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blocks: add flip example

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This commit is contained in:
Oleg Kalachev
2020-10-01 22:20:37 +03:00
parent 2f6d9639c1
commit 792352d072
1 changed files with 308 additions and 0 deletions
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clover_blocks/programs/examples/flip.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</variable>
<variable id="GtS.)8^|(~RL*T4.~#VV">start_y</variable>
<variable id="jksdQ,]0F47Xan8{_(?+">start_z</variable>
</variables>
<block type="procedures_defnoreturn" id="Uo{/lI4(1i[O|U^jyh]y" x="188" y="62">
<field name="NAME">flip</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="procedures_callnoreturn" id="G7`l2OBCg~ISh(XsrkRv">
<mutation name="memorize position"></mutation>
<next>
<block type="setpoint" id="8%(,J3=!CEUALDr5gFT+">
<field name="TYPE">RATES</field>
<field name="FRAME_ID">BODY</field>
<comment pinned="false" h="80" w="160">bump up</comment>
<value name="VX">
<shadow type="math_number" id="!@rHW+cG*U6.Py:.;qc)">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VY">
<shadow type="math_number" id="n#I~l7$%1m^@Oz+w;k[H">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VZ">
<shadow type="math_number" id="l0EphD#!^4jX#%UA-rxX">
<field name="NUM">0</field>
</shadow>
</value>
<value name="PITCH">
<shadow type="math_number" id="Ad.[@07QtZcb;(:^,Kjg">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ROLL">
<shadow type="math_number" id="50,,4i.p6KR:e3/l|k2i">
<field name="NUM">0</field>
</shadow>
</value>
<value name="YAW">
<shadow type="math_number" id="(:O}={3*LZ#KDiC@;b[F">
<field name="NUM">0</field>
</shadow>
</value>
<value name="THRUST">
<shadow type="math_number" id="EC6yU;oHb#y-8?W`B/JC">
<field name="NUM">1</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="k.X^bynEZH2dyG1=Y6lr">
<field name="NUM">0</field>
</shadow>
</value>
<next>
<block type="wait" id="#ga)cR4TsF[9t?;zc1H~">
<value name="TIME">
<shadow type="math_number" id="zg5fX7[;O,lQt*Txg|tn">
<field name="NUM">0.2</field>
</shadow>
</value>
<next>
<block type="setpoint" id="j,yf}/lrx*2J}X%^5LG{">
<field name="TYPE">RATES</field>
<field name="FRAME_ID">BODY</field>
<comment pinned="false" h="80" w="160">maximum pitch rate</comment>
<value name="VX">
<shadow type="math_number" id="^WF12EBPyIXhZdpsj;=D">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VY">
<shadow type="math_number" id="C/uBsz]ObzwyHxGqzUP_">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VZ">
<shadow type="math_number" id="4?)O3G/j`UuVTMImLq{T">
<field name="NUM">0</field>
</shadow>
</value>
<value name="PITCH">
<shadow type="math_number" id="sdCVFTmVkc0v2|*3Fy~h">
<field name="NUM">30</field>
</shadow>
</value>
<value name="ROLL">
<shadow type="math_number" id="V1o!AV[`!OnhrUP4~$=!">
<field name="NUM">0</field>
</shadow>
</value>
<value name="YAW">
<shadow type="math_number" id="0e;`*B;ghV*%=ETSvzSM">
<field name="NUM">0</field>
</shadow>
</value>
<value name="THRUST">
<shadow type="math_number" id="K@VAeOH2bEwc#@7_M!@l">
<field name="NUM">0.2</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="c6ycgS!D}bIK8pl8oAv+">
<field name="NUM">0</field>
</shadow>
</value>
<next>
<block type="controls_whileUntil" id="H_6do.wf6H.E$?5;$uw8">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="pu%GH9}wZvUV{RnGk6Se">
<field name="BOOL">TRUE</field>
</block>
</value>
<statement name="DO">
<block type="controls_if" id="l0w?CSzU]S(K9eL-1(1r">
<value name="IF0">
<block type="logic_operation" id="gtXXJ7OFs=1BynL@|R{.">
<field name="OP">OR</field>
<value name="A">
<block type="logic_compare" id="2%9ns$Jk(8M[8$~9o(=*">
<field name="OP">GT</field>
<value name="A">
