, 10)
if gtyp_Setup_i_Color_Sensor_Selection == 1:
logging.debug('1')
- elif gtyp_Setup_i_Pos_Selection == 2:
+ elif gtyp_Setup_i_Color_Sensor_Selection == 2:
logging.debug('2')
else:
logging.debug('none')
diff --git a/lib/SLD.blockly b/lib/SLD.blockly
index 53b0381a04694febedd8c0a0c21177fb1b543e5a..bb125d010d282157de5381ac384041faf49c779b 100644
--- a/lib/SLD.blockly
+++ b/lib/SLD.blockly
@@ -4,12 +4,13 @@
<variable id="x?rbx}Z!7+Jx9E.L=:pX">_code</variable>
<variable id="Hq*BSR/(QEo9c0kQRW{y">_active</variable>
<variable id="1X|m)*QO^oo}EfHf=nBO">speed</variable>
+ <variable id="2hXKDa]i2lK78Fcn!kS7">v</variable>
<variable id="78bW9521)(I[oMydfNIz">state_code</variable>
<variable id="[V))lfBm^j7t@3LJVWGf">state_active</variable>
- <variable id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</variable>
- <variable id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</variable>
<variable id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</variable>
<variable id="c5f:;cPsd?218L=sb[nF">thresh_red_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>
<variable id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</variable>
<variable id="?Hi+81vv*K@yZim!8fD_">lastColorValue</variable>
@@ -19,7 +20,41 @@
<block type="util_python_imports" id=".e$$DS-W;QA]vq3]8xZ(" x="0" y="0">
<field name="value">import logging</field>
</block>
- <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="101">
+ <block type="procedures_defnoreturn" id="CpW/ole-H2rC#biYY(;s" x="0" y="103">
+ <mutation>
+ <arg name="v" varid="2hXKDa]i2lK78Fcn!kS7" argid=",],|#/r)~Xl=JL*8taHJ"/>
+ </mutation>
+ <field name="NAME">set_thresh_white_red</field>
+ <field name=",],|#/r)~Xl=JL*8taHJ">v</field>
+ <statement name="STACK">
+ <block type="variables_set" id="3*3|dp7u~ki(*nK_4Ekt">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ <value name="VALUE">
+ <block type="variables_get" id="/o6UTd6e2cy=Pj`s9)(c">
+ <field name="VAR" id="2hXKDa]i2lK78Fcn!kS7">v</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="h5y$(R^WIO%kMWuCgE+;" x="0" y="243">
+ <mutation>
+ <arg name="v" varid="2hXKDa]i2lK78Fcn!kS7" argid="Nz7/7d0Ek!?Vdf4NY1ae"/>
+ </mutation>
+ <field name="NAME">set_thresh_red_blue</field>
+ <field name="Nz7/7d0Ek!?Vdf4NY1ae">v</field>
+ <statement name="STACK">
+ <block type="variables_set" id="eNRG|p(-%_Yz!$K``W6e">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ <value name="VALUE">
+ <block type="variables_get" id="2|LmmIczudHT]_cFHQ(?">
+ <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="383">
<field name="NAME">thread_SLD</field>
<statement name="STACK">
<block type="util_python" id="or=tulIX]{S?#ofKV+]h" inline="true">
@@ -73,254 +108,273 @@
</block>
</value>
<next>
- <block type="util_python" id="n.p8_b8KsLuV8+Nn5|_N" inline="true">
- <field name="value">threading.Thread(target=thread_update_SLD, daemon=True).start()</field>
- <next>
- <block type="loop_endless" id="??ZH|RLC1U|c~MVe9I${">
- <statement name="DO">
- <block type="controls_if" id="4H`AQ+![PHR,)B9=[ZZs">
- <mutation elseif="1"/>
- <value name="IF0">
- <block type="logic_compare" id="sf/MV)Uz7p2R7aQPw3Az">
- <field name="OP">EQ</field>
- <value name="A">
- <block type="import_function_return" id="sfPm0O_ulXsuW13fY*h!" disabled="true">
- <mutation parentId="*Po6~DzRyM9/RWe)v-Dm"/>
- <field name="name">get_factory_error_state</field>
- <data>*Po6~DzRyM9/RWe)v-Dm</data>
- </block>
- </value>
- <value name="B">
- <block type="text" id="^9RQWz)BV(S!A;c3gpgh">
- <field name="TEXT">SLD</field>
- </block>
- </value>
+ <block type="loop_endless" id="??ZH|RLC1U|c~MVe9I${">
+ <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="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="DO0">
- <block type="procedures_callnoreturn" id="nVMc-C),14c@QNCd.(5S" inline="true">
- <mutation name="_set_state_SLD">
- <arg name="_code"/>
- <arg name="_active"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="3THyKnJK}E.!w#oR6/L{">
- <field name="NUM">4</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id=",QQX!E9Odk3H2W4VI?Nh">
- <field name="NUM">1</field>
- </block>
- </value>
- <next>
- <block type="display_set_label_text" id="-=u+bL8~=Ofog:|eNrpo">
- <field name="instance_name">txt_label_message1</field>
- <value name="value">
- <shadow type="text" id="WR82C}msfCLs,r$ogw@H">
