commit by robo pro coding

.project.json

+{"name":"omniwheels_x4_soccer_goal","mode":"ADVANCED","uuid":"5cee2f40-1592-343a-6d7e-a28532502696"}
\ No newline at end of file

lib/camera.py

+# auto generated content from camera configuration
+from lib.controller import *
+import fischertechnik.factories as txt_factory
+
+TXT_M_USB_1_camera.set_rotate(False)
+TXT_M_USB_1_camera.set_height(240)
+TXT_M_USB_1_camera.set_width(320)
+TXT_M_USB_1_camera.set_fps(15)
+TXT_M_USB_1_camera.start()
+
+ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 5, 80, -100, 100, [255,143,81], 10)
+TXT_M_USB_1_camera.add_detector(ball_detector)
+
+blocked_area_right = txt_factory.camera_factory.create_blocked_area(240, 190, 80, 50)
+TXT_M_USB_1_camera.add_blocked_area(blocked_area_right)
+
+blocked_area_left = txt_factory.camera_factory.create_blocked_area(0, 190, 80, 50)
+TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
+
+ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [245,194,79], 25)
+TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
+
+ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [192,57,54], 25)
+TXT_M_USB_1_camera.add_detector(ball_detector_goal_left)
+

lib/camera.xml

+<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#ff8f51</color><tolerance>10</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#f5c24f</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#c03936</color><tolerance>25</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file

lib/controller.blockly

+<xml xmlns="https://developers.google.com/blockly/xml" version="12">
+  <block type="txt4_controller" id="sntDv!Tiig{o,Dn5u$|t" x="27" y="27">
+    <mutation>
+      <arg type="Input" name="Input-0" value="I8"/>
+      <arg type="Output" name="Output-0" value="-"/>
+      <arg type="Motor" name="Motor-0" value="M1"/>
+      <arg type="Motor" name="Motor-1" value="M2"/>
+      <arg type="Motor" name="Motor-2" value="M3"/>
+      <arg type="Motor" name="Motor-3" value="M4"/>
+      <arg type="Servomotor" name="Servomotor-0" value="S1"/>
+      <arg type="Servomotor" name="Servomotor-1" value="-"/>
+      <arg type="Counter" name="Counter-0" value="C1"/>
+      <arg type="Counter" name="Counter-1" value="C2"/>
+      <arg type="Counter" name="Counter-2" value="C3"/>
+      <arg type="Counter" name="Counter-3" value="C4"/>
+      <arg type="I2C" name="I2C-0" value="-"/>
+      <arg type="USB" name="USB-0" value="USB_1"/>
+      <arg type="USB" name="USB-1" value="-"/>
+    </mutation>
+    <field name="mode">0</field>
+    <field name="controller_name">TXT</field>
+    <field name="Input-0">I8</field>
+    <field name="Output-0">-</field>
+    <field name="Motor-0">M1</field>
+    <field name="Motor-1">M2</field>
+    <field name="Motor-2">M3</field>
+    <field name="Motor-3">M4</field>
+    <field name="Servomotor-0">S1</field>
+    <field name="Servomotor-1">-</field>
+    <field name="Counter-0">C1</field>
+    <field name="Counter-1">C2</field>
+    <field name="Counter-2">C3</field>
+    <field name="Counter-3">C4</field>
+    <field name="I2C-0">-</field>
+    <field name="USB-0">USB_1</field>
+    <field name="USB-1">-</field>
+    <value name="Input-0">
+      <block type="photo_transistor" id="_7y+A9(=#S#C#aBLOH:P"/>
+    </value>
+    <value name="Motor-0">
+      <block type="encodermotor" id="*8OJtR8}RNdlVMAUz-+9"/>
+    </value>
+    <value name="Motor-1">
+      <block type="encodermotor" id="58S=,r8vw1!2Kd)wmT16"/>
+    </value>
+    <value name="Motor-2">
+      <block type="encodermotor" id="caWY[W%z[0LKsAi*i)H="/>
+    </value>
+    <value name="Motor-3">
+      <block type="encodermotor" id="@t*#k=[E=0j]@a3VU!./"/>
+    </value>
+    <value name="Servomotor-0">
+      <block type="servomotor" id="!U~ax;zrh#e{zXqJ86G3"/>
+    </value>
+    <value name="Counter-0">
+      <block type="motor_step_counter" id="sD8[5gCg~ME^kIJI/:28">
+        <field name="instance_name">M1</field>
+      </block>
+    </value>
+    <value name="Counter-1">
+      <block type="motor_step_counter" id=".W@p?}v_GmkKnM.hRwAV">
+        <field name="instance_name">M2</field>
+      </block>
+    </value>
+    <value name="Counter-2">
+      <block type="motor_step_counter" id="qle2YCIQo%{gP+nHz$QV">
+        <field name="instance_name">M3</field>
+      </block>
+    </value>
+    <value name="Counter-3">
+      <block type="motor_step_counter" id="khyboL4/hJ@)yil3lSo*">
+        <field name="instance_name">M4</field>
+      </block>
+    </value>
+    <value name="USB-0">
+      <block type="camera" id="^!_o6FtR`]6faZslb[]{"/>
+    </value>
+  </block>
+</xml>
\ No newline at end of file

