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2023Teleop_Better.blk
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2023Teleop_Better.blk
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="~0%{MkR4%uwVJXB+t4-)">RightIntake</variable>
<variable id="[9-g}9}}_5cqD9fmpMbY">RightOutake</variable>
<variable id="gUEz7Hrc5rimNpHuN|sr">LeftIntake</variable>
<variable id="!A:HJsw|Ri2/j`DG6vpS">LeftOutake</variable>
<variable id="h|V~]%9IyuTz*!W5#]b/">pivot</variable>
<variable id="I9$}pRQ`},VgMFr.Yza/">left-right</variable>
<variable id="=SfpBf.hUzWugZNds?[A">forward-back</variable>
<variable id="f+L+G0+_[HObBy!,qu?1">slow-speed-turned-on</variable>
<variable id="?7r`KIpKOyY@_m-#l9!E">Launching</variable>
<variable id="u9QOt[L?a6nZQx9lUjjD">Retracting</variable>
<variable id=".a,?}hP/wNA13zWYT9I@">SpeedOfExtension</variable>
<variable id="St[e@W8l{xxMnaXQmVD.">SlowArmMode</variable>
<variable id="OcR5AN4`JX*qj}4sEWle">SpeedOfElbow</variable>
<variable id="H/)j-$(,|F(7-$3H`o}:">DpadUp</variable>
<variable id="Djo[d)MCw!~(Ca0{oUzz">DpadDown</variable>
<variable id="{kR*!Ph`/Jw!w!-j7rEr">OutakingPixelsOnBackdrop</variable>
<variable id="K7U-zB{/wYeO*|D6GBre">IntakingPixels</variable>
<variable id="!jn,5P.K/^J,)YZn@%b:">Climbing</variable>
<variable id="L?8T~GfxiBb=,z+X|f6/">LinearDistanceToEncoderValue</variable>
<variable id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</variable>
<variable id="wc@@Lq29{vjCJNU*%^(`">FrontRightSpeedForWheels</variable>
<variable id="0RdSMbj[+T%@F#Y##0~(">LeftStickY</variable>
<variable id="H{~14xnwE]T+T(5o)XMy">SlowRatioForExtension</variable>
<variable id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</variable>
<variable id="H-Z=LqoFw@{./6!|~|z9">FrontLeftSpeedForWheels</variable>
<variable id="z8gp]=LpLch[KO]X59/r">PositionOfAirplaneLauncher</variable>
<variable id="yF.s20E+kl/,5n|Ocvp?">PowerOfExtendingArm</variable>
<variable id="zSWSxafhV_%bDq*m}?4k">ExtensionOfArmPosition</variable>
<variable id="/Y64{=1MTCf(951Jti[c">ElbowArmPosition</variable>
<variable id=";5MD1V#G#ePQ~*A+;O~w">PositionOfWrist</variable>
<variable id="CW4q[,j[BwTyGo5|*SSA">BackdropPositionSet</variable>
<variable id="%QiDH/le8?L!$.dATdFV">LowSpeedForElbow</variable>
<variable id="77%kv^TQSMC/a$@r}+JC">BackRightSpeedForWheels</variable>
<variable id="^|IehjzuQT#0+4fQbMm`">IntakePositionSet</variable>
<variable id="Bd6JT2q-d7^OJ10*H+PF">HighSpeedForElbow</variable>
<variable id="Y2Ld{}neha[Xf4$[mM#z">BackLeftSpeedForWheels</variable>
<variable id="``Sn-;pDqErK`=/oT:0g">ClimbingPositionSet</variable>
<variable id="}Jm)-X`fsRVH}X=BjJYm">LowSpeedForErecting</variable>
<variable id="A%y~6wjw,{m#W-zmg)CM">CLOCKWISE</variable>
<variable id="qZgX_t6MFE}8;^f}EV2H">ScalingMultiplierForExtendingPosition</variable>
<variable id="R+dU%dGdan)h@lpeftA[">MaxExtensionPosition</variable>
<variable id="6to)A6bl^t8Pfi78Bs=2">ScalingMultiplierForElbowPosition</variable>
<variable id="jkX-w+T$Qc~hdD0r26yg">MaxWristRange</variable>
<variable id=",$%{QOwX]+WF.V`{}rsj">HighSpeedForErecting</variable>
<variable id="^Xbe%AvR5*EU9ih/Fy,H">ANTICLOCKWISE</variable>
<variable id="q}-UQN7Mf]6bFywa?W,~">MinExtensionPosition</variable>
<variable id="D!X}ei98^Ml#Hk6}{u{w">MaxElbowPos</variable>
<variable id="]s)L]%;})(Yr[qf4p-(.">MinWristRange</variable>
<variable id="HkU46vmw13g+%^UIsuvj">WristPositionForIntake</variable>
<variable id="vV-#-/=2EmY*a^poLH?/">BrakeNumForElbowMotor</variable>
<variable id="X:z8N;$q7KO9)yTHwBPt">MinElbowPosition</variable>
<variable id="~G@$Nn)hQK-yh;*?C^_q">PositionOfElbowForIntake</variable>
<variable id="LZw3`*V[~}|B$UFW.Y1H">WristPositionForBackdrop</variable>
