main.blocks

<xml xmlns="https://developers.google.com/blockly/xml"><variables><variable id="@02(?Kd7uOl61A;)MJuS">Last_end_time_2</variable><variable id="cMpWM7]i36jVG4dBx98W">A_was_pressed</variable><variable id="m6T[Ps+,zP#lt(T/^ekE">A_was_pressed_times</variable><variable id="0oq}J|^,50+?HZ:ZZi|S">B_was_pressed</variable><variable id="b6Osy7++J;zN8Tk|1BG/">B_was_pressed_times</variable><variable id=".HYZYr$Q7O,a-@N@|0rt">Right_wheel_speed</variable><variable id="UiaxPQ=b/@iFjkw?:9U9">Left_wheel_speed</variable><variable id="%5QXwuCf^iiVRD;ZIxfU">Last_end_time_1</variable><variable id="|k~/*sW1v8ES#[pXDb,R">Ultrasonic_time</variable><variable id="8$}$U:2l7^9rq#m,_.Vv">Distance</variable><variable id="3v[0|Pnu6]3ym0X$v`xT">Temperature</variable><variable id="O9,!dR`/w*ubH5%l7NH8">Right_IR</variable><variable id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</variable><variable id="|7l7I{5tHe#ym0c)B}m9">Left_IR</variable><variable id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</variable><variable id="%[Keyn2cs,u@vLj-%l5i">Last_end_time_3</variable><variable id="IuegUOg`,AxxW:liO_p;">IR_corrected</variable></variables><block type="pxt-on-start" id="2~VFy(8SBn^1.XjSGadZ" x="20" y="20"><statement name="HANDLER"><block type="PCA9685_init" id="7wouQ?aYncE`E0i-:5(#"><value name="chipAddress"><block type="PCA9685_chipAddress" id="9n.r/=vDY~Uud2cW~.oE"><value name="hexAddress"><shadow type="text" id="6rJ?4v*A!k`Y9ufvV}z4"><field name="TEXT">0x40</field></shadow></value></block></value><value name="newFreq"><shadow type="math_number" id="CML=ny]$kxNyoY/;X#r7"><field name="NUM">50</field></shadow></value><next><block type="device_set_digital_pin" id="CGUv0X9wJ+pldk[l@I19"><field name="name">DigitalPin.P14</field><value name="value"><shadow type="math_number_minmax" id="}[#t@afwYX6A-IPuXVvl"><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">0</field></shadow></value><next><block type="variables_set" id=".JVHo6~e5jy=m*}FEoQk"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field><value name="VALUE"><shadow type="math_number" id="*GVmSbfZ1(4L1a/3V$pd"><field name="NUM">900</field></shadow></value><next><block type="variables_set" id="LUXpwgtkuzD:s7}kR!=_"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field><value name="VALUE"><shadow type="math_number" id="F#zB^=a=TC;fpp@T_]aZ"><field name="NUM">900</field></shadow></value><next><block type="variables_set" id="BO=Xwu,kkB6.EWSe/#MT"><field name="VAR" id="3v[0|Pnu6]3ym0X$v`xT">Temperature</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_temperature" id="Yg+/cGDeUo3qqc!;_I!P"/></value><next><block type="basic_show_icon" id="V`VdQZ[$;)#BYVC@CRB="><field name="i">IconNames.SmallDiamond</field><next><block type="basic_show_icon" id="#5QnL63UhsfxJ/x|uBY5"><field name="i">IconNames.SmallSquare</field><next><block type="basic_show_icon" id="=wroSxHk?n0X|iwKu=RK"><field name="i">IconNames.Diamond</field><next><block type="basic_show_icon" id="n,A,3gDp`kjPlrgt4{uE"><field name="i">IconNames.Square</field><next><block type="device_clear_display" id="n}v6zRz{YrG6xOi%uRaK"/></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="function_definition" id="+2yu(|`=9D)kIWN@PgU{" x="520" y="20"><mutation name="Motor_control" functionid="/G:b8Y`/*#52$1-3J,C{"><arg name="Right_motor_Positive" id="sb6ksjw5cll5axjzcu78g" type="number"/><arg name="Right_motor_Negative" id="o0dwsdykn1miuy1gd2rl" type="number"/><arg name="Left_motor_Positive" id="59kr5mby93z5ox27kbcn" type="number"/><arg name="Left_motor_Negative" id="8fdsne6gip9to5yyac86" type="number"/></mutation><field name="function_name">Motor_control</field><value name="sb6ksjw5cll5axjzcu78g"><shadow type="argument_reporter_number" id=":$`E3|8_uAJ+]+i,#X1^"><field name="VALUE">Right_motor_Positive</field></shadow></value><value name="o0dwsdykn1miuy1gd2rl"><shadow type="argument_reporter_number" id="^Ldkj9Cdc/e8l=?*z8tY"><field name="VALUE">Right_motor_Negative</field></shadow></value><value name="59kr5mby93z5ox27kbcn"><shadow type="argument_reporter_number" id="Jr:dzd/zIpgq|I$(xcVU"><field name="VALUE">Left_motor_Positive</field></shadow></value><value name="8fdsne6gip9to5yyac86"><shadow type="argument_reporter_number" id=".~q4]^W4p[`HjVqSi@h`"><field name="VALUE">Left_motor_Negative</field></shadow></value><statement name="STACK"><block type="PCA9685_setPinPulseRange" id="(]a:Phlba:k5F@H2)`k-"><field name="pinNumber">PCA9685.PinNum.Pin0</field><value name="onStep"><shadow type="math_number" id="ED-7Zww%s/g$[0ND`fSm"><field name="NUM">0</field></shadow></value><value name="offStep"><block type="argument_reporter_number" id="rC49-3e%,bazV[%DCI9T"><field name="VALUE">Right_motor_Positive</field></block></value><value name="chipAddress"><block type="PCA9685_chipAddress" id="-H-NO!LgF*Qu6H`:]Pcm"><value name="hexAddress"><shadow type="text" id="7cp`fyhiJ?poTw?,]v~{"><field name="TEXT">0x40</field></shadow></value></block></value><next><block type="PCA9685_setPinPulseRange" id="vv:JPn]=ygr6~ILmny_K"><field name="pinNumber">PCA9685.PinNum.Pin1</field><value name="onStep"><shadow type="math_number" id="aH)oxR+`?P6yLfWTzsp/"><field name="NUM">0</field></shadow></value><value name="offStep"><block type="argument_reporter_number" id=".V9#S}B=,D2~tc}Zz;+S"><field name="VALUE">Right_motor_Negative</field></block></value><value name="chipAddress"><block type="PCA9685_chipAddress" id="PT6FCJ[mdU$kU~/!