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2023_AutonBlueBack.blk
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2023_AutonBlueBack.blk
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="m?4.Br)o}VkdXb@#n:+0">x</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="wc@@Lq29{vjCJNU*%^(`">FrontRightSpeedForWheels</variable>
<variable id="OcR5AN4`JX*qj}4sEWle">SpeedOfElbow</variable>
<variable id="$$9+)so851@czV*rJ!Ib">time</variable>
<variable id="TLByAv_-c}nphoKiCFN4">inchesMovin</variable>
<variable id=".a,?}hP/wNA13zWYT9I@">SpeedOfExtension</variable>
<variable id="H/)j-$(,|F(7-$3H`o}:">DpadUp</variable>
<variable id="Djo[d)MCw!~(Ca0{oUzz">DpadDown</variable>
<variable id=":J$Vy[C;#rS,Z)lf)tm;">Tim</variable>
<variable id="zSWSxafhV_%bDq*m}?4k">ExtensionOfArmPosition</variable>
<variable id="GFUli(sx5fg86,ZS$:wf">inchesForward</variable>
<variable id=".mG9D-c`k}Cv?7;]plJd">inchesBackward</variable>
<variable id="OlJB[R?bruF2C6T]y:j,">myTfodRecognitions</variable>
<variable id="H-Z=LqoFw@{./6!|~|z9">FrontLeftSpeedForWheels</variable>
<variable id="L?8T~GfxiBb=,z+X|f6/">LinearDistanceToEncoderValue</variable>
<variable id="zYTjhl-kWT$tV3WOVddC">Circumference</variable>
<variable id="hbh2PE[xXe]3IGpxec=F">PositionOfExtensionForIntake</variable>
<variable type="TfodProcessor.Builder" id="nN$Hc]Yea=/(:3{Flx89">myTfodProcessorBuilder</variable>
<variable id="77%kv^TQSMC/a$@r}+JC">BackRightSpeedForWheels</variable>
<variable id="9K.2[)n%d3UK+/uoD_Ld">erectArmPos</variable>
<variable id="zDa^tzaR%$_!|LH~Lsf0">DriveForwardNumber</variable>
<variable id="H{~14xnwE]T+T(5o)XMy">SlowRatioForMotorsWhenLeftTriggerIsPressed</variable>
<variable id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</variable>
<variable id="^Xbe%AvR5*EU9ih/Fy,H">ANTICLOCKWISE</variable>
<variable id="}+]}?cKa+_YjVNuyfs)P">PulsesPerRevolutions</variable>
<variable id="/Y64{=1MTCf(951Jti[c">ElbowArmSped</variable>
<variable id="yF.s20E+kl/,5n|Ocvp?">PowerOfExtendingArm</variable>
<variable id=";5MD1V#G#ePQ~*A+;O~w">PositionOfWrist</variable>
<variable id="#y@wEHPVAd(N0Zi{*tn:">ComingBackInchesForPark</variable>
<variable id="2(2G$#dr!gUmh_~QL5ZA">myTfodProcessor</variable>
<variable id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</variable>
<variable id="Y2Ld{}neha[Xf4$[mM#z">BackLeftSpeedForWheels</variable>
<variable id="*TC,]*y=ckySvjI8@OMU">TurnLeftTime</variable>
<variable id="msM7B^PHFdkk8%`uHJyS">TurnRightTime</variable>
<variable id="!QE_S!b?21yZRu_u`9G_">WristPositionForOutakingOnStrips</variable>
<variable id="%QiDH/le8?L!$.dATdFV">LowSpeedForElbow</variable>
<variable id="}v$zbt4cx}t1,{TizskJ">scale</variable>
<variable id="iE/e?GJH3[[C9:=4V8iE">UIForEncoder</variable>
<variable id="*lbTg9^)`#**$qHe.pbb">ComingForwardInchesForPark</variable>
<variable id="7;Yzgd~)_/B:m:216`y^">InitialEncoderValue</variable>
<variable id="IXXbz~apj`z=r*X#Wu|S">ErectArmForOutakingPixelsOnStrip</variable>
<variable id="Bd6JT2q-d7^OJ10*H+PF">HighSpeedForElbow</variable>
<variable id=",6ZTHS]Xk,}QbJMeC;Y@">ElbowArmForOutakingPixelsOnStrip</variable>
<variable id="}Jm)-X`fsRVH}X=BjJYm">LowSpeedForErecting</variable>
<variable id="qZgX_t6MFE}8;^f}EV2H">ScalingMultiplierForExtendingPosition</variable>
<variable id="R+dU%dGdan)h@lpeftA[">MaxExtensionPosition</variable>
<variable id="jkX-w+T$Qc~hdD0r26yg">MaxWristRange</variable>
<variable id="*ZbiF.Iv={kswy+s-F4r">DrivingForwardInchesForFront</variable>
<variable id="~QG7i_nv3m[./E078)e@">DrivingForwardInchesForBack</variable>
<variable id="dr]z5I{Of*v:|dm+zG@1">OutakingTimeForStrips</variable>