<variable id="tWEEY^Y.YJLBZa}W-.hS">SlowArmRangeLow</variable>
<variable id="b]x.Fd(,o9YUr+Gs?`se">MinAirplaneRange</variable>
<variable id="hbh2PE[xXe]3IGpxec=F">PositionOfExtensionForIntake</variable>
<variable id="p90J{Ip!K*Th*K%Bzqey">PositionOfElbowForBackdrop</variable>
<variable id="OIHK%lJyEj%Q*H[_@eJJ">WristClimbPosition</variable>
<variable id="j/w:cMN|;G.qEa?%?KaT">SlowArmRangeHigh</variable>
<variable id=":6q[L^O=gMo{~`OX`{?0">PositionOfExtensionForBackdrop</variable>
<variable id="mYU}4)_BRMQT{N=Frix=">ElbowClimbPosition</variable>
<variable id="?jI+VTd;od9cbBeNIM#X">ExtensionClimbPosition</variable>
<variable id="rM7!a=~hO|vZcD@I_~^$">ShrinkingPositionSet</variable>
<variable id="2_9^j11vQ_y2@WIa?ceK">ExtensionShrinkPosition</variable>
<variable id="1m$Y;Q8*;?rg?=0:r)hZ">WristShrinkPosition</variable>
<variable id="rwzHSPUT^dRnL4B.UIO{">ElbowShrinkPosition</variable>
</variables>
<block type="procedures_defnoreturn" id="WtpyD@tEu+EoY=P9iY,D" deletable="false" x="-959" y="-333">
<field name="NAME">runOpMode</field>
<comment pinned="false" h="45" w="532">This function is executed when this OpMode is selected from the Driver Station.</comment>
<statement name="STACK">
<block type="comment" id="Lc#BFtj*NTB48YL;eBl.">
<field name="COMMENT">Put initialization blocks here.</field>
<next>
<block type="procedures_callnoreturn" id="/z6Bc*d)$4p];n.iwk9n">
<mutation name="SettingInitialValueOfVariables"/>
<next>
<block type="procedures_callnoreturn" id="h)Si0p*HITVM9kB@WE,C">
<mutation name="MotorInit"/>
<next>
<block type="procedures_callnoreturn" id="=*L!5j]ao`%7v3yVmjT+">
<mutation name="ResettingEncoder"/>
<next>
<block type="linearOpMode_waitForStart" id="NZZd{1ro|TGe:X-,W0}[">
<next>
<block type="controls_if" id="76jGlffGpM|#4U=nEh#C">
<value name="IF0">
<block type="linearOpMode_opModeIsActive" id=",WM@u/3J620.1nZy#WHz"/>
</value>
<statement name="DO0">
<block type="controls_whileUntil" id="T}B5I;|Ex)F)uU%:d`Nf">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="linearOpMode_opModeIsActive" id="(aO}tx:o_,n1]_!/CuA9"/>
</value>
<statement name="DO">
<block type="procedures_callnoreturn" id="YM(4dS(7BjkB_R3]v*xu">
<mutation name="driving">
<arg name="pivot"/>
<arg name="left-right"/>
<arg name="forward-back"/>
<arg name="slow-speed-turned-on"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Number" id="l6:FA0v@hZ%L!?(aIiFg">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">RightStickX</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<value name="ARG1">
<block type="gamepad_getProperty_Number" id="VUl+p~g4Qp;ZT]LMBqbA">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">LeftStickX</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<value name="ARG2">
<block type="gamepad_getProperty_Number" id="4Y1Za`yuE7Lniw_D#Z)a">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">LeftStickY</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<value name="ARG3">
<block type="gamepad_getProperty_Number" id="j6eE`9=ITphiZ9NZJA%)">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">RightTrigger</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="-d/QzW^1=uu/vZELuf^O">
<mutation name="Intake">
<arg name="RightIntake"/>
<arg name="RightOutake"/>
<arg name="LeftIntake"/>
<arg name="LeftOutake"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Boolean" id="rq6T^-$cEaCcH5Go{7A/">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">RightBumper</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG1">
<block type="gamepad_getProperty_Number" id="nH;w9vO``yoVj%lgqx2%">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">RightTrigger</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG2">