- <field name="TEXT">ERROR SLD: Please confirm with ACK button!</field>
- </shadow>
- </value>
- </block>
- </next>
- </block>
- </statement>
- <value name="IF1">
- <block type="procedures_callreturn" id="Y%:9e@vMPRAJ!u.PDzd$">
- <mutation name="isColorSensorTriggered"/>
+ <value name="ARG1">
+ <block type="math_number" id="g8Lk_tA34OsX@!]LiC73">
+ <field name="NUM">1</field>
</block>
</value>
- <statement name="DO1">
- <block type="util_python" id="9:U=/@,Hc3J70C9Na;o," inline="true">
- <field name="value">logging.log(logging.DEBUG, 'start')</field>
+ <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="p,0#!:*0*c~lmV%gtaQ`" inline="true">
- <mutation name="_set_state_SLD">
- <arg name="_code"/>
- <arg name="_active"/>
+ <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="L%*,:(HtlgK(_/a7WcP(">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="g8Lk_tA34OsX@!]LiC73">
- <field name="NUM">1</field>
+ <block type="math_number" id="l5c-VK(61=0/J@T38dRO">
+ <field name="NUM">512</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 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>
- <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>
+ <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="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="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>
- <statement name="DO">
- <block type="variables_set" id="[sz4{]_4m6cHGqtK{PO+">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ <statement name="DO0">
+ <block type="variables_set" id="vpyrCX)b0b8(5Q)/CE$7">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
<value name="VALUE">
- <block type="procedures_callreturn" id="UcL=Uv7S99ju,3n:Y0-7">
- <mutation name="readColorValue"/>
+ <block type="variables_get" id="#9q1($D*Zqbur;(szG#u">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</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>
- </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>
- </block>
- </value>
- </block>
- </statement>
- </block>
- </next>
</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="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>
+ <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="RTDnf9zEhD_)dv}a{N1h" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <block type="util_python" id="r;?8M|)NMD`GAg2sSWt8" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'check counter')</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>
+ <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>
<next>
- <block type="util_python" id="r;?8M|)NMD`GAg2sSWt8" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'check counter')</field>
+ <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>
<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>
+ <block type="motor_set_speed" id="zkY?|Osg#~$*`Qr8u{uI">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <field name="direction">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="Q~bzD*aUU/rsfp6dM,{(">
+ <field name="MOTOR_NUM">350</field>
+ </shadow>
</value>
<next>
- <block type="variables_set" id="^Ku:~)-Palwl:g+NfSj1">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
- <value name="VALUE">
- <block type="input_mini_switch_get_state" id="Lu/Xqez`AYH(xvU~bo1E">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
+ <block type="controls_whileUntil" id="O{q6_~I-KmQ}1i}%hVj?">
+ <field name="MODE">WHILE</field>
+ <value name="BOOL">
+ <block type="logic_compare" id="sU?{Uav{P@vD5{Sj-kgZ">
+ <field name="OP">LTE</field>
+ <value name="A">
+ <block type="variables_get" id="Lis}jL`_`*I$?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>
</value>
- <next>
- <block type="motor_set_speed" id="zkY?|Osg#~$*`Qr8u{uI">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <field name="direction">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number" id="Q~bzD*aUU/rsfp6dM,{(">
- <field name="MOTOR_NUM">350</field>
- </shadow>
+ <statement name="DO">
+ <block type="controls_if" id="`@W^kruj%p|@CI0L{q:#">
+ <value name="IF0">
+ <block type="logic_compare" id="@ae3R,Z*1Xk2HQpYmMbZ">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="input_mini_switch_get_state" id="$}YI${saB#:;*lq})+P0">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")8]F+QO3=p.Lob:_kihY">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ </block>
+ </value>
+ </block>
</value>