<variable id=",$%{QOwX]+WF.V`{}rsj">HighSpeedForErecting</variable>
<variable id="D!X}ei98^Ml#Hk6}{u{w">MaxElbowPos</variable>
<variable id="q}-UQN7Mf]6bFywa?W,~">MinExtensionPosition</variable>
<variable id="]s)L]%;})(Yr[qf4p-(.">MinWristRange</variable>
<variable id="n%M(82V.o$-3[*yw$*Gm">RetractingErectionPosition</variable>
<variable id="vV-#-/=2EmY*a^poLH?/">BrakeNumForElbowMotor</variable>
<variable id="Ou58D?(nyPd_KM[V4X_s">counter</variable>
<variable id="X:z8N;$q7KO9)yTHwBPt">MinElbowPosition</variable>
<variable id="RV^1U-M_hXm?u)tkGKJ6">RetractingElbowArmPosition</variable>
<variable id="b]x.Fd(,o9YUr+Gs?`se">MinAirplaneRange</variable>
<variable id="tWEEY^Y.YJLBZa}W-.hS">SlowArmRangeLow</variable>
<variable id="nt}i:98S$6d*R=tkFzwW">stopSpinning</variable>
<variable type="VisionPortal.Builder" id="wx@xgbnS_]b0DQL.08Qg">myVisionPortalBuilder</variable>
<variable id="j/w:cMN|;G.qEa?%?KaT">SlowArmRangeHigh</variable>
<variable id="R{3+3{j6;,uRMizwTeH6">y</variable>
<variable id="`!Y_SntT^8%I`_dH{M4d">LeftIntakePosition</variable>
<variable id=";^MbM2U}mr$.T.+~Iy0F">RightIntakePosition</variable>
<variable id="`=y]uY@Ve@CrZo92a(D/">LeftPixelOnStrip</variable>
<variable id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</variable>
<variable id="MVJr~.%pXDbXuwxYuOsA">MiddlePixelOnStrip</variable>
<variable id="A%y~6wjw,{m#W-zmg)CM">CLOCKWISE</variable>
<variable id="6to)A6bl^t8Pfi78Bs=2">ScalingMultiplierForElbowPosition</variable>
<variable id="CW4q[,j[BwTyGo5|*SSA">BackdropPositionSet</variable>
<variable id="^|IehjzuQT#0+4fQbMm`">IntakePositionSet</variable>
<variable id="LZw3`*V[~}|B$UFW.Y1H">WristPositionForBackdrop</variable>
<variable id="p90J{Ip!K*Th*K%Bzqey">PositionOfElbowForBackdrop</variable>
<variable id=":6q[L^O=gMo{~`OX`{?0">PositionOfExtensionForBackdrop</variable>
<variable id="HkU46vmw13g+%^UIsuvj">WristPositionForIntake</variable>
<variable id="~G@$Nn)hQK-yh;*?C^_q">PositionOfElbowForIntake</variable>
<variable id="z8gp]=LpLch[KO]X59/r">PositionOfAirplaneLauncher</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>
<variable id="``Sn-;pDqErK`=/oT:0g">ClimbingPositionSet</variable>
<variable id="OIHK%lJyEj%Q*H[_@eJJ">WristClimbPosition</variable>
<variable id="?jI+VTd;od9cbBeNIM#X">ExtensionClimbPosition</variable>
<variable id="mYU}4)_BRMQT{N=Frix=">ElbowClimbPosition</variable>
<variable id="h+N$-luP3W`wlsD]`6;K">rightPixelOnStrip</variable>
</variables>
<block type="procedures_defnoreturn" id="#9n_QfdO:21Zm8ZHo%ri" x="-65" y="-1652">
<field name="NAME">telemetryTfod2</field>
<comment pinned="false" h="80" w="160">Display info (using telemetry) for a detected object</comment>
<statement name="STACK">
<block type="variables_set" id="kwtRjs_pyLtole.::O#`">
<field name="VAR" id="OlJB[R?bruF2C6T]y:j,">myTfodRecognitions</field>
<comment pinned="false" h="80" w="160">Get a list of recognitions from TFOD.</comment>
<value name="VALUE">
<block type="tfodProcessor_getRecognitions" id="@!Q-^pk-}44WSPqELt3C">
<value name="TFOD_PROCESSOR">
<block type="variables_get" id="GXR{?=?T/pX!/L!RW-B?">
<field name="VAR" id="2(2G$#dr!gUmh_~QL5ZA">myTfodProcessor</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="@D|)w+s./jxk$Y]Bu`K=">
<value name="KEY">
<shadow type="text" id="w.BkSctiG-wp^`)TfN*N">
<field name="TEXT"># Objects Detected</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT"/>
</shadow>
<block type="lists_length" id="ADoj=rwHQPg7NbBar%22">
<value name="VALUE">
<block type="variables_get" id="0QD5B{_B0|CP|pjCjhk]">