<block type="gamepad_getProperty_Boolean" id="iHb^+6{46f;m/:{(Ffz4">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">LeftBumper</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG3">
<block type="gamepad_getProperty_Number" id="ehz_9|0*WahRL[J@%34c">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">LeftTrigger</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="+N|WO:WEZjJ]i0aD|iWD">
<mutation name="ArmElbowPosition">
<arg name="SpeedOfElbow"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Number" id="_,@.2+n;KOTgj2*~p;Jd">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">RightStickY</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="*J^B5c#C[ha:?%L6F4MB">
<mutation name="ExtendingTheArm">
<arg name="SpeedOfExtension"/>
<arg name="SlowArmMode"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Number" id="UgrsIum)Xq~#%6@wEPl.">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">LeftStickY</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG1">
<block type="gamepad_getProperty_Number" id="gFGk?06f.%`]i6C^9=fN">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">LeftTrigger</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="/|zr{6}]s@{N;Rk;n}@}">
<mutation name="WristMovement">
<arg name="DpadUp"/>
<arg name="DpadDown"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Boolean" id=";00%WEDV.c%rF);jU0E+">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">DpadDown</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG1">
<block type="gamepad_getProperty_Boolean" id=");5I.T/upj]238?w+2MQ">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">DpadUp</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="c2EaB]xat;FXCq?^Q-M1">
<mutation name="SettingPresets">
<arg name="OutakingPixelsOnBackdrop"/>
<arg name="IntakingPixels"/>
<arg name="Climbing"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Boolean" id="/6JVoL-dG]VP|.Z#vjh@">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">X</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG1">
<block type="gamepad_getProperty_Boolean" id="Aa4].Ybatv.Lt$RtkRna">
<field name="IDENTIFIER">gamepad2</field>
<field name="PROP">A</field>
<data>{"IDENTIFIER":"gamepad2"}</data>
</block>
</value>
<value name="ARG2">
<block type="gamepad_getProperty_Boolean" id="mS,=(yc]7QQ(zKAr4;:k">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">B</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="t?ep*j}XHti_:pq$MrWh">
<mutation name="AirplaneLauncher">
<arg name="Launching"/>
<arg name="Retracting"/>
</mutation>
<value name="ARG0">
<block type="gamepad_getProperty_Boolean" id="fc?hZ-JE`.p.xbS$#G@;">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">B</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<value name="ARG1">
<block type="gamepad_getProperty_Boolean" id="Yj0EFaT|~?NN1pTqf^)A">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">DpadRight</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<next>
<block type="telemetry_update" id="/XyDr)v(Lpi_}JSY?V86"/>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
</statement>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="rqSB8I}3P#;*@z/pSaUp" x="-290" y="-344">
<field name="NAME">SettingInitialValueOfVariables</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="}EM6g47=mCFo8[7S8d^2">
<field name="VAR" id="L?8T~GfxiBb=,z+X|f6/">LinearDistanceToEncoderValue</field>
<value name="VALUE">
<block type="math_number" id="XB%/exn.K_`:]l$Su.jO">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="`F(tXR:-hJ=shgbY?63*">