/5O,"><value name="hexAddress"><shadow type="text" id="Ef2]r5BC^1DG*3X1ZCE="><field name="TEXT">0x40</field></shadow></value></block></value><next><block type="PCA9685_setPinPulseRange" id="9@4]dRKi)6Daog}H_v#M"><field name="pinNumber">PCA9685.PinNum.Pin3</field><value name="onStep"><shadow type="math_number" id="4%oS8wM{Easd[ZkJvg9b"><field name="NUM">0</field></shadow></value><value name="offStep"><block type="argument_reporter_number" id="a;S%1mDg~af#]V-?mXeO"><field name="VALUE">Left_motor_Positive</field></block></value><value name="chipAddress"><block type="PCA9685_chipAddress" id="-G1LN:;w.{iNs*0mBIT^"><value name="hexAddress"><shadow type="text" id="lFS5!b`[=h3{^-d_34cn"><field name="TEXT">0x40</field></shadow></value></block></value><next><block type="PCA9685_setPinPulseRange" id="/X6T$4-eAHPUF?*8_x`W"><field name="pinNumber">PCA9685.PinNum.Pin2</field><value name="onStep"><shadow type="math_number" id="5qE3r3=)G}DNn:2?o?j,"><field name="NUM">0</field></shadow></value><value name="offStep"><block type="argument_reporter_number" id="-VP#:qd3BbakJ!~.YLhg"><field name="VALUE">Left_motor_Negative</field></block></value><value name="chipAddress"><block type="PCA9685_chipAddress" id="JZU|)Q7u{0)AjT,qN*2#"><value name="hexAddress"><shadow type="text" id="0@^M9,d]/4r]-|BMTMtq"><field name="TEXT">0x40</field></shadow></value></block></value></block></next></block></next></block></next></block></statement></block><block type="function_definition" id="n3@k(Uw8Ip[`{IY)Efjm" x="1636" y="20"><mutation name="Velocity_measurement" functionid=":FtnMn`bd[lP6H1t``W6"/><field name="function_name">Velocity_measurement</field><statement name="STACK"><block type="controls_if" id="fY6W4nlpmQK8YmmjR@_H"><mutation elseif="1"/><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="yuwl(%w*4K9TM$y_-^gc"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="%m-Xs;IIgP}f0{tj07+c"><field name="OP">MINUS</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_running_time" id="u05)DxvKhj|Lg;lP:I;I"/></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="tb[ACL=IKr2OrkCGhEMG"><field name="VAR" id="@02(?Kd7uOl61A;)MJuS">Last_end_time_2</field></block></value></block></value><value name="B"><shadow type="math_number" id=",,@H}YwcpLELcaf^#5Vm"><field name="NUM">1000</field></shadow></value></block></value><statement name="DO0"><block type="controls_if" id="{ibL6+?q9Xha~@GLIau7"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="_?4U6w^Mf6E!pIr6?e`S"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="(BW3=DNh:0TcvRQ:lZ,9"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_digital_pin" id="$/lFL_1.a3yM||/=K*$Y"><field name="name">DigitalPin.P5</field></block></value><value name="B"><shadow type="math_number" id="UGV{oL^aW26+x/{y_Bo4"><field name="NUM">1</field></shadow></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="VxjVgOKM*},O(P3i@@QG"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="QsCobf8wpj{lHp`-?]4%"><field name="VAR" id="cMpWM7]i36jVG4dBx98W">A_was_pressed</field></block></value><value name="B"><shadow type="math_number" id="^]7e-rnM.6WkQt;:eg+-"><field name="NUM">0</field></shadow></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="Oh#_87558F4eFnx*iS@y"><field name="VAR" id="cMpWM7]i36jVG4dBx98W">A_was_pressed</field><value name="VALUE"><shadow type="math_number" id=";owg!d)H78Re+l1cl;@^"><field name="NUM">1</field></shadow></value></block></statement><next><block type="controls_if" id="e:?y6AR0L/)1n#eJPPX*"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="x/1*nusR{GQg;2*_:YiI"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="@4?RG?=:%6TNXA5Pe~!|"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_digital_pin" id="_OK|{vGQ2im|(9GG^]v."><field name="name">DigitalPin.P5</field></block></value><value name="B"><shadow type="math_number" id="^8RgsHl1u!nixa2CqS^g"><field name="NUM">0</field></shadow></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="[,gqewsA_I4@Q6*H0H4V"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="Pj4w3@^9_Q]XT=r?5ytE"><field name="VAR" id="cMpWM7]i36jVG4dBx98W">A_was_pressed</field></block></value><value name="B"><shadow type="math_number" id="(OPtu|P0/b,Q$=bc6-N~"><field name="NUM">1</field></shadow></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="wRjhGjj]pXkk$;?7se?."><field name="VAR" id="m6T[Ps+,zP#lt(T/^ekE">A_was_pressed_times</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="=F@(j|A$myWhvijv8@rP"><field name="OP">ADD</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="TJC^V%-]iZxv0YOs_0BX"><field name="VAR" id="m6T[Ps+,zP#lt(T/^ekE">A_was_pressed_times</field></block></value><value name="B"><shadow type="math_number" id="Tzw6iUF/)rs3[1gvL-dm"><field name="NUM">1</field></shadow></value></block></value><next><block type="variables_set" id="QX[g2(~|bvEGZ,+=`FXy"><field name="VAR" id="cMpWM7]i36jVG4dBx98W">A_was_pressed</field><value name="VALUE"><shadow type="math_number" id="Q-DA-TPdg--4uvG!~KjK"><field name="NUM">0</field></shadow></value></block></next></block></statement><next><block type="controls_if" id="-m%.Zoqf0oUgYHB+w+Rw"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="4|jFlV3qD#V;[|N$7^}{"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="E}zIf?/uz;cfN?{mG6;p"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_digital_pin" id="PFz4(,CcD{?]/(ARotLW"><field name="name">DigitalPin.P11</field></block></value><value name="B"><shadow type="math_number" id=":IOERy/Ct==WN;p]*a[H"><field name="NUM">1</field></shadow></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="W6ww.5Ij5OMshj-W|TWO"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id=",/lTP6d?fS,N,}Gq~9G]"><field name="VAR" id="0oq}J|^,50+?HZ:ZZi|S">B_was_pressed</field></block></value><value name="B"><shadow type="math_number" id="KXd1BIL-^G/z$ssnVu@z"><field name="NUM">0</field></shadow></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="[Yblfo_;Oy%8TNL3T0RO"><field name="VAR" id="0oq}J|^,50+?HZ:ZZi|S">B_was_pressed</field><value name="VALUE"><shadow type="math_number" id="IH=Vlnb,USwPlm|*c;mq"><field name="NUM">1</field></shadow></value></block></statement><next><block type="controls_if" id="Q`H1GkxiT$d|lEb`vTi8"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="T?