<field name="VAR" id="OlJB[R?bruF2C6T]y:j,">myTfodRecognitions</field>
</block>
</value>
</block>
</value>
<next>
<block type="controls_forEach" id="$a@Aj26fKjMZm16dfeEC">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
<comment pinned="false" h="81" w="199">Iterate through list and call a function to display info for each recognized object.</comment>
<value name="LIST">
<block type="variables_get" id="3@J6|xzY6CSy1L!,VG`W">
<field name="VAR" id="OlJB[R?bruF2C6T]y:j,">myTfodRecognitions</field>
</block>
</value>
<statement name="DO">
<block type="comment" id="Yn:9I1.by%zf2*Yt1|iX">
<field name="COMMENT">Display info about the recognition.</field>
<next>
<block type="telemetry_addLine" id="7tdQ-Fzm4FjK:fng#$=c">
<value name="TEXT">
<shadow type="text" id="=5C~dAbXLwv%b`+=SAtb">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="comment" id="6KH-gg8V=QUbHdU?*?pd">
<field name="COMMENT">Display label and confidence.</field>
<next>
<block type="telemetry_addTextData_All" id="?6#~KmVDmUm,|/Z.{z|/">
<comment pinned="false" h="80" w="160">Display the label and confidence for the recognition.</comment>
<value name="KEY">
<shadow type="text" id="iXChe-eCUgTL8e4qy]@d">
<field name="TEXT">Image</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="text_join" id="k?2kK}2hK1r7h]JYp#L5">
<mutation items="4"/>
<value name="ADD0">
<block type="tfodRecognition_getProperty_String" id="r`)$V(tKo*^kQSu2%K1E">
<field name="PROP">Label</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="?iPdrk|1cFukx@1{}lal">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
<value name="ADD1">
<block type="text" id="DhCX_fL=iBW|(*|UQeh+">
<field name="TEXT"> (</field>
</block>
</value>
<value name="ADD2">
<block type="misc_formatNumber" id="w_,m//rKR;qdc*|6+:Ol">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="math_arithmetic" id="v!+QI2,Y=?f#BFju6xaC">
<field name="OP">MULTIPLY</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="c_DZ)ofMs}km^+meJLwl">
<field name="PROP">Confidence</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="285t~#Y6T~q^0o^;t/ak">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="$H(0Q,4ptI8ua7b^|)ly">
<field name="NUM">100</field>
</shadow>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id=":aR3*myc+@_~-G/AdtMA">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="ADD3">
<block type="text" id="QIz2w/?c|J0XcW7hiWQu">
<field name="TEXT"> % Conf.)</field>
</block>
</value>
</block>
</value>
<next>
<block type="comment" id="[Rm6Z}B2j?k=_8l?BO5v">
<field name="COMMENT">Display position.</field>
<next>
<block type="variables_set" id="7;=0t4Ij-D=z.xF^68Dv">
<field name="VAR" id="m?4.Br)o}VkdXb@#n:+0">x</field>
<value name="VALUE">
<block type="math_arithmetic" id="B390lu~/p3GA3AQCokgm" inline="false">
<field name="OP">DIVIDE</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="cLVxN4^_KE}8@:bqM{aC">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="IT6.#he.u=F{_jCt{9eP">
<field name="PROP">Left</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="bQjH-MD4)jK%pB@XKpqf">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="#0/(C(TU7D#h?HOw,UFu">
<field name="PROP">Right</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="@]K6uxw+XQ}Ku}nuMI%5">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="t[R!mrB0kzS~lk$!@ZU-">
<field name="NUM">2</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="8atc-zZGsFYL,MdT4}3T">
<field name="VAR" id="R{3+3{j6;,uRMizwTeH6">y</field>
<value name="VALUE">
<block type="math_arithmetic" id="/ud06`NINJU1shMLq6];" inline="false">