<field name="VAR" id="H{~14xnwE]T+T(5o)XMy">SlowRatioForExtension</field>
<value name="VALUE">
<block type="math_number" id="|T{ML]t?fP1O8==m*+mf">
<field name="NUM">0.3</field>
</block>
</value>
<next>
<block type="variables_set" id="zXv]tb%](5)=5oUfKfc;">
<field name="VAR" id="%QiDH/le8?L!$.dATdFV">LowSpeedForElbow</field>
<value name="VALUE">
<block type="math_number" id="v}$hA#)GW~H.]M$rlYe8">
<field name="NUM">0.3</field>
</block>
</value>
<next>
<block type="variables_set" id="*;uW^.mNma..=68x`_ck">
<field name="VAR" id="Bd6JT2q-d7^OJ10*H+PF">HighSpeedForElbow</field>
<value name="VALUE">
<block type="math_number" id=",VW3P=!z4:ZupczI(S6O">
<field name="NUM">1</field>
</block>
</value>
<next>
<block type="variables_set" id="ChNo/*g|KJju)M7OA9KD">
<field name="VAR" id="}Jm)-X`fsRVH}X=BjJYm">LowSpeedForErecting</field>
<value name="VALUE">
<block type="math_number" id="N3zM#_Gfz{_Eh4,CtJ%T">
<field name="NUM">1</field>
</block>
</value>
<next>
<block type="variables_set" id="cZyyyt1w^l-H9@U|lzVG">
<field name="VAR" id=",$%{QOwX]+WF.V`{}rsj">HighSpeedForErecting</field>
<value name="VALUE">
<block type="math_number" id="b}SqMsX4tK@vH4n6Q/bo">
<field name="NUM">1</field>
</block>
</value>
<next>
<block type="variables_set" id="R,}7N{y{]VKO,;ItexC,">
<field name="VAR" id="vV-#-/=2EmY*a^poLH?/">BrakeNumForElbowMotor</field>
<value name="VALUE">
<block type="math_number" id="f~xK+Xh4cST_lO%Kik=z">
<field name="NUM">0.2</field>
</block>
</value>
<next>
<block type="variables_set" id="}v!`8q6]LQL2oYD+$NyH">
<field name="VAR" id="tWEEY^Y.YJLBZa}W-.hS">SlowArmRangeLow</field>
<value name="VALUE">
<block type="math_number" id="6*kom.,7NHi(^=)zy9h4">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="n8t9UW%D/IIOlf%@B8Q;">
<field name="VAR" id="j/w:cMN|;G.qEa?%?KaT">SlowArmRangeHigh</field>
<value name="VALUE">
<block type="math_number" id="28i,7O:F1k+kB(mZs:pc">
<field name="NUM">0.3</field>
</block>
</value>
<next>
<block type="variables_set" id="P5|tx?+Dtgg29q`D#Jnk">
<field name="VAR" id="jkX-w+T$Qc~hdD0r26yg">MaxWristRange</field>
<value name="VALUE">
<block type="math_number" id="W|J%HlvXEMKvS0dt94PB">
<field name="NUM">0.75</field>
</block>
</value>
<next>
<block type="variables_set" id="1XVEM|am/j=a.]9Md?#_">
<field name="VAR" id="]s)L]%;})(Yr[qf4p-(.">MinWristRange</field>
<value name="VALUE">
<block type="math_number" id="bFnp7px;]@3Y8daz-%WS">
<field name="NUM">0.34</field>
</block>
</value>
<next>
<block type="variables_set" id="^h8$.M]oGCLLc?8@S4pa">
<field name="VAR" id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</field>
<value name="VALUE">
<block type="math_number" id="7!d;l;dpTg*-#?42+=zx">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="i{bLA(OfR4FM+vv6*]vd">
<field name="VAR" id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</field>
<value name="VALUE">
<block type="math_number" id=".W~9ut6i!V(VWh|-f}(.">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="Q6:7~a6lP!|Lw1uzxI{:">
<field name="VAR" id=";5MD1V#G#ePQ~*A+;O~w">PositionOfWrist</field>
<value name="VALUE">
<block type="math_number" id="]?Lr(GPO3x9G@3f6;RSk">
<field name="NUM">0.34</field>
</block>
</value>
<next>
<block type="variables_set" id="D/$8b/(b1B~|D*uk[O5D">
<field name="VAR" id="q}-UQN7Mf]6bFywa?W,~">MinExtensionPosition</field>
<value name="VALUE">
<block type="math_number" id="uWd-mArmD;4Jyp!i_qg~">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="nFr*Ukt3xiHf4L?[NuXL">
<field name="VAR" id="R+dU%dGdan)h@lpeftA[">MaxExtensionPosition</field>
<value name="VALUE">
<block type="math_number" id="HYxFsE[7leVUpVe!xcZ|">
<field name="NUM">2570</field>