|#Hf4vqa7cBzk=_;XY"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id=")T$sA`SXW-7?~Ds)c9o6"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_digital_pin" id="Cb85.07dHAQ/1CL5LxoR"><field name="name">DigitalPin.P11</field></block></value><value name="B"><shadow type="math_number" id="dkKmJ}.G]_=N^wa~SbNA"><field name="NUM">0</field></shadow></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="Z,[_{6s@R{}m,WP+IZuQ"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="]}7O!*;j:Zzc*b0*E@(U"><field name="VAR" id="0oq}J|^,50+?HZ:ZZi|S">B_was_pressed</field></block></value><value name="B"><shadow type="math_number" id="aH3:,G7LUAT+uk!dI0Zv"><field name="NUM">1</field></shadow></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="(:cFG79U=|;li1LkOawT"><field name="VAR" id="b6Osy7++J;zN8Tk|1BG/">B_was_pressed_times</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="Ew/`r]]dddF2X!^r^y*/"><field name="OP">ADD</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="!J)pzL0wIL}bfL?yR4Tu"><field name="VAR" id="b6Osy7++J;zN8Tk|1BG/">B_was_pressed_times</field></block></value><value name="B"><shadow type="math_number" id="z9X+RUp%V~X$jmz.wxeO"><field name="NUM">1</field></shadow></value></block></value><next><block type="variables_set" id="v1gI/E^Gv)3Qk8YIwz1K"><field name="VAR" id="0oq}J|^,50+?HZ:ZZi|S">B_was_pressed</field><value name="VALUE"><shadow type="math_number" id="XSycxjSn!#Z.8zepX/e^"><field name="NUM">0</field></shadow></value></block></next></block></statement></block></next></block></next></block></next></block></statement><value name="IF1"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="hbC%[herD%KWkN[(9[iD"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="HB6i5$sT@?0oQc[Fb}dt"><field name="OP">MINUS</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_running_time" id="|k(.1$EAF*AL(t5Zr+Nj"/></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="|^d.)7I]_/n8vm2:vLu@"><field name="VAR" id="@02(?Kd7uOl61A;)MJuS">Last_end_time_2</field></block></value></block></value><value name="B"><shadow type="math_number" id="@^6DL:Pm`VBvr%_Wzq,i"><field name="NUM">1000</field></shadow></value></block></value><statement name="DO1"><block type="variables_set" id="KeZL/u1Tdj2[By-IsESX"><field name="VAR" id=".HYZYr$Q7O,a-@N@|0rt">Right_wheel_speed</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="i5Mdme+{!%H3@93[]y4e"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="XU$L7#r3R8U@6QR9i1J6"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="#VdlN+735]CaWQrBivfQ"><field name="VAR" id="m6T[Ps+,zP#lt(T/^ekE">A_was_pressed_times</field></block></value><value name="B"><shadow type="math_number" id="s}V;%P+4_HtC6Sr(Iq64"><field name="NUM">12</field></shadow></value></block></value><value name="B"><shadow type="math_number" id="iN70K@*4*M4Pmlf#n`$M"><field name="NUM">60</field></shadow></value></block></value><next><block type="variables_set" id=";@:Y|W4B+/Iy{i:bZefG"><field name="VAR" id="m6T[Ps+,zP#lt(T/^ekE">A_was_pressed_times</field><value name="VALUE"><shadow type="math_number" id="AAz(qy7lU]Zn]y(-AO!U"><field name="NUM">0</field></shadow></value><next><block type="variables_set" id="thK^uVBcF^|#S)Ojr!nT"><field name="VAR" id="UiaxPQ=b/@iFjkw?:9U9">Left_wheel_speed</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="pyDu=Ho?4,[08;@}/jQs"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id=";F1+oQ(M|E/IU2]oeS7;"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="nO^}K4J~Ey)T9CyzvOCV"><field name="VAR" id="b6Osy7++J;zN8Tk|1BG/">B_was_pressed_times</field></block></value><value name="B"><shadow type="math_number" id="6|}3O^|[e5mr.]`qne#Q"><field name="NUM">12</field></shadow></value></block></value><value name="B"><shadow type="math_number" id="XT0{dxEjmaE}a_Nm{]os"><field name="NUM">60</field></shadow></value></block></value><next><block type="variables_set" id="M2es=HLN,WLBT?jxmY=M"><field name="VAR" id="b6Osy7++J;zN8Tk|1BG/">B_was_pressed_times</field><value name="VALUE"><shadow type="math_number" id="YX}]A#lJ0=uoP/o6@LRN"><field name="NUM">0</field></shadow></value><next><block type="variables_set" id="kzi.)Y#7E)djvy;Keuo7"><field name="VAR" id="@02(?Kd7uOl61A;)MJuS">Last_end_time_2</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_running_time" id="OaBwLMM(K+Y%H,}VF@2T"/></value></block></next></block></next></block></next></block></next></block></statement></block></statement></block><block type="function_definition" id="%3ujn`$T|)BhR{dG)4ts" x="2701" y="20"><mutation name="IR_calibration" functionid="IY.Hc14C61V9IK/@L;OQ"/><field name="function_name">IR_calibration</field><comment pinned="false" h="80" w="160">Searching for the dark line</comment><statement name="STACK"><block type="function_call" id="P[T8;2HVM9xGj*]%UI@h"><mutation name="Line_partol_IR" functionid="Kf]vG$OmKF~9j8;47]h-"/><next><block type="controls_if" id="9yS-(1lH]#zXI(5zh9/k"><mutation elseif="3"/><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="GUsCWs79tTKPbzmxJ-V@"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="#z~46DFTQcWK1r$x!(Gc"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="Tbh4Fk`)`~t5uQwd+?@."><field name="OP">LTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="1swL/XTUU%_E/+(otS+H"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number" id="SmD-8]G~_*|mnx7!C)(9"><field name="NUM">700</field></shadow></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id=".