6949AbyssFTC2019AutoRed.blk

<xml xmlns="http://www.w3.org/1999/xhtml"><variables><variable type="" id=".Yov^qEXK/DS|LP|GpOD">distance</variable><variable type="" id="a5w?04q%XyaB9+B)OcC?">IMU</variable><variable type="" id="dc?=r,kBg3`ij~Jbjf0P">{bno055imuParametersVariable}</variable><variable type="" id="iIB!59,KMvHPM)bN]mcP">{parametersVariable}</variable><variable type="" id="rBO)0}NzVLR96wqY;PO9">gyro</variable><variable type="" id="d|R(8_5,?ophkJJ}ZXi`">gravity</variable><variable type="" id="{m[PLfJcGw5ndqSm5!}!">accel</variable><variable type="" id="#s{^ORMiRZ*[2npWE|yl">time</variable><variable type="" id=":NfT4U9~{.%srLh1wmv+">speed</variable><variable type="" id="uGs*bG%mI%Doa~t8KKDh">{accelerationVariable}</variable></variables><block type="procedures_defnoreturn" id="WtpyD@tEu+EoY=P9iY,D" deletable="false" editable="false" x="-11" y="-100"><field name="NAME">runOpMode</field><comment pinned="false" h="32" w="532">This function is executed when this Op Mode is selected from the Driver Station.</comment><statement name="STACK"><block type="dcMotor_setProperty_Direction" id="e=_+YW=1xOlQrZB9TzO0"><field name="IDENTIFIER">RightFront</field><field name="PROP">Direction</field><data>{"IDENTIFIER":"RightFront"}</data><value name="VALUE"><shadow type="dcMotor_typedEnum_direction" id="5=N$o)Rcwd=jasp)H:if"><field name="DIRECTION">REVERSE</field></shadow></value><next><block type="dcMotor_setProperty_Direction" id="rRhCLx{ZEU10,;9Siy9."><field name="IDENTIFIER">RightRear</field><field name="PROP">Direction</field><data>{"IDENTIFIER":"RightRear"}</data><value name="VALUE"><shadow type="dcMotor_typedEnum_direction" id="vrF`6Uwb%GC.Xk[,65=#"><field name="DIRECTION">REVERSE</field></shadow></value><next><block type="dcMotor_setDualProperty_ZeroPowerBehavior" id="T[.f|^55:oZ+mN8Fz_ws"><field name="PROP">ZeroPowerBehavior</field><field name="IDENTIFIER1">LeftFront</field><field name="IDENTIFIER2">LeftRear</field><data>{"IDENTIFIER1":"LeftFront", "IDENTIFIER2":"LeftRear"}</data><value name="VALUE1"><shadow type="dcMotor_typedEnum_zeroPowerBehavior" id="LB{2Ta.+U`L=K,#ySZyq"><field name="ZERO_POWER_BEHAVIOR">BRAKE</field></shadow></value><value name="VALUE2"><shadow type="dcMotor_typedEnum_zeroPowerBehavior" id="*JPnW](sO1M61j2OnsX?"><field name="ZERO_POWER_BEHAVIOR">BRAKE</field></shadow></value><next><block type="dcMotor_setDualProperty_ZeroPowerBehavior" id="ZCE:;P^Doj9AqS?54-N6"><field name="PROP">ZeroPowerBehavior</field><field name="IDENTIFIER1">RightFront</field><field name="IDENTIFIER2">RightRear</field><data>{"IDENTIFIER1":"RightFront", "IDENTIFIER2":"RightRear"}</data><value name="VALUE1"><shadow type="dcMotor_typedEnum_zeroPowerBehavior" id="uVk0f4f!|;`Y`wahcA(}"><field name="ZERO_POWER_BEHAVIOR">BRAKE</field></shadow></value><value name="VALUE2"><shadow type="dcMotor_typedEnum_zeroPowerBehavior" id="(*-Pns2+UWN!FK@t]?vw"><field name="ZERO_POWER_BEHAVIOR">BRAKE</field></shadow></value><next><block type="variables_set" id="fw9g@uKy5J~8t*W4y]Aj"><field name="VAR" id="a5w?04q%XyaB9+B)OcC?" variabletype="">IMU</field><value name="VALUE"><block type="bno055imuParameters_create" id="Ll%(n,:zk94Z1;tg39mx"></block></value><next><block type="bno055imuParameters_setAccelUnit" id="9LRG]S=d]-qGh4%%szo)"><value name="BNO055IMU_PARAMETERS"><block type="variables_get" id="+Bh0_z%wYGZ7%]6A?