</block>
</value>
<next>
<block type="variables_set" id="k=$(-m.o%=e[vxXl_dn4">
<field name="VAR" id="X:z8N;$q7KO9)yTHwBPt">MinElbowPosition</field>
<value name="VALUE">
<block type="math_number" id="DKu8:;Qk6RiZVnaCp3+!">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="Atahb_sl$k*62hg~D`R8">
<field name="VAR" id="D!X}ei98^Ml#Hk6}{u{w">MaxElbowPos</field>
<value name="VALUE">
<block type="math_number" id="qH+|^%NVJz1*i9Vs.nII">
<field name="NUM">1100</field>
</block>
</value>
<next>
<block type="variables_set" id="q/GdE@Px|En8F(@?^@xu">
<field name="VAR" id="^Xbe%AvR5*EU9ih/Fy,H">ANTICLOCKWISE</field>
<value name="VALUE">
<block type="math_number" id="{^Y0JR8@J;{CKq)NY=Qt">
<field name="NUM">-1</field>
</block>
</value>
<next>
<block type="variables_set" id="EnWaS({=-/v~I9hZ2Z~u">
<field name="VAR" id="A%y~6wjw,{m#W-zmg)CM">CLOCKWISE</field>
<value name="VALUE">
<block type="math_number" id="fS$LOkP5?L8Gut4!_1j0">
<field name="NUM">1</field>
</block>
</value>
<next>
<block type="variables_set" id="w=u0([p$jIAKi~Xcb70{">
<field name="VAR" id="6to)A6bl^t8Pfi78Bs=2">ScalingMultiplierForElbowPosition</field>
<value name="VALUE">
<block type="math_number" id="+DlcHgd{/5?L,6qzjp@y">
<field name="NUM">-5</field>
</block>
</value>
<next>
<block type="variables_set" id="K/eYq{+S%U,@B=fUv,MD">
<field name="VAR" id="qZgX_t6MFE}8;^f}EV2H">ScalingMultiplierForExtendingPosition</field>
<value name="VALUE">
<block type="math_number" id="QYGQh2KFUuQuU?.TXyW4">
<field name="NUM">-20</field>
</block>
</value>
<next>
<block type="variables_set" id="^oh;SjCNJ{jj(x:aKKph">
<field name="VAR" id="yF.s20E+kl/,5n|Ocvp?">PowerOfExtendingArm</field>
<value name="VALUE">
<block type="math_number" id="gD(e^r:5^1MbU{|on}Gm">
<field name="NUM">0.5</field>
</block>
</value>
<next>
<block type="variables_set" id="gww1ei1)2f9K*CZ%Gr;Q">
<field name="VAR" id="CW4q[,j[BwTyGo5|*SSA">BackdropPositionSet</field>
<value name="VALUE">
<block type="logic_boolean" id="tJc3`!Yif~JF+74Hh-*O">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="Wcoxk[S#d%`|4K1JBQ-7">
<field name="VAR" id="^|IehjzuQT#0+4fQbMm`">IntakePositionSet</field>
<value name="VALUE">
<block type="logic_boolean" id="Z`OXb`ynTGorVt4~#Q-V">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="wG`YyqPU~m;5i%P(mn##">
<field name="VAR" id="LZw3`*V[~}|B$UFW.Y1H">WristPositionForBackdrop</field>
<value name="VALUE">
<block type="math_arithmetic" id="%p%WO=s57.]4Bum{u4iU">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number" id="2`P]+Jyr@,qn$l:%W]01">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="7Lzozp;#=dqRP(Id|#9W">
<field name="VAR" id="]s)L]%;})(Yr[qf4p-(.">MinWristRange</field>
</block>
</value>
<value name="B">
<shadow type="math_number" id="qb!1K=MNdB6DsjAiwBd~">
<field name="NUM">0.26</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="AkxCIu5z,n300=XHoa7h">
<field name="VAR" id="p90J{Ip!K*Th*K%Bzqey">PositionOfElbowForBackdrop</field>
<value name="VALUE">
<block type="math_number" id="1kUeg{V`lG7}4YuTuud6">
<field name="NUM">376</field>
</block>
</value>
<next>
<block type="variables_set" id="5`%6GYST`FS{y^MfWxE_">
<field name="VAR" id=":6q[L^O=gMo{~`OX`{?0">PositionOfExtensionForBackdrop</field>
<value name="VALUE">
<block type="math_number" id="vyvI|voIyj%IVXv.MkX}">
<field name="NUM">1410</field>
</block>
</value>
<next>
<block type="variables_set" id="OXYX01jj`83~CS(:Xm9^">
<field name="VAR" id="HkU46vmw13g+%^UIsuvj">WristPositionForIntake</field>
<value name="VALUE">
<block type="math_arithmetic" id="tH(!0Ln/:.E7,jF~fCPU">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number" id="KP-v1Q35B0-q:S?y_3u-">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="Jt*Bk/.)+)X}=grM~JtB">