+ <statement name="DO0">
+ <block type="math_change" id="+!G?mN+l_~T`F7?;!kqp">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ <value name="DELTA">
+ <shadow type="math_number" id="Dv~%6T9k^}Hf]%eDBbw?">
+ <field name="NUM">1</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="variables_set" id="rVUY6WB`cem}FiG?5U@9">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ <value name="VALUE">
+ <block type="input_mini_switch_get_state" id="+JLI~]-]6:`p6F,0AM|F">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
+ </block>
+ </value>
+ <next>
+ <block type="util_python" id="s;3oKGuf4t~q|)i-o.p3" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'counter: %d', counter)</field>
+ <next>
+ <block type="util_wait_for" id=",}}{@hG+U_SU9=r~_TSW">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="xklDFBfugxb-GyKkoR,I">
+ <field name="NUM">1</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
<next>
- <block type="controls_whileUntil" id="O{q6_~I-KmQ}1i}%hVj?">
- <field name="MODE">WHILE</field>
- <value name="BOOL">
- <block type="logic_compare" id="sU?{Uav{P@vD5{Sj-kgZ">
- <field name="OP">LTE</field>
+ <block type="controls_if" id="%=@sT#xE/CAW7pi?{e*#">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="|!dZm[p;Jkup*BTe]pPN" inline="false">
+ <field name="OP">AND</field>
<value name="A">
- <block type="variables_get" id="Lis}jL`_`*I$?F^O?ch`">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ <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="math_number" id="]n/~EGON9=EwXNd2=M%h">
- <field name="NUM">29</field>
+ <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="DO">
- <block type="controls_if" id="`@W^kruj%p|@CI0L{q:#">
+ <statement name="DO0">
+ <block type="controls_if" id="C,DeIZKYXXMwTy-|VKDb">
<value name="IF0">
- <block type="logic_compare" id="@ae3R,Z*1Xk2HQpYmMbZ">
- <field name="OP">NEQ</field>
+ <block type="logic_compare" id="4@i%+GywVT/eXFM[n:mG">
+ <field name="OP">GT</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 type="variables_get" id="E[R=0N3LxmxRCnf0_oI7">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</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 type="math_number" id="t1Wzji0hz}Rv$,y%b7~Z">
+ <field name="NUM">5</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
- <block type="math_change" id="+!G?mN+l_~T`F7?;!kqp">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- <value name="DELTA">
- <shadow type="math_number" id="Dv~%6T9k^}Hf]%eDBbw?">
- <field name="NUM">1</field>
- </shadow>
- </value>
+ <block type="motor_stop" id="@Nxv_JCs.5z7;K$Jf8cx">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
<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>
+ <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="util_python" id="s;3oKGuf4t~q|)i-o.p3" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'counter: %d', counter)</field>
+ <block type="procedures_callnoreturn" id="g?crz6vB(IpG*dzi*tN*">
+ <mutation name="ejectWhite"/>
<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 type="controls_flow_statements" id="~WR8i~(H:4XI5UrbxdRZ">
+ <field name="FLOW">BREAK</field>
</block>
</next>
</block>
@@ -329,313 +383,169 @@
</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>
+ </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>
- <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>
+ <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>
- </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>
+ </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>
- <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>
+ <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>
- </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>
+ </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>
- <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>
+ <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="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 type="controls_flow_statements" id=".~.zxr`^*Gcw^7BX`TG6">
+ <field name="FLOW">BREAK</field>
</block>
</next>
</block>
- </statement>
+ </next>
</block>
- </statement>
+ </next>
</block>
- </next>
+ </statement>
</block>
</statement>
- <next>
- <block type="controls_if" id="}{Vt#WBd0U9-/bN#%lCH">
- <mutation elseif="0" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="SE,oX0aW1b%CffPm.L|Z" inline="false">