[,9_F+T^EQ=Pg+;,/dg"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="658e=J}5;1:Hb1btNQqp"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number" id="9_G^;~AT[UJN|ZeTPWg)"><field name="NUM">100</field></shadow></value></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="ie9``$n}a#?cf:iAu3Jg"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="@l=`{Avg[:4-_.`1:L1a"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="`Y{QobQ6~)M.H1u--Ifx"><field name="OP">MINUS</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="dvUKS:?af9KZ(^KOh[uw"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field></block></value><value name="B"><shadow type="math_number" id="XvJJfmkQNRD.?ieCodA@"><field name="NUM">200</field></shadow></value></block></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="*6dR3@yT_0@S]|M]N~y["><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="nOa@OqQG4mu^]P{=MmUM"><field name="OP">ADD</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="dq1$V0.9{wVdob5%,xFD"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number" id="gtZqiTEs[Z`[E}q-E|mm"><field name="NUM">200</field></shadow></value></block></value></block></statement><value name="IF1"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="rvZzh:_/V#l}5K,FL0tI"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="1^=sgL@e0zOqhEN~?,W$"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="G-Y.x,Q`p(.8bi5842X+"><field name="OP">LTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="!zT=t+$#60v~uzRlBalg"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number" id="nXJtb$rDSJQ.kMZ!}`KL"><field name="NUM">700</field></shadow></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="MF=Bf_H@35}%b2]r^|:K"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="l;T;]8%EE.`]y{WJIkS{"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number" id="}tMD0)c+N!Du{hCSJEce"><field name="NUM">100</field></shadow></value></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="Oa]M]1n6%9Gt4PKX9#9K"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="H@#Oa)J]ozVrKih7Ch{b"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="UE~li@D5vL@(,%5Jb)IW"><field name="OP">MINUS</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="2R!7fjs%rD-.~`YkXa(="><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field></block></value><value name="B"><shadow type="math_number" id="{xAYZB])Gli2_}r;oRpo"><field name="NUM">200</field></shadow></value></block></value></block></value></block></value><statement name="DO1"><block type="variables_set" id="yHgDe=IN5-]z:U@:v{-q"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="th;jn](#D!!w?pkZLSI("><field name="OP">ADD</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="]?,Z:,3(ER~lFzWoh[E}"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number" id="wXR70s026mYnh|:KJHX?"><field name="NUM">200</field></shadow></value></block></value></block></statement><value name="IF2"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="x4zDXR|SsS%8cZ?NE|gG"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="aUd;S~shF/tjM}lCe@a-"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number" id="z=F_NN/;DAh$L1cPfBDP"><field name="NUM">100</field></shadow></value></block></value><statement name="DO2"><block type="variables_set" id="mSX`w9mp)beqOhA3Z9X1"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field><value name="VALUE"><shadow type="math_number" id="5s!?x/7AEqjeNNw9fkcU"><field name="NUM">300</field></shadow></value></block></statement><value name="IF3"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="/0(//3eyDcV$_LbhcY4D"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="pnJ=~Esw9%SHl*sHU2Nl"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number" id="*Gsb{z~2-Q9OF#x,kv_2"><field name="NUM">100</field></shadow></value></block></value><statement name="DO3"><block type="variables_set" id="tjN2=n(NT6V*/41fu-^;"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field><value name="VALUE"><shadow type="math_number" id="H(#@oX:0nb^Y3b4Mv8iT"><field name="NUM">300</field></shadow></value></block></statement><next><block type="serial_writeline" id="`$6_7w^8j@Be1?MB$pwD"><value name="text"><block type="text_join" id="?$7|!{S^4tk$Z!y8LL*X"><mutation items="4"/><value name="ADD0"><shadow type="text" id="a5baCbtKC|ri$C,wk^2N"><field name="TEXT">Right_IR_minimum=</field></shadow></value><value name="ADD1"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="Lz{0%V[GlXy/.LmJJG?Y"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id=";-nHVw[Y;F!Or5cAXto_"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="variables_get" id="^MQBGb~ip9n;O?kjW9r*"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field></block></value></block></value></block></value><value name="ADD2"><shadow type="text" id="R2)]tj!}.jLb1{6mXy@?"><field name="TEXT">|Left_IR_minimum=</field></shadow></value><value name="ADD3"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="b*HG:GZ*K}f[14A?R!py"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="tmcP9o`x5mZO+/obyIW5"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="variables_get" id="fejvv7htP`Z$XpuQT.]C"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field></block></value></block></value></block></value></block></value><next><block type="serial_writeline" id="`:,|Wrx.HrKAVU~FyZqa"><value name="text"><block type="text_join" id="QjPP/[o7j.