<field name="VAR" id="]s)L]%;})(Yr[qf4p-(.">MinWristRange</field>
</block>
</value>
<value name="B">
<shadow type="math_number" id="sw8R|Rd=.n(S1S`Nm,*@">
<field name="NUM">0.39</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="$gOD2Jkh=XR5DSZ3i}7f">
<field name="VAR" id="hbh2PE[xXe]3IGpxec=F">PositionOfExtensionForIntake</field>
<value name="VALUE">
<block type="math_number" id="7q,#+.FDHWK91@t+%a=y">
<field name="NUM">1217</field>
</block>
</value>
<next>
<block type="variables_set" id="(pJVcFjZ*QlPiG0l,Wb:">
<field name="VAR" id="~G@$Nn)hQK-yh;*?C^_q">PositionOfElbowForIntake</field>
<value name="VALUE">
<block type="math_number" id="f?tl5?}A[.5p]As9o{[J">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="J@ASXo=f3(O?T8BXbnpi">
<field name="VAR" id="z8gp]=LpLch[KO]X59/r">PositionOfAirplaneLauncher</field>
<value name="VALUE">
<block type="math_number" id=":tjThK9a8-RMX:M95Ql(">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="i=8!GG9,l~nrnZ2|?KYY">
<field name="VAR" id="b]x.Fd(,o9YUr+Gs?`se">MinAirplaneRange</field>
<value name="VALUE">
<block type="math_number" id="*1tcME*JR+ihWAN8?:O@">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="/eEJl]qYIV8.K-!MYSsh">
<field name="VAR" id="rM7!a=~hO|vZcD@I_~^$">ShrinkingPositionSet</field>
<value name="VALUE">
<block type="logic_boolean" id="_=I,wnU;WVWeU)xX6O~~">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="lB36bgc`UE!b)skaLwi%">
<field name="VAR" id="2_9^j11vQ_y2@WIa?ceK">ExtensionShrinkPosition</field>
<value name="VALUE">
<block type="math_number" id="O#Y;]o#)zi}kf0G%syk/">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="K0qt16@0ff!dWWDGy6eB">
<field name="VAR" id="1m$Y;Q8*;?rg?=0:r)hZ">WristShrinkPosition</field>
<value name="VALUE">
<block type="math_number" id="xHX;-v.VV8BH(5sj%[xc">
<field name="NUM">0.13</field>
</block>
</value>
<next>
<block type="variables_set" id="B?`,o(*%lSt1m%j]5cr`">
<field name="VAR" id="rwzHSPUT^dRnL4B.UIO{">ElbowShrinkPosition</field>
<value name="VALUE">
<block type="math_number" id="Qv#.rJ|I=jJVAtHh)N5=">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="=P;$]+=RIWPTIyi`.fT#">
<field name="VAR" id="``Sn-;pDqErK`=/oT:0g">ClimbingPositionSet</field>
<value name="VALUE">
<block type="logic_boolean" id="/M*.+5/p];wmH;Cye[z+">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="w,6DJlX@XH54)eUPsiTM">
<field name="VAR" id="OIHK%lJyEj%Q*H[_@eJJ">WristClimbPosition</field>
<value name="VALUE">
<block type="math_arithmetic" id="*5^O(mP*:@HTKEbnJuS8">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="dg,5Phh)tE[@},7bnE,b">
<field name="VAR" id="]s)L]%;})(Yr[qf4p-(.">MinWristRange</field>
</block>
</value>
<value name="B">
<shadow type="math_number" id="_73y.y@H03_#f{[xlxK|">
<field name="NUM">0.28</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="P{%$k(I5hf]%{I)m{X){">
<field name="VAR" id="?jI+VTd;od9cbBeNIM#X">ExtensionClimbPosition</field>
<value name="VALUE">
<block type="math_number" id="=R0?)IJNf%[HZPeKu9mB">
<field name="NUM">2570</field>
</block>
</value>
<next>
<block type="variables_set" id="r)KDSnww@CKY=3hpS2J_">
<field name="VAR" id="mYU}4)_BRMQT{N=Frix=">ElbowClimbPosition</field>
<value name="VALUE">
<block type="math_number" id="lWFnWs^}xD%Vs0=G:9Pa">
<field name="NUM">928</field>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</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>
<block type="procedures_defnoreturn" id="MZq/HWuSbnu[,.nWhw#*" x="252" y="-32">
<mutation>
<arg name="RightIntake" varid="~0%{MkR4%uwVJXB+t4-)"/>