- <field name="OP">OR</field>
+ <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="logic_compare" id="R`A77Ja/#{2bGx+]6f3p">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="D;}:PEv4O:W54-^i2hgw">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="y|UE(xv|{/3CvV|ot-K/">
- <field name="NUM">200</field>
- </block>
- </value>
+ <block type="variables_get" id="QQ%r_Nd368,qw}$0/KFm">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
</block>
</value>
<value name="B">
- <block type="logic_compare" id="`ePuYg7l`=z0dT$O]Z^Q">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="55qfiW0=.-B/Q(xz|hw=">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="/#B:Ei=L08guFuB4cu:C">
- <field name="NUM">2000</field>
- </block>
- </value>
+ <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>
- <statement name="DO0">
- <block type="import_function_noreturn" id="obocv-?We~2|A#N3SHW|" inline="true" disabled="true">
- <mutation parentId="wSoc08Sb1t[JV3?PZ4jG"/>
- <field name="name">set_factory_error_state</field>
- <data>wSoc08Sb1t[JV3?PZ4jG</data>
- <next>
- <block type="util_python" id="Nv,aaR5BQg0o5]2d?h-c" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'error: color out of bounds')</field>
+ <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>
- </next>
+ </value>
+ <value name="B">
+ <block type="math_number" id="va`hEl#rZ9[sPG`(COsp">
+ <field name="NUM">2000</field>
+ </block>
+ </value>
</block>
- </statement>
- <statement name="ELSE">
- <block type="procedures_callnoreturn" id="X.7!8r7*^P{Or{a=+E@S" inline="true">
- <mutation name="_set_state_SLD">
- <arg name="_code"/>
- <arg name="_active"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="PBr.i?/R=U1Kt]J|R6Bg">
- <field name="NUM">1</field>
+ </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="ARG1">
- <block type="math_number" id="BG_/:/aH:t42kJ`2pYEY">
- <field name="NUM">0</field>
+ <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="EO=.{66=Z-)x=YE9UIRE" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'sorted')</field>
+ <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$4`">
+ <mutation name="ejectBlue"/>
+ <next>
+ <block type="controls_flow_statements" id="*4m_zPA@WtM_dmS!6lO.">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
</next>
</block>
</statement>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
+ </statement>
+ <next>
+ <block type="util_wait_for" id="x6/]Zl3-?BK17)M_Y;7O">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="Y|(QX~;eqSh42`H}AOb[">
+ <field name="NUM">500</field>
+ </shadow>
+ </value>
+ </block>
</next>
</block>
</next>
@@ -658,21 +568,11 @@
</block>
</next>
</block>
- </statement>
- <next>
- <block type="util_wait_for" id="x6/]Zl3-?BK17)M_Y;7O">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="Y|(QX~;eqSh42`H}AOb[">
- <field name="NUM">500</field>
- </shadow>
- </value>
- </block>
</next>
</block>
- </statement>
+ </next>
</block>
- </next>
+ </statement>
</block>
</next>
</block>
@@ -688,7 +588,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2378">
+ <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2279">
<field name="NAME">get_calib_data_SLD_defaults</field>
<statement name="STACK">
<block type="util_python" id="cO!#.ICg79WkS?A?cG[j" inline="true">
@@ -711,7 +611,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2539">
+ <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2444">
<field name="NAME">get_calib_data_SLD</field>
<statement name="STACK">
<block type="util_python" id="t;Zg(`vb3R)aQZ])LhpC" inline="true">
@@ -734,7 +634,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2700">
+ <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2609">
<mutation>
<arg name="_data" varid="$E/GDp,,dwQrGbs7N*=C" argid="^}Z*XZLpIfstV5L7ggN|"/>
</mutation>
@@ -790,92 +690,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id=",nyl?Z;M8PRY0Bu|9@XY" x="0" y="2919">
- <field name="NAME">thread_update_SLD</field>
- <statement name="STACK">
- <block type="util_python" id="D)[fw5QAGMWYCwwf5|$H" inline="true">
- <field name="value">logging.log(logging.TRACE, '-')</field>
- <next>
- <block type="variables_set" id="A!8!lWzAY|LEJw:!}[vu">
- <field name="VAR" id="g%%DHmT#UX~.YdQn3gcf">_ts_state</field>
- <value name="VALUE">
- <block type="math_number" id=")Op~1Xo-jR1.hcl/8qI!">
- <field name="NUM">0</field>
- </block>