lib/controller.py

+import fischertechnik.factories as txt_factory
+
+txt_factory.init()
+txt_factory.init_input_factory()
+txt_factory.init_motor_factory()
+txt_factory.init_servomotor_factory()
+txt_factory.init_counter_factory()
+txt_factory.init_usb_factory()
+txt_factory.init_camera_factory()
+
+TXT_M = txt_factory.controller_factory.create_graphical_controller()
+TXT_M_I8_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_M, 8)
+TXT_M_M1_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_M, 1)
+TXT_M_M2_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_M, 2)
+TXT_M_M3_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_M, 3)
+TXT_M_M4_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_M, 4)
+TXT_M_S1_servomotor = txt_factory.servomotor_factory.create_servomotor(TXT_M, 1)
+TXT_M_C1_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, 1)
+TXT_M_C1_motor_step_counter.set_motor(TXT_M_M1_encodermotor)
+TXT_M_C2_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, 2)
+TXT_M_C2_motor_step_counter.set_motor(TXT_M_M2_encodermotor)
+TXT_M_C3_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, 3)
+TXT_M_C3_motor_step_counter.set_motor(TXT_M_M3_encodermotor)
+TXT_M_C4_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, 4)
+TXT_M_C4_motor_step_counter.set_motor(TXT_M_M4_encodermotor)
+TXT_M_USB_1_camera = txt_factory.usb_factory.create_camera(TXT_M, 1)
+
+txt_factory.initialized()
\ No newline at end of file

lib/display.py

+import os
+import time
+import threading
+import signal
+
+import ftgui
+
+display = ftgui.fttxt2_gui_connector("app")
+display.open()
+
+def display_monitoring():
+    while display.is_open():
+        time.sleep(1)
+    os.kill(os.getpid(), signal.SIGTERM)
+    exit()
+
+threading.Thread(target=display_monitoring, daemon=True).start()

lib/display.qml

+// auto generated content from display configuration
+import QtQuick 2.2
+import QtQuick.Window 2.0
+import QtQuick.Controls 1.1
+import QtQuick.Controls.Styles 1.1
+import QtQuick.Extras 1.4
+
+TXTWindow {
+  Rectangle {
+    id: rect
+    color: "grey"
+    anchors.fill: parent
+  }
+  TXTSwitch {
+    id: txt_switch_active
+    text: "active"
+    font.pixelSize: 16
+    enabled: true
+    checked: false
+    x: 60
+    y: 171
+    width: 100
+    height: 40
+  }
+  TXTLabel {
+    id: txt_label_ball
+    text: "-"
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 60
+    y: 40
+    width: 100
+    height: 40
+  }
+  TXTLabel {
+    id: txt_label_goal
+    text: "-"
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 60
+    y: 100
+    width: 100
+    height: 40
+  }
+  TXTLabel {
+    id: txt_label_ball_
+    text: "ball"
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 20
+    y: 40
+    width: 39
+    height: 40
+  }
+  TXTLabel {
+    id: txt_label_goal_
+    text: "goal"
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 20
+    y: 99
+    width: 39
+    height: 40
+  }
+}

lib/display.xml

+<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>false</checked><text>active</text><geometry><x>60</x><y>171</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>40</y><width>100</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>100</y><width>100</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>40</y><width>39</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>99</y><width>39</width><height>40</height></geometry></item></xml>
\ No newline at end of file