<arg name="RightOutake" varid="[9-g}9}}_5cqD9fmpMbY"/>
<arg name="LeftIntake" varid="gUEz7Hrc5rimNpHuN|sr"/>
<arg name="LeftOutake" varid="!A:HJsw|Ri2/j`DG6vpS"/>
</mutation>
<field name="NAME">Intake</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id=";_^7d0$b!~H4adBr5/@E">
<field name="VAR" id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</field>
<value name="VALUE">
<block type="math_number" id="sb4af-40#E3u1d-v9$Te">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="variables_set" id="^1i9?d7WiX*iqk4{TKth">
<field name="VAR" id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</field>
<value name="VALUE">
<block type="math_number" id="*B0Mn8M7@!d*^A(Mflo|">
<field name="NUM">0</field>
</block>
</value>
<next>
<block type="controls_if" id="=S.!@/%}6)#U=zD{5Rii">
<value name="IF0">
<block type="variables_get" id="o^_ZE`3sWX%4)1afo;fE">
<field name="VAR" id="~0%{MkR4%uwVJXB+t4-)">RightIntake</field>
</block>
</value>
<statement name="DO0">
<block type="variables_set" id="{5:W-#ov^x8+cRKJl1:.">
<field name="VAR" id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</field>
<value name="VALUE">
<block type="variables_get" id="Q4F+ER2#*LdVirQM!#DV">
<field name="VAR" id="A%y~6wjw,{m#W-zmg)CM">CLOCKWISE</field>
</block>
</value>
</block>
</statement>
<next>
<block type="controls_if" id="-lO!chbcEzI4ELQf=zsn">
<value name="IF0">
<block type="variables_get" id=",ftp61bRsGaVN8s-faHr">
<field name="VAR" id="[9-g}9}}_5cqD9fmpMbY">RightOutake</field>
</block>
</value>
<statement name="DO0">
<block type="variables_set" id="9kWCB+=CSfxJo)BFDFID">
<field name="VAR" id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</field>
<value name="VALUE">
<block type="variables_get" id=")iLKWJ(-QvWSa:CWnIW3">
<field name="VAR" id="^Xbe%AvR5*EU9ih/Fy,H">ANTICLOCKWISE</field>
</block>
</value>
</block>
</statement>
<next>
<block type="controls_if" id="=rDHX|!`jCo/Qxy]wC84">
<value name="IF0">
<block type="variables_get" id="6:}e0jFn|uo}`VUt3FGc">
<field name="VAR" id="gUEz7Hrc5rimNpHuN|sr">LeftIntake</field>
</block>
</value>
<statement name="DO0">
<block type="variables_set" id="2:WG:Vxj_s+]J]FzP=PI">
<field name="VAR" id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</field>
<value name="VALUE">
<block type="variables_get" id="T9QOedfh1rK1n}Ejj~?f">
<field name="VAR" id="^Xbe%AvR5*EU9ih/Fy,H">ANTICLOCKWISE</field>
</block>
</value>
</block>
</statement>
<next>
<block type="controls_if" id="zYg4M1*aOp9Qk)JN1]gf">
<value name="IF0">
<block type="variables_get" id="heA0E0Ns2xk.FmKWVuF*">
<field name="VAR" id="!A:HJsw|Ri2/j`DG6vpS">LeftOutake</field>
</block>
</value>
<statement name="DO0">
<block type="variables_set" id="l#1co1-;?aR{nJ$px8tI">
<field name="VAR" id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</field>
<value name="VALUE">
<block type="variables_get" id="BaqriIPP3+vvF:xg9Jnh">
<field name="VAR" id="A%y~6wjw,{m#W-zmg)CM">CLOCKWISE</field>
</block>
</value>
</block>
</statement>
<next>
<block type="crServo_setProperty_Number" id="PvBC39c/Gs,V!?(5pdEG">
<field name="IDENTIFIER">intakeleftAsCRServo</field>
<field name="PROP">Power</field>
<data>{"IDENTIFIER":"intake-left"}</data>
<value name="VALUE">
<shadow type="math_number" id="-/6J0njqooglcgKC.GWn">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="~;l?=k(U,]%5ttoy*NA)">
<field name="VAR" id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</field>
</block>
</value>
<next>
<block type="crServo_setProperty_Number" id="JVWWS(fSOA)#+LrcU_!}">
<field name="IDENTIFIER">intakerightAsCRServo</field>
<field name="PROP">Power</field>
<data>{"IDENTIFIER":"intake-right"}</data>