@$DE!Lj{ik"><mutation items="4"/><value name="ADD0"><shadow type="text" id="MhNv~XpM39H3h/ad*48r"><field name="TEXT">Right_IR_A=</field></shadow></value><value name="ADD1"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="n|a}GmAHz!3HM;TipQ_n"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="L^wXx6py~)BrxN9M)kiF"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="variables_get" id=";2k]0,UphpEr,0W/q=zq"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value></block></value></block></value><value name="ADD2"><shadow type="text" id="3_IMVuYZ~tJXmaZhoG@4"><field name="TEXT">|Left_IR_A=</field></shadow></value><value name="ADD3"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="idco$`oQDz1?^a$RC{g*"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="text_join" id="cyR:(G}]yxSG:,Jq6s%v"><mutation items="1"/><value name="ADD0"><shadow type="text"><field name="TEXT"/></shadow><block type="variables_get" id="9P;Wo71gMU.1:Ou$,a1i"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value></block></value></block></value></block></value><next><block type="device_pause" id="N].l`.EW:3-Q%T*fwHck"><value name="pause"><shadow type="timePicker" id="fS4J4ch#iB5(+$Jp_DRw"><field name="ms">100</field></shadow></value></block></next></block></next></block></next></block></next></block></statement></block><block type="function_definition" id="c98rmH?oWW4:|(A_,=`(" x="4274" y="20"><mutation name="Line_patrol_control" functionid="It`JO#Ums(HBy|Jk8Di,"/><field name="function_name">Line_patrol_control</field><statement name="STACK"><block type="controls_if" id="Q2,-mQ]sR;Dw:vIH]2q3"><mutation elseif="4"/><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id=",$fG/*fzd9{hSHP-UeBB"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="YW+CH|.BN5w3%woVMF##"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="$#0wKQfW:VID(V$Nl=~}"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="1V_v(^aR5g]F*FBV@^*w"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id=":X!$VIn]C=X@U|m7_:$0"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="wLlgO/A?5gaOQ=B/}_=2"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="W1EXOBE}}c=R|%%}7s*a"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="THC[r=UE4W($8u0*hq-j"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field></block></value></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="}}(zr~r-h@WE.-iu2;T0"><field name="OP">GT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="mLHfr*2Ai0$=8K[tk-JF"><field name="VAR" id="8$}$U:2l7^9rq#m,_.Vv">Distance</field></block></value><value name="B"><shadow type="math_number" id="Q=CCS^`?GUX#TcOk3_cy"><field name="NUM">10</field></shadow></value></block></value></block></value><statement name="DO0"><block type="function_call" id="$qTq[{avT[OH2],sEI:K"><mutation name="Motor_control" functionid="/G:b8Y`/*#52$1-3J,C{"><arg name="Right_motor_Positive" id="sb6ksjw5cll5axjzcu78g" type="number"/><arg name="Right_motor_Negative" id="o0dwsdykn1miuy1gd2rl" type="number"/><arg name="Left_motor_Positive" id="59kr5mby93z5ox27kbcn" type="number"/><arg name="Left_motor_Negative" id="8fdsne6gip9to5yyac86" type="number"/></mutation><value name="sb6ksjw5cll5axjzcu78g"><shadow type="math_number" id="7%!^M)%fC*UW?gW8Ho8F"><field name="NUM">1024</field></shadow></value><value name="o0dwsdykn1miuy1gd2rl"><shadow type="math_number" id="K|_EFhRJ[q6PKQC|LdSV"><field name="NUM">0</field></shadow></value><value name="59kr5mby93z5ox27kbcn"><shadow type="math_number" id="nY},d_@Pc}OJ@z*eh=6/"><field name="NUM">1024</field></shadow></value><value name="8fdsne6gip9to5yyac86"><shadow type="math_number" id="x9v12QiIpxKh*,$ABl!B"><field name="NUM">0</field></shadow></value></block></statement><value name="IF1"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="BQVe_%1tT-jTRXCN[K1="><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="Mn*7KOXxJ!hHOMG3YIP6"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="[CEAgasvE$kRK_64JHeH"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="qm0sR@,ddp9:-mYL7nJL"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="Naf/4tZCB9^eT{F|n:WE"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="DdH+WB~0SBiXCf[9Nv4T"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="Xr-NZ9%KbMg@w^~2V1eJ"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="*Tf(w=,umHf7gYP4fONZ"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field></block></value></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="R+L#KyjM%VYo$9#M/_[y"><field name="OP">GT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="I:4Kz^Y#z%x|s_0R74H4"><field name="VAR" id="8$}$U:2l7^9rq#m,_.Vv">Distance</field></block></value><value name="B"><shadow type="math_number" id="mc`EWRgv0D]B=Fl~2xwF"><field name="NUM">10</field></shadow></value></block></value></block></value><statement name="DO1"><block type="function_call" id="G!mq0V_`K10uzC@u$I5J"><mutation name="Motor_control" functionid="/G:b8Y`/*#52$1-3J,C{"><arg name="Right_motor_Positive" id="sb6ksjw5cll5axjzcu78g" type="number"/><arg name="Right_motor_Negative" id="o0dwsdykn1miuy1gd2rl" type="number"/><arg name="Left_motor_Positive" id="59kr5mby93z5ox27kbcn" type="number"/><arg name="Left_motor_Negative" id="8fdsne6gip9to5yyac86" type="number"/></mutation><value name="sb6ksjw5cll5axjzcu78g"><shadow type="math_number" id="WO2.hD)4?e-XNMo3_!I;"><field name="NUM">0</field></shadow></value><value name="o0dwsdykn1miuy1gd2rl"><shadow type="math_number" id="A08v/6TLR:.0n:6pLCUA"><field name="NUM">0</field></shadow></value><value name="59kr5mby93z5ox27kbcn"><shadow type="math_number" id="K]?++=/vveMJ1LF.d8v*"><field name="NUM">0</field></shadow></value><value name="8fdsne6gip9to5yyac86"><shadow type="math_number" id="eg=N[*v%~=l^xPA)ju}("><field name="NUM">0</field></shadow></value></block></statement><value name="IF2"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="j]A.f.T[EjVC1*$Q6uWH"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="u[Xj0EY`76!ha.nS~Z/Y"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="[[sIHdB(A34%NuXCFl6D"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="}cq`52OTOca_sjPY$4.)"