<field name="OP">DIVIDE</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="zHs3YUJ|DG8Xs~A),p6*">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="E0e|q{byM!PNIr,wcMxL">
<field name="PROP">Top</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="j-o1LJIa%u=Kc98cDHQ-">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="eRCDJ~l.+HZCeZWBH_Ia">
<field name="PROP">Bottom</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="XQ%L,|Qmcn*=?p0{P#xj">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="$E}UM=1Zi/;/6[-XUY`s">
<field name="NUM">2</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="qXfjHx~%?h{HL}NryUxC">
<comment pinned="false" h="100" w="200">Display the position of the center of the detection boundary for the recognition</comment>
<value name="KEY">
<shadow type="text">
<field name="TEXT">key</field>
</shadow>
<block type="text" id="!X[Jyma$,OKvxOjk5a[w">
<field name="TEXT">- Position</field>
</block>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="text_join" id="*_bhUrb[J]69mTLQy0bZ">
<mutation items="3"/>
<value name="ADD0">
<block type="misc_formatNumber" id=")3*wBrUe`g(wmng^Y,GR">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="ISX]XRIGo/IGkL`ff*l@">
<field name="VAR" id="m?4.Br)o}VkdXb@#n:+0">x</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="ze)FF$0rRj:-4y~3Td}V">
<field name="NUM">5</field>
</shadow>
</value>
</block>
</value>
<value name="ADD1">
<block type="text" id="..Iub0aTc780qDYe[l+n">
<field name="TEXT">, </field>
</block>
</value>
<value name="ADD2">
<block type="misc_formatNumber" id="hL31O6H5h@IB:p!@V(qA">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="/h[,e8,X=]da/yKpleJ*">
<field name="VAR" id="R{3+3{j6;,uRMizwTeH6">y</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="qFAnvmLwA.`h#Hb~-Rv5">
<field name="NUM">5</field>
</shadow>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="controls_if" id="J8(V)3~z=$,bu|,@}6[l">
<value name="IF0">
<block type="logic_compare" id="%#xfKy9ci%/vXoWx9Hdv">
<field name="OP">LT</field>
<value name="A">
<block type="variables_get" id="2yf3G.t~s[hMfaI~s=k+">
<field name="VAR" id="m?4.Br)o}VkdXb@#n:+0">x</field>
</block>
</value>
<value name="B">
<block type="math_number" id="HY$2X;OGyy{;ouaSF]UX">
<field name="NUM">220</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
<block type="telemetry_addLine" id="Tkj|pbB6LEsicKAQnq1a">
<value name="TEXT">
<shadow type="text" id="fLg#TRM*^T8)Z{9FDWp~">
<field name="TEXT">left</field>
</shadow>
</value>
<next>
<block type="variables_set" id="kE)D*f6iE+/Kwyz|WJVY">
<field name="VAR" id="`=y]uY@Ve@CrZo92a(D/">LeftPixelOnStrip</field>
<value name="VALUE">
<block type="math_number" id=")V@%d`rP,)VEwBhVD-bN">
<field name="NUM">1</field>
</block>
</value>
</block>
</next>
</block>
</statement>
<next>
<block type="controls_if" id=")9LQcSpN_9mBWKZ.ZBb1">
<value name="IF0">
<block type="logic_compare" id="j)G`CWF0Csb2`{)rU6_!">
<field name="OP">GTE</field>
<value name="A">
<block type="variables_get" id="Aebj5D6rj].n2Akda@*U">
<field name="VAR" id="m?4.Br)o}VkdXb@#n:+0">x</field>
</block>
</value>
<value name="B">
<block type="math_number" id="goa4T#Yx-,gvwyh^kJ)2">
<field name="NUM">220</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
<block type="telemetry_addLine" id="jjTk3$41Qi!t1b6q-=s]">
<value name="TEXT">
<shadow type="text" id="Wo*my-w@1YN_mL,F9?{Y">
<field name="TEXT">middle</field>
</shadow>
</value>
<next>
<block type="variables_set" id="M66CE|;gyp^j!JsW^FSM">
<field name="VAR" id="MVJr~.%pXDbXuwxYuOsA">MiddlePixelOnStrip</field>
<value name="VALUE">
<block type="math_number" id="(_isUaY}$@dH)Dc?K=9s">