<value name="VALUE">
<shadow type="math_number" id="*r7;9fEKdH$UpNlTSk35">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="):r(s%b2LPEX.Dkf]=Yv">
<field name="VAR" id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</field>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="o@[Z@1yw1XoFI}t^8+C0" x="893" y="55">
<field name="NAME">ResettingEncoder</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="dcMotor_setDualProperty_RunMode" id="2AWDWL4cK7sJt}WUT+,+">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">elbowarmAsDcMotor</field>
<field name="IDENTIFIER2">erectarmAsDcMotor</field>
<data>{"IDENTIFIER1":"elbow-arm","IDENTIFIER2":"erect-arm"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="3+p#4EAVZPv4bLp!b@vZ">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="P4*T~026_ta%FHm}E{#:">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setDualProperty_RunMode" id="UsPC]JrlqFkTG`S)CITC">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">backleftAsDcMotor</field>
<field name="IDENTIFIER2">backrightAsDcMotor</field>
<data>{"IDENTIFIER1":"back-left","IDENTIFIER2":"back-right"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="1j!,v7H_-gG0GR_}wp(0">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="Ezc$eQk`4bgP_wc%li5R">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setDualProperty_RunMode" id="a0f}w[+NfhizHkk.vElx">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">elbowarmAsDcMotor</field>
<field name="IDENTIFIER2">erectarmAsDcMotor</field>
<data>{"IDENTIFIER1":"elbow-arm","IDENTIFIER2":"erect-arm"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="bXGgp[/xx4oWw|ei=M..">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="+M@~qA147|,|PO2f=Ehy">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setDualProperty_RunMode" id="+.D7:wr+7QN-Nwh,Opp4">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">backleftAsDcMotor</field>
<field name="IDENTIFIER2">backrightAsDcMotor</field>
<data>{"IDENTIFIER1":"back-left","IDENTIFIER2":"back-right"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="y,{iwx*S!!6MulL{mMH-">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="dnh:zScx8`g)j*^2xWRL">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setProperty_Number" id="a1Xisop=UdbLMrx(RgeL">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">TargetPosition</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">-300</field>
</shadow>
<block type="dcMotor_getProperty_Number" id="Xeq?I$.S!!o!4zN5?sM|">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">CurrentPosition</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
</block>
</value>
<next>
<block type="dcMotor_setProperty_RunMode" id="ij!!I,L!%|^w4Hxt$5[j">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">Mode</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
<value name="VALUE">
<shadow type="dcMotor_typedEnum_runMode" id="LrdS^IXUrBi:{=ycBI8T">
<field name="RUN_MODE">RUN_TO_POSITION</field>
</shadow>
</value>
<next>
<block type="variables_set" id="Pm,veVLQ6tg:v%v[v`Kw">
<field name="VAR" id="/Y64{=1MTCf(951Jti[c">ElbowArmPosition</field>
<value name="VALUE">
<block type="dcMotor_getProperty_Number" id="N%!t=dk7b?@;]5:=HPzP">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">CurrentPosition</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
</block>
</value>
<next>
<block type="dcMotor_setProperty_Number" id="d~8Z;/jIH^s@4y#/iw?y">
<field name="IDENTIFIER">erectarmAsDcMotor</field>
<field name="PROP">TargetPosition</field>
<data>{"IDENTIFIER":"erect-arm"}</data>
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">-300</field>