diff --git a/RoboMission_line_demo.blockly b/RoboMission_line_demo.blockly
index d735bed9836cc59b12f2c81372b1e89cfb0e44f4..2fae82f37350bf6cd7ea0cfe746e034846168c15 100644
--- a/RoboMission_line_demo.blockly
+++ b/RoboMission_line_demo.blockly
@@ -57,13 +57,48 @@
<block type="controls_if" id="=|@=3O|)YL)3oiQO:%HK">
<mutation elseif="1" else="1"/>
<value name="IF0">
+ <block type="import_function_return" id="zNKHD:D@2yBLa?tuJGp-">
+ <mutation parentId="qvOW30^l!U9[0o}9H)#f" parentFilename="lib/line.py"/>
+ <field name="name">is_endline</field>
+ <data>{"id":"qvOW30^l!U9[0o}9H)#f","filename":"lib/line.py"}</data>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="encodermotor_set_values" id="`LR/@E5MHa@m,e^zgH%|">
+ <mutation syncBlocks="1"/>
+ <field name="instance_name_0">vv6o.D]}g0#Ew7C~xfQ1-7dv9-J9W4.H3uoY}xp[W</field>
+ <field name="direction_0">Motor.CCW</field>
+ <field name="instance_name_1">vv6o.D]}g0#Ew7C~xfQ1-[rGZ27?2t_Go?A6:UHM*</field>
+ <field name="direction_1">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="B-HOk*q?^)ZwRluG`+%u">
+ <field name="MOTOR_NUM">512</field>
+ </shadow>
+ </value>
+ <value name="distance">
+ <shadow type="math_number" id="C^Rv{K=b|NZg45/J)6n;">
+ <field name="NUM">161</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="util_wait_until" id="[gfi-m|`ja},r(c?V6X7">
+ <value name="value">
+ <block type="encodermotor_position_read" id="wTKWwwl+r!C[-yN!2z39">
+ <field name="instance_name">vv6o.D]}g0#Ew7C~xfQ1-7dv9-J9W4.H3uoY}xp[W</field>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <value name="IF1">
<block type="import_function_return" id="aVVaE+cL3q|rDyviiQLV">
<mutation parentId="RE;I#E!r_ysU(XAFv{c}" parentFilename="lib/line.py"/>
<field name="name">is_white</field>
<data>{"id":"RE;I#E!r_ysU(XAFv{c}","filename":"lib/line.py"}</data>
</block>
</value>
- <statement name="DO0">
+ <statement name="DO1">
<block type="controls_if" id="4]LYz/pXH@O+g7hWfWT%">
<mutation elseif="0" else="1"/>
<value name="IF0">
@@ -155,41 +190,6 @@
</statement>
</block>
</statement>
- <value name="IF1">
- <block type="import_function_return" id="zNKHD:D@2yBLa?tuJGp-">
- <mutation parentId="qvOW30^l!U9[0o}9H)#f" parentFilename="lib/line.py"/>
- <field name="name">is_endline</field>
- <data>{"id":"qvOW30^l!U9[0o}9H)#f","filename":"lib/line.py"}</data>
- </block>
- </value>
- <statement name="DO1">
- <block type="encodermotor_set_values" id="`LR/@E5MHa@m,e^zgH%|">
- <mutation syncBlocks="1"/>
- <field name="instance_name_0">vv6o.D]}g0#Ew7C~xfQ1-7dv9-J9W4.H3uoY}xp[W</field>
- <field name="direction_0">Motor.CCW</field>
- <field name="instance_name_1">vv6o.D]}g0#Ew7C~xfQ1-[rGZ27?2t_Go?A6:UHM*</field>
- <field name="direction_1">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number" id="B-HOk*q?^)ZwRluG`+%u">
- <field name="MOTOR_NUM">512</field>
- </shadow>
- </value>
- <value name="distance">
- <shadow type="math_number" id="C^Rv{K=b|NZg45/J)6n;">
- <field name="NUM">161</field>
- </shadow>
- </value>
- <next>
- <block type="util_wait_until" id="[gfi-m|`ja},r(c?V6X7">
- <value name="value">
- <block type="encodermotor_position_read" id="wTKWwwl+r!C[-yN!2z39">
- <field name="instance_name">vv6o.D]}g0#Ew7C~xfQ1-7dv9-J9W4.H3uoY}xp[W</field>
- </block>
- </value>
- </block>
- </next>
- </block>
- </statement>
<statement name="ELSE">
<block type="variables_set" id="Z*LZnGctJdLP]SZ=^T+m">
<field name="VAR" id="s`)JpS~a2Z(f+qR$zzzs">success</field>
diff --git a/RoboMission_line_demo.py b/RoboMission_line_demo.py
index e9335390c85afd5c54ec5a4a3f6a397abd98c7ad..d013a8d2372a93cd47f595b017bfe70b9bff0a31 100644
--- a/RoboMission_line_demo.py
+++ b/RoboMission_line_demo.py
@@ -41,7 +41,15 @@ while True:
read_line_sensors()
if False:
print_line_info()
- if is_white():
+ if is_endline():
+ TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
+ TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
+ TXT_M_M1_encodermotor.set_distance(int(161), TXT_M_M2_encodermotor)
+ while True:
+ if (not TXT_M_M1_encodermotor.is_running()):
+ break
+ time.sleep(0.010)
+ elif is_white():
if True:
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
@@ -64,14 +72,6 @@ while True:
if (not TXT_M_M1_encodermotor.is_running()):
break
time.sleep(0.010)
- elif is_endline():
- TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
- TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
- TXT_M_M1_encodermotor.set_distance(int(161), TXT_M_M2_encodermotor)
- while True:
- if (not TXT_M_M1_encodermotor.is_running()):
- break
- time.sleep(0.010)
else:
success = follow_line_step(512, 500)