*[a"><field name="VAR" id="a5w?04q%XyaB9+B)OcC?" variabletype="">IMU</field></block></value><value name="ACCEL_UNIT"><shadow type="bno055imuParameters_typedEnum_accelUnit" id="b@x!UBLt6NGa/T7_djtc"><field name="ACCEL_UNIT">METERS_PERSEC_PERSEC</field></shadow></value><next><block type="bno055imuParameters_setAngleUnit" id="jNDT%|CEf4{PbvgD`N4N"><value name="BNO055IMU_PARAMETERS"><block type="variables_get" id="[`9?:20yM#vQC)?8#*~v"><field name="VAR" id="a5w?04q%XyaB9+B)OcC?" variabletype="">IMU</field></block></value><value name="ANGLE_UNIT"><shadow type="navigation_typedEnum_angleUnit" id="_|{(9o$)^I#q)eNH5q=z"><field name="ANGLE_UNIT">DEGREES</field></shadow></value><next><block type="bno055imuParameters_setLoggingEnabled" id="H_.Xs$3@Ss=v,BGk,*Hd"><value name="BNO055IMU_PARAMETERS"><block type="variables_get" id="k#36/k]o)(pcS9t-5drG"><field name="VAR" id="a5w?04q%XyaB9+B)OcC?" variabletype="">IMU</field></block></value><value name="LOGGING_ENABLED"><shadow type="logic_boolean" id="PRv0+neJ|JovlG4cvK`O"><field name="BOOL">FALSE</field></shadow></value><next><block type="bno055imu_initialize" id="G|Bin.MnIjglo[A6XfJr"><field name="IDENTIFIER">IMUAsBNO055IMU</field><data>{"IDENTIFIER":"IMU"}</data><value name="PARAMETERS"><block type="variables_get" id="wDOdcpGm5YbYt10_H8{A"><field name="VAR" id="a5w?04q%XyaB9+B)OcC?" variabletype="">IMU</field></block></value><next><block type="androidAccelerometer_startListening" id="NxX9KDdvE6Q~85O[0oOh"><next><block type="linearOpMode_waitForStart" id=":`$wN_ci`O;o6P0~.(+g"><next><block type="controls_if" id="}Q?5mbxSO8Di;i!__6[y"><value name="IF0"><block type="linearOpMode_opModeIsActive" id=")o%YFX/#9kvv^sgXr4~5"></block></value><statement name="DO0"><block type="variables_set" id="Tu3aN9r1nbKF;![Zi1_T"><field name="VAR" id="{m[PLfJcGw5ndqSm5!}!" variabletype="">accel</field><value name="VALUE"><block type="math_number" id="lh`bZ6l:bU@|WfE^cMSl"><field name="NUM">0</field></block></value><next><block type="variables_set" id="sRxzS%G*;pC}~4HGk3m-"><field name="VAR" id=".Yov^qEXK/DS|LP|GpOD" variabletype="">distance</field><value name="VALUE"><block type="math_number" id="a#^8r$iBev?bX?J01l`T"><field name="NUM">0</field></block></value><next><block type="variables_set" id="tZA:m2euQmcRG95vul=E"><field name="VAR" id=":NfT4U9~{.%srLh1wmv+" variabletype="">speed</field><value name="VALUE"><block type="math_number" id="[qu#jI6X]g=D{noB{YsJ"><field name="NUM">0</field></block></value><next><block type="variables_set" id="WE,(3f]57xb_mTRrz]w!"><field name="VAR" id="#s{^ORMiRZ*[2npWE|yl" variabletype="">time</field><value name="VALUE"><block type="math_number" id="r(#Fg,sb(:w)%w,TmSSC"><field name="NUM">0.01</field></block></value><next><block type="controls_whileUntil" id="GjtzHp3DBxsyCZc@Ry=8"><field name="MODE">UNTIL</field><value name="BOOL"><block type="logic_compare" id="g*$PDPIoLsLM%d`8]mJ+"><field name="OP">GT</field><value name="A"><block type="variables_get" id="H+44Fny*)L1E7}_EGUMt"><field name="VAR" id=".Yov^qEXK/DS|LP|GpOD" variabletype="">distance</field></block></value><value name="B"><block type="math_number" id="XV6MmSYvj1t!/`JXV/;X"><field name="NUM">0.1</field></block></value></block></value><statement name="DO"><block type="variables_set" id="LY+`1B0ZOY4M/-Z+ePgb"><field name="VAR" id="rBO)0}NzVLR96wqY;PO9" variabletype="">gyro</field><value name="VALUE"><block type="bno055imu_getAngularOrientation" id="3DlcfFaa-8COM=@}t|`Q"><field name="IDENTIFIER">IMUAsBNO055IMU</field><data>{"IDENTIFIER":"IMU"}</data><value name="AXES_REFERENCE"><shadow type="navigation_typedEnum_axesReference" id="sGC-~WDkd6|];9)RMx,H"><field name="AXES_REFERENCE">EXTRINSIC</field></shadow></value><value name="AXES_ORDER"><shadow type="navigation_typedEnum_axesOrder" id="Z%2F+I?