- </value>
- <next>
- <block type="loop_endless" id="^K#bV/dWnbhyByb7X~Gy">
- <statement name="DO">
- <block type="controls_if" id="paSb85/~`)/ftd/zCVER">
- <value name="IF0">
- <block type="logic_compare" id="4LV%zy(wxH*^_^Win.V)">
- <field name="OP">GT</field>
- <value name="A">
- <block type="math_arithmetic" id="sH[EX[*clgp.^9mAlSDa">
- <field name="OP">MINUS</field>
- <value name="A">
- <block type="util_runtime_measurement" id="pl7p|I3!nb4L2LpO=eQ$">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="mGDIfF?xgF67~)/NSo6f">
- <field name="VAR" id="g%%DHmT#UX~.YdQn3gcf">_ts_state</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="ulg*^*h(%;+e^uRB@Ytz">
- <field name="NUM">10000</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="import_function_noreturn" id="ys|+PWnX.Qx,0J5wC.7E" inline="true" disabled="true">
- <mutation parentId="rZjuCnOSx#4%euwOJX]X"/>
- <field name="name">update_display_SLD</field>
- <data>rZjuCnOSx#4%euwOJX]X</data>
- <next>
- <block type="import_function_noreturn" id="0(o(njJj3}zEguj9aSui" inline="true" disabled="true">
- <mutation parentId="`$(l[O3$4[Vf/KP(cLR@"/>
- <field name="name">publish_state_SLD</field>
- <data>`$(l[O3$4[Vf/KP(cLR@</data>
- <next>
- <block type="variables_set" id="g#_Ae9JA~Y_VWaf,iUjd">
- <field name="VAR" id="g%%DHmT#UX~.YdQn3gcf">_ts_state</field>
- <value name="VALUE">
- <block type="util_runtime_measurement" id="xjYwtP9:Z|gVtEOB.MGA">
- <field name="TIME">MILLISECOND</field>
- </block>
- </value>
- </block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="util_wait_for" id="BLXZ=m5u9(`{mURPH7kJ">
- <field name="format">s</field>
- <value name="value">
- <shadow type="math_number" id="yhCpd4@`)g)YI18EIaO4">
- <field name="NUM">1</field>
- </shadow>
- </value>
- </block>
- </next>
- </block>
- </statement>
- </block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- </block>
- <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="3298">
+ <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="2833">
<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%"/>
@@ -958,7 +773,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="3643">
+ <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="3187">
<field name="NAME">get_state_code_SLD</field>
<statement name="STACK">
<block type="util_python" id="(HOmJd*Bw@nwPNCHY0mu" inline="true">
@@ -971,7 +786,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3776">
+ <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3323">
<field name="NAME">get_state_active_SLD</field>
<statement name="STACK">
<block type="util_python" id="Ht%%JB`?HUum}h9K*t-9" inline="true">
@@ -984,7 +799,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3909">
+ <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3459">
<mutation>
<arg name="speed" varid="1X|m)*QO^oo}EfHf=nBO" argid="pePpK@*+w{Ry]Ltz(Z95"/>
</mutation>
@@ -1010,7 +825,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="4080">
+ <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="3634">
<field name="NAME">ejectWhite</field>
<statement name="STACK">
<block type="util_python" id="L9].u`N0?,H+tU)=o?Me" inline="true">
@@ -1086,7 +901,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="4447">
+ <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="4011">
<field name="NAME">ejectRed</field>
<statement name="STACK">
<block type="util_python" id="?:UCrMJUl%q(jYcN8(IE" inline="true">
@@ -1162,7 +977,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4814">
+ <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4388">
<field name="NAME">ejectBlue</field>
<statement name="STACK">
<block type="util_python" id="n-s%L0Ie7qkf@WU-[H8o" inline="true">
@@ -1238,7 +1053,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="5181">
+ <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="4765">
<field name="NAME">isColorSensorTriggered</field>
<statement name="STACK">
<block type="util_python" id="23n|f!bBfO#m?@_HlHB}" inline="true">
@@ -1252,7 +1067,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="5314">
+ <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="4901">
<field name="NAME">isEjectionTriggered</field>
<statement name="STACK">
<block type="util_python" id="wrT1c1;%@kF-Riy28O;." inline="true">
@@ -1266,7 +1081,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="5447">