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="6?FuJkQ1E7iM,ch1*.TA"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="v!0$f@w3eC#,su(Xc102"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="w5pU|:?e?suu`B9c!Ah$"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id=":J(`ik0#FJl+?Qustp]a"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field></block></value></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="H2!w(ZhL;,3kx[dfu2h+"><field name="OP">GT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="-#X3~*JVpm0p(%TE5BFg"><field name="VAR" id="8$}$U:2l7^9rq#m,_.Vv">Distance</field></block></value><value name="B"><shadow type="math_number" id=",u0IMnT};qR^V2o0k_G("><field name="NUM">10</field></shadow></value></block></value></block></value><statement name="DO2"><block type="function_call" id="-k)ce`fwc2Owb(W}_cd#"><mutation name="Motor_control" functionid="/G:b8Y`/*#52$1-3J,C{"><arg name="Right_motor_Positive" id="sb6ksjw5cll5axjzcu78g" type="number"/><arg name="Right_motor_Negative" id="o0dwsdykn1miuy1gd2rl" type="number"/><arg name="Left_motor_Positive" id="59kr5mby93z5ox27kbcn" type="number"/><arg name="Left_motor_Negative" id="8fdsne6gip9to5yyac86" type="number"/></mutation><value name="sb6ksjw5cll5axjzcu78g"><shadow type="math_number" id="B]ciA:u4LAsRI,CQ?+v,"><field name="NUM">1024</field></shadow></value><value name="o0dwsdykn1miuy1gd2rl"><shadow type="math_number" id="Hk]1TLY|hcnV|%me%S:~"><field name="NUM">0</field></shadow></value><value name="59kr5mby93z5ox27kbcn"><shadow type="math_number" id="~Md^k*vs_YCQb;^RJ^69"><field name="NUM">0</field></shadow></value><value name="8fdsne6gip9to5yyac86"><shadow type="math_number" id="#:U~StEQiZb}9xx;vW~f"><field name="NUM">0</field></shadow></value></block></statement><value name="IF3"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="K.+TeLzjyE@q@768@fZ]"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="P3-Hl#@w^?^/t^0D@,x="><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="9@@4;-y-??gV3fY.0qS;"><field name="OP">LT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="lMEYi[OB{p;P`xD#*Fn*"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="*wdp2J%6HNq`8b|/I6,Q"><field name="VAR" id="$A|5!_V]KU-qTL31TJtR">Right_IR_minimum</field></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="P?BY.v,P:=@({@!#rAUE"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="`ni#Pm`f:z;MAWmKX_1a"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id=";GIw0r|e{,h8,HE~;Khn"><field name="VAR" id="CD/a/vOGwRYZmz^`)*Qi">Left_IR_minimum</field></block></value></block></value></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="6PUH8(Nn1u37:X=t6b*K"><field name="OP">GT</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="t#HLJq5j.pwcx8BZSy]D"><field name="VAR" id="8$}$U:2l7^9rq#m,_.Vv">Distance</field></block></value><value name="B"><shadow type="math_number" id="S2v|h{yN4LWwLV.aG:*8"><field name="NUM">10</field></shadow></value></block></value></block></value><statement name="DO3"><block type="function_call" id="Cy3u7k#y^kxh(B.3[dTx"><mutation name="Motor_control" functionid="/G:b8Y`/*#52$1-3J,C{"><arg name="Right_motor_Positive" id="sb6ksjw5cll5axjzcu78g" type="number"/><arg name="Right_motor_Negative" id="o0dwsdykn1miuy1gd2rl" type="number"/><arg name="Left_motor_Positive" id="59kr5mby93z5ox27kbcn" type="number"/><arg name="Left_motor_Negative" id="8fdsne6gip9to5yyac86" type="number"/></mutation><value name="sb6ksjw5cll5axjzcu78g"><shadow type="math_number" id="^`^U7mWlP)w)kA`,;[WO"><field name="NUM">0</field></shadow></value><value name="o0dwsdykn1miuy1gd2rl"><shadow type="math_number" id="0+n@5Opg=IAPCR0ZPZ1w"><field name="NUM">0</field></shadow></value><value name="59kr5mby93z5ox27kbcn"><shadow type="math_number" id="0f[rMZOzH8!BQRl/B{`s"><field name="NUM">1024</field></shadow></value><value name="8fdsne6gip9to5yyac86"><shadow type="math_number" id="C_;LC[p}^y[-@d$^!vkD"><field name="NUM">0</field></shadow></value></block></statement><value name="IF4"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="vmDwy5_gB84O(B`cIu$D"><field name="OP">LTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="2(|4uV[GV:y$G:mnu/Zq"><field name="VAR" id="8$}$U:2l7^9rq#m,_.Vv">Distance</field></block></value><value name="B"><shadow type="math_number" id="uG4ga/XA(@^v`^wa*2Co"><field name="NUM">10</field></shadow></value></block></value><statement name="DO4"><block type="function_call" id="t8;~KD_tDYKv4P|8Ydyf"><mutation name="Motor_control" functionid="/G:b8Y`/*#52$1-3J,C{"><arg name="Right_motor_Positive" id="sb6ksjw5cll5axjzcu78g" type="number"/><arg name="Right_motor_Negative" id="o0dwsdykn1miuy1gd2rl" type="number"/><arg name="Left_motor_Positive" id="59kr5mby93z5ox27kbcn" type="number"/><arg name="Left_motor_Negative" id="8fdsne6gip9to5yyac86" type="number"/></mutation><value name="sb6ksjw5cll5axjzcu78g"><shadow type="math_number" id="UR(6Lv(0~z{;{X4p|(D!"><field name="NUM">0</field></shadow></value><value name="o0dwsdykn1miuy1gd2rl"><shadow type="math_number" id="c+SiabA}eLS=+#.)V$*l"><field name="NUM">0</field></shadow></value><value name="59kr5mby93z5ox27kbcn"><shadow type="math_number" id="Z]#,?icC*@m`t1WxI9h~"><field name="NUM">0</field></shadow></value><value name="8fdsne6gip9to5yyac86"><shadow type="math_number" id="Pt$#hc_Oi~.Kj6JAm[fW"><field name="NUM">0</field></shadow></value></block></statement></block></statement></block><block type="device_forever" id="WoO]7fy`q(J.O_t9]}6u" x="20" y="1287"><statement name="HANDLER"><block type="controls_if" id="[e(Zr62oI=*Z_Z-Nd5u?"