<field name="NUM">1</field>
</block>
</value>
</block>
</next>
</block>
</statement>
<next>
<block type="linearOpMode_sleep_Number" id="OU)tyBs5FN],$L#?/7RW">
<value name="MILLISECONDS">
<shadow type="math_number" id="Y{Dk[3YNuwAryZa3*27,">
<field name="NUM">2000</field>
</shadow>
</value>
<next>
<block type="comment" id="CYG(_%HRza]Tef/K=5ww">
<field name="COMMENT">Display size</field>
<next>
<block type="telemetry_addTextData_All" id="@+$DRr+iZq9Fa88OaUS}">
<comment pinned="false" h="100" w="200">Display the size of detection boundary for the recognition</comment>
<value name="KEY">
<shadow type="text">
<field name="TEXT">key</field>
</shadow>
<block type="text" id="z4;AaR{F.a9#EM62v6i;">
<field name="TEXT">- Size</field>
</block>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="text_join" id="h~Boz8F%QO7a@cHAuil0">
<mutation items="3"/>
<value name="ADD0">
<block type="misc_formatNumber" id="8RW~:msx6%Pnwm%^BwIs">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="Y42Rp#i)en!BJyFsum/;">
<field name="PROP">Width</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="dVEQcJ1V#-.j18!Nr^p4">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="4DPEo/2|#TeLUP7oR@z[">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="ADD1">
<block type="text" id="Jc!?^=OKj=*]Px_L8}+q">
<field name="TEXT"> x </field>
</block>
</value>
<value name="ADD2">
<block type="misc_formatNumber" id="qYz6(`AD%5Z)#%7z.F=W">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="tfodRecognition_getProperty_Number" id="O/#uK=9F=?OWH{KHDaRq">
<field name="PROP">Height</field>
<value name="TFOD_RECOGNITION">
<block type="variables_get" id="=6I:Y5.J^%$t_C^)ID9h">
<field name="VAR" id="0(Iv9ie]^GJxK3,fL}G(">myTfodRecognition</field>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="Z+x=Z+nr7d8Srrk!BwF1">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_update" id="L)[zm,??_uU0G*vCp)gr"/>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="8oG~3aTd_J^:Q)*=3#g=" x="-1083" y="-1480">
<field name="NAME">initTfod2</field>
<comment pinned="false" h="80" w="160">Initialize TensorFlow Object Detection.</comment>
<statement name="STACK">
<block type="comment" id="1AYc+5J|ELb%XSPSO^Se">
<field name="COMMENT">First, create a TfodProcessor.Builder.</field>
<next>
<block type="tfodProcessorBuilder_create_assign" id="REDANtQO{Ko=6}1=xHj$">
<field name="TFOD_PROCESSOR_BUILDER" id="nN$Hc]Yea=/(:3{Flx89" variabletype="TfodProcessor.Builder">myTfodProcessorBuilder</field>
<next>
<block type="tfodProcessorBuilder_setModelFileName" id="Oy+B`DEQ#c/=D09mYo@(">
<field name="TFOD_PROCESSOR_BUILDER" id="nN$Hc]Yea=/(:3{Flx89" variabletype="TfodProcessor.Builder">myTfodProcessorBuilder</field>
<comment pinned="false" h="73" w="263">Set the name of the file where the model can be found.</comment>
<value name="MODEL_FILE_NAME">
<shadow type="text" id="v65a%gA/?2Fsb]JGB#ny">
<field name="TEXT">model_20231202_092244.tflite</field>
</shadow>
</value>
<next>
<block type="tfodProcessorBuilder_setModelLabels" id="YZ|4{NJJegQ.yk%*dw0]">
<field name="TFOD_PROCESSOR_BUILDER" id="nN$Hc]Yea=/(:3{Flx89" variabletype="TfodProcessor.Builder">myTfodProcessorBuilder</field>
<comment pinned="false" h="70" w="322">Set the full ordered list of labels the model is trained to recognize.</comment>
<value name="LABELS">
<block type="lists_create_with" id="K`xee.L|O]_jW#79Z@ZU">
<mutation items="2"/>
<value name="ADD1">
<block type="text" id="G{!?Dek4p4Hg|`2ZUAHJ">
<field name="TEXT">cube</field>
</block>
</value>
</block>
</value>
<next>