+ <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="5037">
<field name="NAME">isWhite</field>
<statement name="STACK">
<block type="util_python" id="h?(Tr@S1VYchJ5e6())[" inline="true">
@@ -1280,7 +1095,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="5580">
+ <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="5173">
<field name="NAME">isRed</field>
<statement name="STACK">
<block type="util_python" id="fN{]~9g]|*Kx,bpmy_i$" inline="true">
@@ -1294,7 +1109,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="5713">
+ <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="5309">
<field name="NAME">isBlue</field>
<statement name="STACK">
<block type="util_python" id="U(Y(8WN=vCJzgw~oLdbs" inline="true">
@@ -1308,7 +1123,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5846">
+ <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5445">
<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 9b9238152bfd5c96bc0deca648d7c67360c00ac8..cff8ce1815bc91053403df2d3734ad4d8be42b7e 100644
--- a/lib/SLD.py
+++ b/lib/SLD.py
@@ -3,20 +3,20 @@ import time
from fischertechnik.controller.Motor import Motor
from lib.controller import *
-from lib.display import *
from numbers import Number
+v = None
_data = None
_code = None
_active = None
speed = None
+thresh_white_red = None
+thresh_red_blue = None
state_code = None
state_active = None
thresh_white_red_defaults = None
thresh_red_blue_defaults = None
-thresh_white_red = None
-thresh_red_blue = None
_ts_state = None
detectedColorValue = None
lastColorValue = None
@@ -24,101 +24,91 @@ counter = None
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
+ 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
+ thresh_red_blue = v
+
+
def thread_SLD():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, '-')
thresh_white_red_defaults = 1150
thresh_white_red = thresh_white_red_defaults
thresh_red_blue_defaults = 1600
thresh_red_blue = thresh_red_blue_defaults
_set_state_SLD(1, 0)
- threading.Thread(target=thread_update_SLD, daemon=True).start()
while True:
- if 0 == 'SLD':
- _set_state_SLD(4, 1)
- display.set_attr("txt_label_message1.text", str('ERROR SLD: Please confirm with ACK button!'))
- elif isColorSensorTriggered():
- logging.log(logging.DEBUG, 'start')
- _set_state_SLD(2, 1)
- detectedColorValue = 3000
- setConvBeltSpeedSLD(512)
- while not isEjectionTriggered():
- lastColorValue = readColorValue()
- if lastColorValue < detectedColorValue:
- detectedColorValue = lastColorValue
- setConvBeltSpeedSLD(0)
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- TXT_SLD_E5_O8_compressor.on()
- logging.log(logging.DEBUG, 'check counter')
- counter = 0
- lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
- TXT_SLD_E5_M1_encodermotor.set_speed(int(350), Motor.CW)
- TXT_SLD_E5_M1_encodermotor.start()
- while counter <= 29:
- if (TXT_SLD_E5_C1_mini_switch.get_state()) != lastStateCounterSwitch:
- counter = (counter if isinstance(counter, Number) else 0) + 1
- lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
- logging.log(logging.DEBUG, 'counter: %d', counter)
- time.sleep(0.001)
- if detectedColorValue >= 200 and detectedColorValue < thresh_white_red:
- if counter > 5:
- TXT_SLD_E5_M1_encodermotor.stop()
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- ejectWhite()
- break
- elif detectedColorValue >= thresh_white_red and detectedColorValue < thresh_red_blue:
- if counter > 14:
- TXT_SLD_E5_M1_encodermotor.stop()
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- ejectRed()
- break
- elif detectedColorValue >= thresh_red_blue and detectedColorValue < 2000:
- if counter > 25:
- TXT_SLD_E5_M1_encodermotor.stop()
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- ejectBlue()
- break
- else:
- pass
- if detectedColorValue < 200 or detectedColorValue >= 2000:
- logging.log(logging.DEBUG, 'error: color out of bounds')
+ logging.log(logging.DEBUG, 'start')
+ _set_state_SLD(2, 1)
+ detectedColorValue = 3000
+ setConvBeltSpeedSLD(512)
+ while not isEjectionTriggered():
+ lastColorValue = readColorValue()
+ if lastColorValue < detectedColorValue:
+ detectedColorValue = lastColorValue
+ setConvBeltSpeedSLD(0)
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ TXT_SLD_E5_O8_compressor.on()
+ logging.log(logging.DEBUG, 'check counter')
+ counter = 0
+ lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