><mutation elseif="1"/><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="{zbvoc8~welOD?PWnVEU"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="pQLzEIjxML9ouSGj,^/p"><field name="VAR" id="IuegUOg`,AxxW:liO_p;">IR_corrected</field></block></value><value name="B"><shadow type="math_number" id="AR-wK|)XJ(0_.%Ypq+9a"><field name="NUM">0</field></shadow></value></block></value><statement name="DO0"><block type="basic_show_arrow" id="K=E|~@w|kMAnKlBdnA_6"><value name="i"><shadow type="device_arrow" id="=H0lI,S.ix.!.kMdD7Mw"><field name="arrow">ArrowNames.East</field></shadow></value></block></statement><value name="IF1"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="Ce1.@;8il.`7Y#~K/|I-"><field name="OP">EQ</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="[nt5rCJ?v4U;(=d/VZR;"><field name="VAR" id="IuegUOg`,AxxW:liO_p;">IR_corrected</field></block></value><value name="B"><shadow type="math_number" id="D_OT,Bd,##9Oe/B7Dy3r"><field name="NUM">1</field></shadow></value></block></value><statement name="DO1"><block type="basic_show_arrow" id="ll@+,l$i(4[74h%Q!x!$"><value name="i"><shadow type="device_arrow" id="vFErbf[EN1Ik](;pHSn+"><field name="arrow">ArrowNames.West</field></shadow></value></block></statement><next><block type="controls_if" id="XNEbS=[g*$;rp0Y+_mga"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="X.Xnks-F]g3**3Z]PuiK"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="device_get_button2" id="$hH=GnQu)+{7nT~f9*$w"><field name="NAME">Button.B</field></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_negate" id="#e`=}+u3ALO_56E][)/-"><value name="BOOL"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="device_get_button2" id="vw}px]eVHc^QaAoz^{qJ"><field name="NAME">Button.A</field></block></value></block></value></block></value><statement name="DO0"><block type="device_set_digital_pin" id="U7$H.V$pzWjz{U3+lX~4"><field name="name">DigitalPin.P14</field><value name="value"><shadow type="math_number_minmax" id="[.MTQ1q2R/*;+Y89Z`n]"><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">1</field></shadow></value><next><block type="basic_show_icon" id="=w),e)MbyrDC$e),I[d/"><field name="i">IconNames.Asleep</field><next><block type="controls_repeat_ext" id="!7D5nNq@{gumj/#:H7+."><value name="TIMES"><shadow type="math_whole_number" id="+aV|Ih2NnIxH{!D`r.yF"><field name="NUM">20</field></shadow></value><statement name="DO"><block type="function_call" id="2R6CP[CH.t-`lD0bn03l"><mutation name="IR_calibration" functionid="IY.Hc14C61V9IK/@L;OQ"/></block></statement><next><block type="basic_show_icon" id=")f]/5?0=^l)~H%JIK^*@"><field name="i">IconNames.Happy</field><next><block type="device_set_digital_pin" id="7JjEOwf+(Nh@Vx..l+=S"><field name="name">DigitalPin.P14</field><value name="value"><shadow type="math_number_minmax" id="ZhbtJS5we,f^rOG5ghxe"><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">0</field></shadow></value><next><block type="variables_set" id="IfF*Kv^szRq4oqN,UeBQ"><field name="VAR" id="IuegUOg`,AxxW:liO_p;">IR_corrected</field><value name="VALUE"><shadow type="math_number" id="*..bCc~=9C)%a59fJ,pr"><field name="NUM">1</field></shadow></value></block></next></block></next></block></next></block></next></block></next></block></statement><next><block type="controls_if" id="%kjarD0{D[ww%x@61M},"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_operation" id="K=Y6jEm^~s6DGiPH^xke"><field name="OP">AND</field><value name="A"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="device_get_button2" id="4XrX9BUXugxRsN2{`wb["><field name="NAME">Button.A</field></block></value><value name="B"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_negate" id="lJ:.q`f=94:qY`x#C(o="><value name="BOOL"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="device_get_button2" id=":5$f3)ZD+Y)WRRzlk)]f"><field name="NAME">Button.B</field></block></value></block></value></block></value><statement name="DO0"><block type="basic_show_icon" id="4!6boP5YH`$,.9^E_I8Q"><field name="i">IconNames.Sword</field><next><block type="device_while" id="bm_JYs(El2]SllYZhS8H"><value name="COND"><shadow type="logic_boolean" id="wV0^q3%AoXQ3|kpx?;,?"><field name="BOOL">TRUE</field></shadow></value><statement name="DO"><block type="device_set_digital_pin" id="9DQvFs3noD:Q`;yNy@dN"><field name="name">DigitalPin.P14</field><value name="value"><shadow type="math_number_minmax" id="Kx,i/Zr,HtkTFKc7x/(e"><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">1</field></shadow></value><next><block type="function_call" id="rM.`F~F^=AQ2|(*S0$pO"><mutation name="Line_partol_IR" functionid="Kf]vG$OmKF~9j8;47]h-"/><next><block type="function_call" id="zWu3Bj%Kg0d0H=RvJD^{"><mutation name="Ultrasonic_ranging" functionid="4|9+oJSrE9?#riLYFM9L"/><next><block type="function_call" id="}T=G38(_l#frSlYRyqu:"><mutation name="Line_patrol_control" functionid="It`JO#Ums(HBy|Jk8Di,"/><next><block type="function_call" id="z7U$uP-`Zy9;z-zei3e+"><mutation name="Velocity_measurement" functionid=":FtnMn`bd[lP6H1t``W6"/><next><block type="function_call" id="vS%C{s)To1~bz,f01B94"><mutation name="Serial_write" functionid="q-r%U~L~49N$|WgIV0K/"/></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></statement></block></next></block></next></block></statement></block><block type="function_definition" id="?