<block type="tfodProcessorBuilder_setModelAspectRatio" id="rgxLi52d,5[USn,{5(=X">
<field name="TFOD_PROCESSOR_BUILDER" id="nN$Hc]Yea=/(:3{Flx89" variabletype="TfodProcessor.Builder">myTfodProcessorBuilder</field>
<comment pinned="false" h="77" w="328">Set the aspect ratio for the images used when the model was created.</comment>
<value name="MODEL_ASPECT_RATIO">
<block type="math_arithmetic" id="~v*~4^udIvqsrx=q{TS[">
<field name="OP">DIVIDE</field>
<value name="A">
<shadow type="math_number" id="ZQ%4vp+_W5lrXI0[7GMa">
<field name="NUM">16</field>
</shadow>
</value>
<value name="B">
<shadow type="math_number" id="ZVvr%-;/])wP$Ew9q0W@">
<field name="NUM">9</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="comment" id="Sk~4A-E=%MslGj_GGlW*">
<field name="COMMENT">Create a TfodProcessor by calling build.</field>
<next>
<block type="variables_set" id="~j9fE]R-?!*,/I_eG{Uy">
<field name="VAR" id="2(2G$#dr!gUmh_~QL5ZA">myTfodProcessor</field>
<value name="VALUE">
<block type="tfodProcessorBuilder_build" id="ZJ*H?!j[af@[C^j46F;Q">
<field name="TFOD_PROCESSOR_BUILDER" id="nN$Hc]Yea=/(:3{Flx89" variabletype="TfodProcessor.Builder">myTfodProcessorBuilder</field>
</block>
</value>
<next>
<block type="comment" id="i%-uD-9Oyxs$dKyW3.N0">
<field name="COMMENT">Next, create a VisionPortal.Builder and set attributes related to the camera.</field>
<next>
<block type="visionPortalBuilder_create_assign" id="UC$@e}ZLI%]|*D`1a=Vy">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<next>
<block type="controls_if" id="IWb~uYWfE*rDB9ho=qLD">
<mutation else="1"/>
<value name="IF0">
<block type="variables_get" id="*mMc3iVo#cbxQC~PJa.0">
<field name="VAR" id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</field>
</block>
</value>
<statement name="DO0">
<block type="visionPortalBuilder_setCamera" id="R%)~k2ZxN3wmse!2V~Tl">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<comment pinned="false" h="68" w="247">Use a webcam.</comment>
<value name="CAMERA">
<shadow type="navigation_webcamName" id="NQ8ecSM={gwTwIh8j_)8">
<field name="WEBCAM_NAME">Webcam 1</field>
</shadow>
</value>
</block>
</statement>
<statement name="ELSE">
<block type="visionPortalBuilder_setCamera" id="gl#!Lx|KO}_EStM[?p4)">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<comment pinned="false" h="56" w="298">Use the device's back camera.</comment>
<value name="CAMERA">
<shadow type="navigation_typedEnum_builtinCameraDirection" id="DQ=1_ceaF7U|mzzMV_X8">
<field name="CAMERA_DIRECTION">BACK</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="comment" id="AObbT+|r9{Sl`t;=#:N#">
<field name="COMMENT">Add myTfodProcessor to the VisionPortal.Builder.</field>
<next>
<block type="visionPortalBuilder_addProcessor" id="_Fh]Y!}Z~(yEN9^S1,.0">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<value name="VISION_PROCESSOR">
<block type="variables_get" id="0MA|5R+zpG_9pDEw0I[z">
<field name="VAR" id="2(2G$#dr!gUmh_~QL5ZA">myTfodProcessor</field>
</block>
</value>
<next>
<block type="comment" id="q]DX8HvxK]!nZ{OXVzJ|">
<field name="COMMENT">Create a VisionPortal by calling build.</field>
<next>
<block type="variables_set" id="DhH13zk|lX-)9cYQo%5H">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
<value name="VALUE">
<block type="visionPortalBuilder_build" id="aRd6STlC?*!U~Y9}76lm">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</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>
</statement>
</block>
<block type="telemetry_addNumericData_Number" id="Bc|oJO^)fbZ0[/O~5}f_" x="-424" y="-1008">
<value name="KEY">
<shadow type="text" id="@`[WzIfY/b^W59sU#p,L">