+ TXT_SLD_E5_M1_encodermotor.set_speed(int(350), Motor.CW)
+ TXT_SLD_E5_M1_encodermotor.start()
+ while counter <= 29:
+ if (TXT_SLD_E5_C1_mini_switch.get_state()) != lastStateCounterSwitch:
+ counter = (counter if isinstance(counter, Number) else 0) + 1
+ lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
+ logging.log(logging.DEBUG, 'counter: %d', counter)
+ time.sleep(0.001)
+ if detectedColorValue >= 200 and detectedColorValue < thresh_white_red:
+ if counter > 5:
+ TXT_SLD_E5_M1_encodermotor.stop()
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ ejectWhite()
+ break
+ elif detectedColorValue >= thresh_white_red and detectedColorValue < thresh_red_blue:
+ if counter > 14:
+ TXT_SLD_E5_M1_encodermotor.stop()
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ ejectRed()
+ break
+ elif detectedColorValue >= thresh_red_blue and detectedColorValue < 2000:
+ if counter > 25:
+ TXT_SLD_E5_M1_encodermotor.stop()
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ ejectBlue()
+ break
else:
- _set_state_SLD(1, 0)
- logging.log(logging.DEBUG, 'sorted')
+ pass
time.sleep(0.5)
def get_calib_data_SLD_defaults():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, '-')
return [thresh_white_red_defaults, thresh_red_blue_defaults]
def get_calib_data_SLD():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, '-')
return [thresh_white_red, thresh_red_blue]
def set_calib_data_SLD(_data):
- global _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, _data)
thresh_white_red = _data[0]
thresh_red_blue = _data[1]
-def thread_update_SLD():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
- logging.log(logging.TRACE, '-')
- _ts_state = 0
- while True:
- if (time.time() * 1000) - _ts_state > 10000:
- _ts_state = (time.time() * 1000)
- time.sleep(1)
-
-
def _set_state_SLD(_code, _active):
- global _data, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
if state_code != _code or state_active != _active:
_ts_state = 0
@@ -127,26 +117,26 @@ def _set_state_SLD(_code, _active):
def get_state_code_SLD():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return state_code
def get_state_active_SLD():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return state_active
def setConvBeltSpeedSLD(speed):
- global _data, _code, _active, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
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 _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O5_magnetic_valve.on()
time.sleep(0.5)
@@ -160,7 +150,7 @@ def ejectWhite():
def ejectRed():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O6_magnetic_valve.on()
time.sleep(0.5)
@@ -174,7 +164,7 @@ def ejectRed():
def ejectBlue():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O7_magnetic_valve.on()
time.sleep(0.5)
@@ -188,37 +178,37 @@ def ejectBlue():
def isColorSensorTriggered():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I1_photo_transistor.is_dark()
def isEjectionTriggered():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I3_photo_transistor.is_dark()
def isWhite():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I6_photo_transistor.is_dark()
def isRed():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I7_photo_transistor.is_dark()
def isBlue():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I8_photo_transistor.is_dark()
def readColorValue():
- global _data, _code, _active, speed, state_code, state_active, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, _ts_state, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I2_color_sensor.get_voltage()
diff --git a/lib/SLD_NodeRED.blockly b/lib/SLD_NodeRED.blockly
index b84652105fca5e9954861bb5919bb3a61c07c1af..7ed973feda3dbd3ac8c1c7411d82a3ae6cf8927f 100644
--- a/lib/SLD_NodeRED.blockly
+++ b/lib/SLD_NodeRED.blockly
@@ -6,7 +6,7 @@
<block type="util_python_imports" id="C~t1TVK8naGZ9VcQnd!H" x="0" y="0">
<field name="value">#TXT FW 3.1.0: https://pypi.org/project/paho-mqtt/1.3.1/&#10;&#10;import paho.mqtt.client as mqtt&#10;import json&#10;from datetime import datetime&#10;import logging</field>
</block>
- <block type="procedures_defnoreturn" id="NR!pGTXhhcy9PF=6+]*7" x="0" y="206">
+ <block type="procedures_defnoreturn" id="NR!pGTXhhcy9PF=6+]*7" x="0" y="213">
<mutation>
<arg name="c" varid="C2~T0O1L[2W(C)`SXOAO" argid="8TCtm^79}dhkQZlY^WCh"/>
</mutation>