<block type="math_single" id="#gr7h89vpJyc8bnbWU9O">
<field name="OP">ABS</field>
<value name="NUM">
<shadow type="math_number" id="5paq?]87z}}+@~NALY}.">
<field name="NUM">9</field>
</shadow>
<block type="get_attitude" id="awk0-~@[jWFVQ+ZPi=Dc">
<field name="FIELD">PITCH</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="math_number" id=",4p]fd#kwxy`DtCMtraW">
<field name="NUM">90</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="logic_compare" id="?TPG3^?eg4l~CKM,3DfO">
<field name="OP">GT</field>
<value name="A">
<block type="math_single" id="yS*/-+E3TMpZ]%`1j*Up">
<field name="OP">ABS</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">9</field>
</shadow>
<block type="get_attitude" id="~E3RS!on]G(?IZ?SVA#J">
<field name="FIELD">ROLL</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="math_number" id="#y??I}u#OmOTK:`!pkNS">
<field name="NUM">90</field>
</block>
</value>
</block>
</value>
</block>
</value>
<statement name="DO0">
<block type="controls_flow_statements" id="X|V=r3BDKw9fv)u5EY3.">
<field name="FLOW">BREAK</field>
</block>
</statement>
</block>
</statement>
<next>
<block type="procedures_callnoreturn" id="?;sq{#xJ+]bD`yJ#(]o1">
<mutation name="navigate to memorized position"></mutation>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="!Tv!F*.A}=]dW=C6X@-`" x="538" y="62">
<field name="NAME">memorize position</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="s,o|q7_A/fSV+c0E)b^k">
<field name="VAR" id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</field>
<value name="VALUE">
<block type="get_position" id="f#,.s%hV^19JJ;G/DO):">
<field name="FIELD">X</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="rJRRE#;#JFg}gY+34LVi">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="E+2Pfn3JOB{r=DQ3f1b`">
<field name="VAR" id="GtS.)8^|(~RL*T4.~#VV">start_y</field>
<value name="VALUE">
<block type="get_position" id="J#y+_prX(DI;j8gFO81H">
<field name="FIELD">Y</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="_bnV`SCa:|Vl#sRlYA@}">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="t*TI?p-h#qC_kC)jM8q0">
<field name="VAR" id="jksdQ,]0F47Xan8{_(?+">start_z</field>
<value name="VALUE">
<block type="get_position" id="Xh#8yLEMxT|bQ}jYvk6/">
<field name="FIELD">Z</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="z3FTv/jt^H7dVYx1`$$C">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="$p3=p^fBz}k5Pg1]svL," x="563" y="213">
<field name="NAME">navigate to memorized position</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="navigate" id="#7b*(J_t9t)V,Arb)3;R">
<field name="FRAME_ID">MAP</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="X#O!NcMac+a9WKL;l7?W">
<field name="VAR" id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</field>
</block>
</value>
<value name="Y">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="C(=1.r0+01|e3+3qs%SD">
<field name="VAR" id="GtS.)8^|(~RL*T4.~#VV">start_y</field>
</block>
</value>
<value name="Z">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="?v;YVETEO%vUqgmiro^/">
<field name="VAR" id="jksdQ,]0F47Xan8{_(?+">start_z</field>
</block>
</value>
<value name="ID">
<shadow type="math_number" id="ALt.9P$^_]upK}Q9_M,5">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="ObO|OuF^d,1|Bx{Y`O-R">
<field name="NUM">5</field>
</shadow>
</value>
</block>
</statement>
</block>
<block type="take_off" id="I1oP(b3wChmK?WgPtULz" x="563" y="612">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="N1EX*JgURuG783yO+B^X">
<field name="NUM">2</field>
</shadow>
</value>
<next>
<block type="procedures_callnoreturn" id="(Dc3I{36Kt@1KHN7Ef.m">
<mutation name="flip"></mutation>
<next>
<block type="land" id=";c+lM(v6`13$VK`~jZ|5">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</xml>