}0CNDr_74xI)q"><field name="AXES_ORDER">XYX</field></shadow></value><value name="ANGLE_UNIT"><shadow type="navigation_typedEnum_angleUnit" id="E7fU?sX/~Oy7/A1e6jo$"><field name="ANGLE_UNIT">DEGREES</field></shadow></value></block></value><next><block type="variables_set" id="[Wr,#FHT_Tu{ap}`qLy,"><field name="VAR" id="d|R(8_5,?ophkJJ}ZXi`" variabletype="">gravity</field><value name="VALUE"><block type="bno055imu_getProperty_Acceleration" id="pVHJDy1@55Rse,Aha~~S"><field name="IDENTIFIER">IMUAsBNO055IMU</field><field name="PROP">Gravity</field><data>{"IDENTIFIER":"IMU"}</data></block></value><next><block type="variables_set" id="s3gfkja0#G~^d($_1).l"><field name="VAR" id="{m[PLfJcGw5ndqSm5!}!" variabletype="">accel</field><value name="VALUE"><block type="acceleration_getProperty_Number" id="_~I26Q#|c^u(Y.T[qfaa"><field name="PROP">XAccel</field><value name="ACCELERATION"><block type="variables_get" id="){cr9l6WoZihNct8ItMh"><field name="VAR" id="d|R(8_5,?ophkJJ}ZXi`" variabletype="">gravity</field></block></value></block></value><next><block type="variables_set" id="9RPNQZC7rW.iTMFbhKSa"><field name="VAR" id=":NfT4U9~{.%srLh1wmv+" variabletype="">speed</field><value name="VALUE"><block type="math_arithmetic" id=",q:-{E}b)foaM30bJRH*"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="ZMMz[`Y(umoqJ|V}%W~E"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="0pZKov5[GzKSRW4bBjn|"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="]qTQ8?_Kg;KtV.u.NM)^"><field name="NUM">1</field></shadow><block type="variables_get" id="g#@;YnT9;gU*bI5ccgF:"><field name="VAR" id="{m[PLfJcGw5ndqSm5!}!" variabletype="">accel</field></block></value><value name="B"><shadow type="math_number" id="/zOvYeoH;J6:)%kg:5e]"><field name="NUM">1</field></shadow><block type="variables_get" id="NDUXH_p=?ohVZ^]=m?Dl"><field name="VAR" id="#s{^ORMiRZ*[2npWE|yl" variabletype="">time</field></block></value></block></value><value name="B"><shadow type="math_number" id="_a}vsBFJ)ksCoQsQvuxp"><field name="NUM">1</field></shadow><block type="variables_get" id="PxW`yb+[~z3gAj1WIy}6"><field name="VAR" id=":NfT4U9~{.%srLh1wmv+" variabletype="">speed</field></block></value></block></value><next><block type="variables_set" id="qvwN4z%DiF_}UCE_{Vt4"><field name="VAR" id=".Yov^qEXK/DS|LP|GpOD" variabletype="">distance</field><value name="VALUE"><block type="math_arithmetic" id="`Yf@UU8WV0_shdWMcXyu"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="]=[TZah5g$0gyFR8Uf}]"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="5KHOuV%#_l/oA#+~t|`3"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="roN2OGcT(39-^#ksWq^R"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="7Y0cb4kK,bAp8gp*j.jh"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="XeE~.lQ^egrsZvwwx#}]"><field name="NUM">1</field></shadow><block type="variables_get" id="Aj+VM,3DdQfSC#u;C*Ev"><field name="VAR" id=":NfT4U9~{.%srLh1wmv+" variabletype="">speed</field></block></value><value name="B"><shadow type="math_number" id="QfV;unm0uaq-%qi#k3]q"><field name="NUM">1</field></shadow><block type="variables_get" id="Y`y_]RzfFV}NpYf)o?mA"><field name="VAR" id="#s{^ORMiRZ*[2npWE|yl" variabletype="">time</field></block></value></block></value><value name="B"><shadow type="math_number" id="Hg@$L6!PsY8Jl1tPRA!,"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="Yg=QIwejeK@~Kk_=,lzj"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="^.9j_AS%hl`Bm!mKWKtI"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="7R6pyq1!#!KGO+IY`h{V"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="cU*hJHSz(zvFjhmDKNhd"><field name="NUM">1</field></shadow><block type="variables_get" id="a5CCIT3#QP#-/!a2[4U!"