{ "format": "evn-blocks", "version": 3, "title": "Robot: every block", "needs": "a robot: left wheel motor on port 4 (mounted mirrored), right on port 3, 62.4 mm wheels 170 mm apart, an EVN IMU on I2C port 3 fixed flat to the chassis, and 40 cm of clear floor ahead and 20 cm to each side (the robot also pivots about 45 degrees on its right wheel and back). Keep the robot still while the program starts (the IMU settles in 8 to 25 s).", "description": "Every robot block once: set-up (speeds in % of full speed, LEGO move steering), straight, turn, both kinds of arc, driving at a speed, steering in percent (a pivot and back), stopping and holding, the speed and acceleration settings, the measurements, and the gyro. The moves go out and come back, so the robot ends near where it started.", "workspace": { "blocks": { "languageVersion": 0, "blocks": [ { "type": "evn_setup_start", "x": 30, "y": 30, "next": { "block": { "type": "evn_motor_setup", "fields": { "PORT": "4", "DIRECTION": "CCW", "UNIT": "DEG_S" }, "next": { "block": { "type": "evn_drivebase_setup", "fields": { "LEFT": "4", "RIGHT": "3", "WHEEL": 62.4, "TRACK": 170, "UNIT": "PERCENT" }, "next": { "block": { "type": "evn_imu_setup", "fields": { "PORT": "3", "CALIBRATE": false } } } } } } } }, { "type": "evn_program_start", "x": 30, "y": 225, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the robot follows its gyro: this waits, still, until the IMU is ready" }, "next": { "block": { "type": "evn_drivebase_gyro", "fields": { "ON": "True", "PORT": "3" }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "out and back: 30 cm, a quarter turn right and back, 30 cm backwards" }, "next": { "block": { "type": "evn_drivebase_straight", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "DISTANCE": { "shadow": { "type": "math_number", "fields": { "NUM": 300 } } } }, "next": { "block": { "type": "evn_drivebase_turn", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 90 } } } }, "next": { "block": { "type": "evn_drivebase_turn", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": -90 } } } }, "next": { "block": { "type": "evn_drivebase_straight", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "DISTANCE": { "shadow": { "type": "math_number", "fields": { "NUM": -300 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the gyro off again: the next moves count wheel turns only" }, "next": { "block": { "type": "evn_drivebase_gyro", "fields": { "ON": "False", "PORT": "3" }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "arcs: a positive radius curves right; a negative amount drives the same arc backwards" }, "next": { "block": { "type": "evn_drivebase_arc", "fields": { "UNIT": "angle", "THEN": "HOLD", "WAIT": true }, "inputs": { "RADIUS": { "shadow": { "type": "math_number", "fields": { "NUM": 150 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 90 } } } }, "next": { "block": { "type": "evn_drivebase_arc", "fields": { "UNIT": "angle", "THEN": "HOLD", "WAIT": true }, "inputs": { "RADIUS": { "shadow": { "type": "math_number", "fields": { "NUM": 150 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": -90 } } } }, "next": { "block": { "type": "evn_drivebase_arc", "fields": { "UNIT": "distance", "THEN": "HOLD", "WAIT": true }, "inputs": { "RADIUS": { "shadow": { "type": "math_number", "fields": { "NUM": -200 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 150 } } } }, "next": { "block": { "type": "evn_drivebase_arc", "fields": { "UNIT": "distance", "THEN": "COAST", "WAIT": true }, "inputs": { "RADIUS": { "shadow": { "type": "math_number", "fields": { "NUM": -200 } } }, "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": -150 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the measurements count from here" }, "next": { "block": { "type": "evn_drivebase_reset", "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "slower and gentler for the rest of the program" }, "next": { "block": { "type": "evn_drivebase_speeds", "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 25 } } }, "TURN": { "shadow": { "type": "math_number", "fields": { "NUM": 15 } } } }, "next": { "block": { "type": "evn_drivebase_accel", "inputs": { "ACCEL": { "shadow": { "type": "math_number", "fields": { "NUM": 400 } } }, "TURN": { "shadow": { "type": "math_number", "fields": { "NUM": 360 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "start a move without waiting, and wait until the robot is done" }, "next": { "block": { "type": "evn_drivebase_straight", "fields": { "THEN": "HOLD", "WAIT": false }, "inputs": { "DISTANCE": { "shadow": { "type": "math_number", "fields": { "NUM": 200 } } } }, "next": { "block": { "type": "evn_wait_until", "inputs": { "COND": { "block": { "type": "evn_drivebase_is", "fields": { "WHAT": "done" } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "driven (mm): " } } }, "ADD1": { "block": { "type": "evn_drivebase_measure", "fields": { "WHAT": "distance" } } } } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "a wheel is stalled: " } } }, "ADD1": { "block": { "type": "evn_drivebase_is", "fields": { "WHAT": "stalled" } } } } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "drive at a speed until told otherwise (the block for a line follower; this robot is set up in % of full speed, so the turn is LEGO steering), then brake" }, "next": { "block": { "type": "evn_drivebase_drive", "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": -20 } } }, "TURN": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 1000 } } } }, "next": { "block": { "type": "evn_drivebase_steer", "inputs": { "STEERING": { "shadow": { "type": "math_number", "fields": { "NUM": 50 } } }, "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 40 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 400 } } } }, "next": { "block": { "type": "evn_drivebase_steer", "inputs": { "STEERING": { "shadow": { "type": "math_number", "fields": { "NUM": 50 } } }, "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": -40 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 400 } } } }, "next": { "block": { "type": "evn_drivebase_stop", "fields": { "ACTION": "hold" }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 500 } } } }, "next": { "block": { "type": "evn_drivebase_stop", "fields": { "ACTION": "brake" }, "next": { "block": { "type": "evn_drivebase_drive", "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 15 } } }, "TURN": { "shadow": { "type": "math_number", "fields": { "NUM": 100 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 1000 } } } }, "next": { "block": { "type": "evn_drivebase_drive", "inputs": { "SPEED": { "shadow": { "type": "math_number", "fields": { "NUM": 15 } } }, "TURN": { "shadow": { "type": "math_number", "fields": { "NUM": -100 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 1000 } } } }, "next": { "block": { "type": "evn_drivebase_stop", "fields": { "ACTION": "stop" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "driven (mm): " } } }, "ADD1": { "block": { "type": "evn_drivebase_measure", "fields": { "WHAT": "distance" } } } } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "turned (degrees): " } } }, "ADD1": { "block": { "type": "evn_drivebase_measure", "fields": { "WHAT": "angle" } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } ] } } }