omniwheels_x4_soccer_goal.py

+import time
+import math
+
+from lib.controller import *
+from lib.display import *
+from lib.camera import *
+from fischertechnik.controller.Motor import Motor
+
+
+v = None
+ticks = None
+factor_x = None
+ts_ball = None
+ts_goal_left = None
+ts_goal_right = None
+factor_y = None
+dist_x = None
+posx_ball = None
+speed_y = None
+posx_goal = None
+posy_ball = None
+x_min = None
+x_max = None
+y_min = None
+y_max = None
+v_slow = None
+v_fast = None
+def checkTimeouts():
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    if (time.time() * 1000) - ts_ball > 500:
+        posx_ball = None
+        posy_ball = None
+    if (time.time() * 1000) - ts_goal_left > 500:
+        posx_goal[0] = None
+    if (time.time() * 1000) - ts_goal_right > 500:
+        posx_goal[1] = None
+
+
+
+def ball_callback(event):
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    ts_ball = (time.time() * 1000)
+    dist_x = round(math.fabs(event.value.x) * factor_x)
+    speed_y = round(min(max(math.fabs(event.value.y) * factor_y + v_slow, 0), 512))
+    posx_ball = event.value.x
+    posy_ball = event.value.y
+    print('posx:{} posy:{} dist_x:{} speed_y:{}'.format(event.value.x, event.value.y, dist_x, speed_y))
+
+ball_detector.add_detection_listener(ball_callback)
+
+
+def ball_callback2(event):
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    ts_goal_left = (time.time() * 1000)
+    posx_goal[0] = event.value.x
+    print('goal left: posx:{} posy:{}'.format(event.value.x, event.value.y))
+
+ball_detector_goal_left.add_detection_listener(ball_callback2)
+
+
+def ball_callback23(event):
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    ts_goal_right = (time.time() * 1000)
+    posx_goal[1] = event.value.x
+    print('goal right: posx:{} posy:{}'.format(event.value.x, event.value.y))
+
+ball_detector_goal_right.add_detection_listener(ball_callback23)
+
+
+def fwd_v(v):
+    global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def bwd_v(v):
+    global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def left_v(v):
+    global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def sideleft_v(v):
+    global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def right_v(v):
+    global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def sideright_v(v):
+    global ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
+    TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+    TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def stop():
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_M1_encodermotor.stop_sync(TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+
+
+def fwd(v, ticks):
+    global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    if ticks > 0:
+        TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+        while True:
+            if (not TXT_M_M1_encodermotor.is_running()):
+                break
+            time.sleep(0.010)
+
+
+def bwd(v, ticks):
+    global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    if ticks > 0:
+        TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+        while True:
+            if (not TXT_M_M1_encodermotor.is_running()):
+                break
+            time.sleep(0.010)
+
+
+def left(v, ticks):
+    global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    if ticks > 0:
+        TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M2_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+        while True:
+            if (not TXT_M_M1_encodermotor.is_running()):
+                break
+            time.sleep(0.010)
+
+
+def right(v, ticks):
+    global factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    if ticks > 0:
+        TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M2_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
+        TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
+        TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+        while True:
+            if (not TXT_M_M1_encodermotor.is_running()):
+                break
+            time.sleep(0.010)
+
+
+def turnLeft():
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    left(512, 100)
+    time.sleep(2)
+    right(512, 100)
+
+
+def turnRight():
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    right(512, 100)
+    time.sleep(2)
+    left(512, 100)
+
+
+def callback(event):
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    if TXT_M_I8_photo_transistor.is_dark():
+        shotBall()
+
+
+TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
+
+
+def shotBall():
+    global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, factor_y, dist_x, posx_ball, speed_y, posx_goal, posy_ball, x_min, x_max, y_min, y_max, v_slow, v_fast
+    TXT_M_S1_servomotor.set_position(int(400))
+    TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
+    TXT_M_M2_encodermotor.set_speed(int(512), Motor.CCW)
+    TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
+    TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
+    TXT_M_M1_encodermotor.set_distance(int(100), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+    time.sleep(0.05)
+    TXT_M_S1_servomotor.set_position(int(256))
+    while True:
+        if (not TXT_M_M1_encodermotor.is_running()):
+            break
+        time.sleep(0.010)
+    TXT_M_M1_encodermotor.set_speed(int(512), Motor.CW)
+    TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
+    TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
+    TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
+    TXT_M_M1_encodermotor.set_distance(int(40), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+    while True:
+        if (not TXT_M_M1_encodermotor.is_running()):
+            break
+        time.sleep(0.010)
+    TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
+    while True:
+        if (not (TXT_M.get_loudspeaker().is_playing())):
+            break
+        time.sleep(0.010)
+
+
+factor_x = 0.2
+factor_y = 3.5
+speed_y = 300
+x_min = -3
+x_max = 3
+y_min = 7
+y_max = 74
+v_slow = 300
+v_fast = 512
+posx_goal = [None, None]
+posx_ball = None
+posy_ball = None
+ts_ball = (time.time() * 1000)
+ts_goal_left = (time.time() * 1000)
+ts_goal_right = (time.time() * 1000)
+while True:
+    checkTimeouts()
+    if display.get_attr("txt_switch_active.checked"):
+        if posx_ball != None and posy_ball != None and posx_goal[0] != None and posx_goal[1] != None:
+            if posx_goal < x_min:
+                sideleft_v(180)
+            elif posx_goal > x_max:
+                sideright_v(180)
+            elif posx_ball < x_min:
+                left(v_slow, dist_x)
+            elif posx_ball > x_max:
+                right(v_slow, dist_x)
+            else:
+                if posy_ball >= y_min:
+                    fwd_v(v_fast)
+                elif posy_ball < y_max:
+                    fwd_v(speed_y)
+                else:
+                    left_v(speed_y)
+        else:
+            pass
+    display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
+    display.set_attr("txt_label_goal.text", str('x:{}'.format(posx_goal)))
+    time.sleep(0.1)
+
+