<field name="TEXT">x</field>
</shadow>
</value>
<value name="NUMBER">
<shadow type="math_number" id="c7XDaTW-EpgD0QmI%#UH">
<field name="NUM">123</field>
</shadow>
</value>
</block>
<block type="variables_get" id="w;swnY@tptI)ZSGRd4uX" x="-422" y="-884">
<field name="VAR" id="m?4.Br)o}VkdXb@#n:+0">x</field>
</block>
<block type="procedures_defnoreturn" id="4YNUAQX`]K#eRC|$Q`d;" x="-805" y="-782">
<field name="NAME">ResettingEncoder</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="dcMotor_setDualProperty_RunMode" id="-Wp_(v??n^}3i/eqfu|x">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">elbowarmAsDcMotor</field>
<field name="IDENTIFIER2">erectarmAsDcMotor</field>
<data>{"IDENTIFIER1":"elbow-arm","IDENTIFIER2":"erect-arm"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="gJb*_;#.;o4QZvL5RTGM">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="A)rK2@*_-*$OmJz5YW8%">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setDualProperty_RunMode" id="5{U}V,],`95G[pQ9x1kW">
<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="z59lv=cTiJ7XGVX}#qRe">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id=":6(n.|eXrQ!0:/;ux5CX">
<field name="RUN_MODE">STOP_AND_RESET_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setDualProperty_RunMode" id="3Pg}hZ3-v$nHHGVM=S:Y">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">elbowarmAsDcMotor</field>
<field name="IDENTIFIER2">erectarmAsDcMotor</field>
<data>{"IDENTIFIER1":"elbow-arm","IDENTIFIER2":"erect-arm"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="5sG*8%]|3E4D4c]Sx]Z%">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="+]hL36YXykubDo)29p@E">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setDualProperty_RunMode" id="0VZ0m(E1kW.5|MHfWDbX">
<field name="PROP">Mode</field>
<field name="IDENTIFIER1">backleftAsDcMotor</field>
<field name="IDENTIFIER2">backrightAsDcMotor</field>
<data>{"IDENTIFIER1":"back-left","IDENTIFIER2":"back-right"}</data>
<value name="VALUE1">
<shadow type="dcMotor_typedEnum_runMode" id="L|F^C}|3td@*rk|^2v#{">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<value name="VALUE2">
<shadow type="dcMotor_typedEnum_runMode" id="/P^s_F|xaXk*[t%A+h{O">
<field name="RUN_MODE">RUN_USING_ENCODER</field>
</shadow>
</value>
<next>
<block type="dcMotor_setProperty_Number" id="Ug+itEh7#ULG|Wr;zjBP">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">TargetPosition</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">-300</field>
</shadow>
<block type="dcMotor_getProperty_Number" id="{/t(*s/Ep2|4S$YCYowO">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">CurrentPosition</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
</block>
</value>
<next>
<block type="dcMotor_setProperty_RunMode" id="{95U#-:3Am_o-,G})uQJ">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">Mode</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
<value name="VALUE">
<shadow type="dcMotor_typedEnum_runMode" id=":]]+rT,@hi4(is?[bYU!">
<field name="RUN_MODE">RUN_TO_POSITION</field>
</shadow>
</value>
<next>
<block type="variables_set" id="x)ilCs61R`b7?h4{zUrm">
<field name="VAR" id="/Y64{=1MTCf(951Jti[c">ElbowArmSped</field>
<value name="VALUE">
<block type="dcMotor_getProperty_Number" id="Jf0[||*hhhNvD$wOld/E">
<field name="IDENTIFIER">elbowarmAsDcMotor</field>
<field name="PROP">CurrentPosition</field>
<data>{"IDENTIFIER":"elbow-arm"}</data>
</block>
</value>
<next>
<block type="dcMotor_setProperty_Number" id="{(~17FD;B!FC6Neo(qNQ">
<field name="IDENTIFIER">erectarmAsDcMotor</field>
<field name="PROP">TargetPosition</field>