~W7dBZz.b7a;IQzEjh/" x="872" y="1287"><mutation name="Line_partol_IR" functionid="Kf]vG$OmKF~9j8;47]h-"/><field name="function_name">Line_partol_IR</field><statement name="STACK"><block type="variables_set" id="^;Vy6bW|[cTXXa)k6_Ro"><field name="VAR" id="O9,!dR`/w*ubH5%l7NH8">Right_IR</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_analog_pin" id="fLA7lcMeFpByid@~(5R_"><field name="name">AnalogPin.P1</field></block></value><next><block type="variables_set" id=".4Ny$_n`_YK[vM-i^4Tb"><field name="VAR" id="|7l7I{5tHe#ym0c)B}m9">Left_IR</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_analog_pin" id="-e%kR{B6)0Q!o|L|r9hA"><field name="name">AnalogPin.P2</field></block></value></block></next></block></statement></block><block type="function_definition" id="$hNZNx$$}E`%T7!ie;ty" x="1398" y="1287"><mutation name="Ultrasonic_ranging" functionid="4|9+oJSrE9?#riLYFM9L"/><field name="function_name">Ultrasonic_ranging</field><statement name="STACK"><block type="controls_if" id="#d^PU%[-mzxJWZ#@2i%."><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="a}4F,9[r2]2XRmX9w#.S"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="TI6!p(DX1o+9G(i]lGV@"><field name="OP">MINUS</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_running_time" id="9sa!.:C62*Ag($=vv9x?"/></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="Mhp;jJP5_$hp(uJ=NLrJ"><field name="VAR" id="%5QXwuCf^iiVRD;ZIxfU">Last_end_time_1</field></block></value></block></value><value name="B"><shadow type="math_number" id="^)(Z7ZG/,:Ud6J9B$O,-"><field name="NUM">100</field></shadow></value></block></value><statement name="DO0"><block type="device_set_digital_pin" id="+?1ejfggH:@$,w,ICkqN"><field name="name">DigitalPin.P12</field><value name="value"><shadow type="math_number_minmax" id=":8y=^3AzKN]S`CZD7J(("><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">0</field></shadow></value><next><block type="device_set_digital_pin" id="~9FoI-w0Tl,@MMPkALj8"><field name="name">DigitalPin.P12</field><value name="value"><shadow type="math_number_minmax" id="xMEQbOSX]$m6v3Ja.00p"><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">1</field></shadow></value><next><block type="control_wait_us" id="e)Pic`$s~]|x4#^jCD(O"><value name="micros"><shadow type="math_number" id="G=*{52::[lg|x9XQ(pXX"><field name="NUM">10</field></shadow></value><next><block type="device_set_digital_pin" id="IK(Xs:1Qc$n1VNM|%*2Z"><field name="name">DigitalPin.P12</field><value name="value"><shadow type="math_number_minmax" id="@,NT-M-ew|=K,T1~|OVE"><mutation min="0" max="1" label="Number" precision="0"/><field name="SLIDER">0</field></shadow></value><next><block type="variables_set" id="]v|eh3]J{@XzY/ZIV[Lf"><field name="VAR" id="|k~/*sW1v8ES#[pXDb,R">Ultrasonic_time</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="pins_pulse_in" id="~4ga:S3Pd2XlA=)_!Zeb"><field name="name">DigitalPin.P13</field><field name="value">PulseValue.High</field></block></value><next><block type="variables_set" id="]nw@R2~HH%37)e0MJ%XH"><field name="VAR" id="8$}$U:2l7^9rq#m,_.Vv">Distance</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id=";Q^C3OU}Cw5DPn4M,g]B"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="Jo`w_@nZ6Rq)+Db2N{XR"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="+62~/y-yQvuu:u4jy%D0"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="0TCAgWSDAU$%u`mCio$T"><field name="VAR" id="|k~/*sW1v8ES#[pXDb,R">Ultrasonic_time</field></block></value><value name="B"><shadow type="math_number" id="qlXkR2p|zR-F#9.i(G(;"><field name="NUM">1000000</field></shadow></value></block></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="$;XySAqW)MYRk.+aujlI"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="KLAgK+|v+]i(!i/P(~Zd"><field name="NUM">100</field></shadow></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="2L$o_9tIVhg)f5sV6K8b"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="H~S]f];)3FQ,uR)xl4P|"><field name="NUM">330.45</field></shadow></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="Y@%RWH9@f@^|g{LXf.rW"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="FYl]0z:8CE00*;D8._ZJ"><field name="NUM">0.61</field></shadow></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="eroRgl_y.?f%E@UgEB9G"><field name="VAR" id="3v[0|Pnu6]3ym0X$v`xT">Temperature</field></block></value></block></value></block></value></block></value></block></value><value name="B"><shadow type="math_number" id="j.wyBOJ#cxf-wKw+`rQa"><field name="NUM">2</field></shadow></value></block></value><next><block type="variables_set" id="?Siiqa$[Mq~smUx_MoqI"><field name="VAR" id="%5QXwuCf^iiVRD;ZIxfU">Last_end_time_1</field><value name="VALUE"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_running_time" id="LP$`x~$#FuC#d4I]XfJ4"/></value></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></statement></block><block type="function_definition" id="yhuT+AyIIxbA!WmeQq.J" x="2808" y="1287"><mutation name="Serial_write" functionid="q-r%U~L~49N$|WgIV0K/"/><field name="function_name">Serial_write</field><statement name="STACK"><block type="controls_if" id="P].nULk!N_OOUFb9kH0S"><value name="IF0"><shadow type="logic_boolean"><field name="BOOL">TRUE</field></shadow><block type="logic_compare" id="wibb5*2*k2kqgU%V?7QP"><field name="OP">GTE</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="math_arithmetic" id="Wah4.RS@_D@WsM=tjGU4"><field name="OP">MINUS</field><value name="A"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="device_get_running_time" id="9@?TI)XJOLb;iEaTS3B+"/></value><value name="B"><shadow type="math_number"><field name="NUM">0</field></shadow><block type="variables_get" id="Doo-d#Qv|k*BmB:$l1T9"><field name="VAR" id="%[Keyn2cs,u@vLj-%l5i">Last_end_time_3</field></block></value></block></value><value name="B"><shadow type="math_number" id="pHvdVEuvfN[I;Am/$4K}"><field name="NUM">1000</field></shadow></value></block></value><statement name="DO0"><block 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