><field name="VAR" id="{m[PLfJcGw5ndqSm5!}!" variabletype="">accel</field></block></value><value name="B"><shadow type="math_number" id="OLT}0,s}Ne4.8I3`ans0"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="Rz,MyOv%oLN~80!@~.5!"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="2:lg[m(qee|8++l9c423"><field name="NUM">1</field></shadow><block type="variables_get" id="tH|K#V69j2`#Ii=ajQ-Z"><field name="VAR" id="#s{^ORMiRZ*[2npWE|yl" variabletype="">time</field></block></value><value name="B"><shadow type="math_number" id="O%[zqaNIku6$v5,#d8g="><field name="NUM">1</field></shadow><block type="variables_get" id="UPvg|mdEpf4]Md/1Ekei"><field name="VAR" id="#s{^ORMiRZ*[2npWE|yl" variabletype="">time</field></block></value></block></value></block></value><value name="B"><shadow type="math_number" id="5^-b9_oGBE@v)?2,runT"><field name="NUM">2</field></shadow></value></block></value></block></value><value name="B"><shadow type="math_number" id="^*5LC./OmN=t7+UBUa]$"><field name="NUM">1</field></shadow><block type="variables_get" id="e@%Xo=9gzDK1FebjYrr["><field name="VAR" id=".Yov^qEXK/DS|LP|GpOD" variabletype="">distance</field></block></value></block></value><next><block type="dcMotor_setDualProperty_Number" id="|UU,T[fthw{mG.O/v+H?"><field name="PROP">Power</field><field name="IDENTIFIER1">LeftFront</field><field name="IDENTIFIER2">LeftRear</field><data>{"IDENTIFIER1":"LeftFront", "IDENTIFIER2":"LeftRear"}</data><value name="VALUE1"><shadow type="math_number" id="azl,n2Cd[kCA=dB:(HIl"><field name="NUM">0.5</field></shadow></value><value name="VALUE2"><shadow type="math_number" id="$~EYKagAYVS/6]H%2a3Z"><field name="NUM">0.5</field></shadow></value><next><block type="dcMotor_setDualProperty_Number" id=",OGjsX{*.-y3n5T6+peu"><field name="PROP">Power</field><field name="IDENTIFIER1">RightFront</field><field name="IDENTIFIER2">RightRear</field><data>{"IDENTIFIER1":"RightFront", "IDENTIFIER2":"RightRear"}</data><value name="VALUE1"><shadow type="math_number" id="0RQN`d.M6G[4U0sn^=X9"><field name="NUM">0.5</field></shadow></value><value name="VALUE2"><shadow type="math_number" id="Y0C6{p2R#R:oPiru6*+2"><field name="NUM">0.5</field></shadow></value></block></next></block></next></block></next></block></next></block></next></block></next></block></statement><next><block type="dcMotor_setDualProperty_Number" id="ICo1]fF=4Q7fnIqbjXxO"><field name="PROP">Power</field><field name="IDENTIFIER1">LeftFront</field><field name="IDENTIFIER2">LeftRear</field><data>{"IDENTIFIER1":"LeftFront", "IDENTIFIER2":"LeftRear"}</data><value name="VALUE1"><shadow type="math_number" id="3cS9yC-([*_I`Lcaf9c%"><field name="NUM">0</field></shadow></value><value name="VALUE2"><shadow type="math_number" id="YC_#?onq}$KOkuZ?^K]f"><field name="NUM">0</field></shadow></value><next><block type="dcMotor_setDualProperty_Number" id="jj%k[}_IOWsti7jj(5Jz"><field name="PROP">Power</field><field name="IDENTIFIER1">RightFront</field><field name="IDENTIFIER2">RightRear</field><data>{"IDENTIFIER1":"RightFront", "IDENTIFIER2":"RightRear"}</data><value name="VALUE1"><shadow type="math_number" id="J1-RF,ZL{*z,ZP]+q9}4"><field name="NUM">0</field></shadow></value><value name="VALUE2"><shadow type="math_number" id="%y=y!7@7_jLDhZ(lf8Z4"><field name="NUM">0</field></shadow></value><next><block type="telemetry_update" id="exvivmft-pX$n!1,8Ea$"></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></xml><?xml version='1.0' encoding='UTF-8' standalone='yes' ?><Extra><OpModeMeta flavor="AUTONOMOUS" group="" /><Enabled value="true" /></Extra>