<data>{"IDENTIFIER":"erect-arm"}</data>
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">-300</field>
</shadow>
<block type="dcMotor_getProperty_Number" id="]O1OPMg%:7cW@Y9ktd`y">
<field name="IDENTIFIER">erectarmAsDcMotor</field>
<field name="PROP">CurrentPosition</field>
<data>{"IDENTIFIER":"erect-arm"}</data>
</block>
</value>
<next>
<block type="dcMotor_setProperty_RunMode" id="pF2gB5!1(}.-A)!qh}YY">
<field name="IDENTIFIER">erectarmAsDcMotor</field>
<field name="PROP">Mode</field>
<data>{"IDENTIFIER":"erect-arm"}</data>
<value name="VALUE">
<shadow type="dcMotor_typedEnum_runMode" id="0.NQ]Bu(E4zWcr^YLN5~">
<field name="RUN_MODE">RUN_TO_POSITION</field>
</shadow>
</value>
<next>
<block type="variables_set" id="qSU2+L9J=w:w?}rOf?/Y">
<field name="VAR" id="zSWSxafhV_%bDq*m}?4k">ExtensionOfArmPosition</field>
<value name="VALUE">
<block type="dcMotor_getProperty_Number" id="6U-6;9@9lXU:P(c,1h=n">
<field name="IDENTIFIER">erectarmAsDcMotor</field>
<field name="PROP">CurrentPosition</field>
<data>{"IDENTIFIER":"erect-arm"}</data>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="]HHy.k}_D:;|9Eoyl)%L" x="648" y="-790">
<mutation>
<arg name="pivot" varid="h|V~]%9IyuTz*!W5#]b/"/>
<arg name="left-right" varid="I9$}pRQ`},VgMFr.Yza/"/>
<arg name="forward-back" varid="=SfpBf.hUzWugZNds?[A"/>
<arg name="slow-speed-turned-on" varid="f+L+G0+_[HObBy!,qu?1"/>
</mutation>
<field name="NAME">driving</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="t#Y4Bg[ap`;)gpT*xr+B">
<field name="VAR" id="wc@@Lq29{vjCJNU*%^(`">FrontRightSpeedForWheels</field>
<value name="VALUE">
<block type="math_single" id="S-t=pod43V-pNq2=^1G7">
<field name="OP">NEG</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">9</field>
</shadow>
<block type="math_arithmetic" id="rDq[u=~V*!^82/vt{!O|">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="YqsikZxvXptR}gWKG4Y(">
<field name="VAR" id="h|V~]%9IyuTz*!W5#]b/">pivot</field>
</block>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="b66YVl=?f1~`TN1U(:%F">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id=";{z:Mr-Rv}_0en[xh~q)">
<field name="VAR" id="=SfpBf.hUzWugZNds?[A">forward-back</field>
</block>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="s#:m4ev=,8E11.7G`*Op">
<field name="VAR" id="I9$}pRQ`},VgMFr.Yza/">left-right</field>
</block>
</value>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="9FHy36[yf0Aqdzg~1!r5">
<field name="VAR" id="H-Z=LqoFw@{./6!|~|z9">FrontLeftSpeedForWheels</field>
<value name="VALUE">
<block type="math_arithmetic" id=".(?m:@t53I.QYzYAC:KT">
<field name="OP">MINUS</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="!-zhqtgV([[V$j|v.#`Z">
<field name="VAR" id="h|V~]%9IyuTz*!W5#]b/">pivot</field>
</block>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="x/u1p5QKX6D,]u;?$.do">
<field name="OP">MINUS</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id=":jp,xnXm/;p@SWTGbGGT">
<field name="VAR" id="=SfpBf.hUzWugZNds?[A">forward-back</field>
</block>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="aO7YbTYWK`UV+;LSbd}%">
<field name="VAR" id="I9$}pRQ`},VgMFr.Yza/">left-right</field>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="3:52$jk{1KDuCYj!%h;L">
<field name="VAR" id="77%kv^TQSMC/a$@r}+JC">BackRightSpeedForWheels</field>
<value name="VALUE">
<block type="math_single" id="^@8#fqgXnsx#J$e_r}$d">
<field name="OP">NEG</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">9</field>
</shadow>
<block type="math_arithmetic" id="gx_m@^hGT5~YB;a_DXA@">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>