{ "format": "evn-blocks", "version": 3, "title": "Pose: 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, an EVN compass on I2C port 14 calibrated on the robot and mounted away from the motors, and 40 cm of clear floor ahead. Keep the robot still while the program starts (the IMU settles in 8 to 25 s).", "description": "Every pose block once: the compass added to the pose, the robot following its gyro, which sources count right now, re-framing the pose (a new origin, the heading kept), the speed and turn rate while the robot drives, the position and heading after each leg, and the pose's own uncertainty. The robot drives 30 cm out, turns 45 degrees right and back, and drives back, so it ends 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 }, "next": { "block": { "type": "evn_imu_setup", "fields": { "PORT": "3", "CALIBRATE": false }, "next": { "block": { "type": "evn_compass_setup", "fields": { "PORT": "14" }, "next": { "block": { "type": "evn_pose_setup", "fields": { "PORT": "14" } } } } } } } } } } } }, { "type": "evn_program_start", "x": 30, "y": 250, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the IMU of this block joins the pose; it waits (up to 35 s) for the IMU to settle" }, "next": { "block": { "type": "evn_drivebase_gyro", "fields": { "PORT": "3", "ON": "True" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "the pose uses the wheels: " } } }, "ADD1": { "block": { "type": "evn_pose_uses", "fields": { "SOURCE": "wheels" } } }, "ADD2": { "shadow": { "type": "text", "fields": { "TEXT": ", the IMU: " } } }, "ADD3": { "block": { "type": "evn_pose_uses", "fields": { "SOURCE": "imu" } } }, "ADD4": { "shadow": { "type": "text", "fields": { "TEXT": ", the compass: " } } }, "ADD5": { "block": { "type": "evn_pose_uses", "fields": { "SOURCE": "compass" } } } }, "extraState": { "itemCount": 6 } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "start at 0, 0; with the compass, keep the heading the pose has (from north)" }, "next": { "block": { "type": "controls_if", "extraState": { "hasElse": true }, "inputs": { "IF0": { "block": { "type": "evn_pose_uses", "fields": { "SOURCE": "compass" } } }, "DO0": { "block": { "type": "evn_pose_reset", "inputs": { "X": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } }, "Y": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } }, "HEADING": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "heading()" } } } } } }, "ELSE": { "block": { "type": "evn_pose_reset", "inputs": { "X": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } }, "Y": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } }, "HEADING": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } } } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "start: x " } } }, "ADD1": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "position()[0]" } } } } } }, "ADD2": { "shadow": { "type": "text", "fields": { "TEXT": " mm y " } } }, "ADD3": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "position()[1]" } } } } } }, "ADD4": { "shadow": { "type": "text", "fields": { "TEXT": " mm heading " } } }, "ADD5": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "heading()" } } } } } }, "ADD6": { "shadow": { "type": "text", "fields": { "TEXT": " degrees" } } } }, "extraState": { "itemCount": 7 } } } }, "next": { "block": { "type": "evn_drivebase_straight", "fields": { "THEN": "HOLD", "WAIT": false }, "inputs": { "DISTANCE": { "shadow": { "type": "math_number", "fields": { "NUM": 300 } } } }, "next": { "block": { "type": "controls_whileUntil", "fields": { "MODE": "UNTIL" }, "inputs": { "BOOL": { "block": { "type": "evn_drivebase_is", "fields": { "WHAT": "done" } } }, "DO": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "speed " } } }, "ADD1": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "velocity()[0]" } } } } } }, "ADD2": { "shadow": { "type": "text", "fields": { "TEXT": " mm/s turn rate " } } }, "ADD3": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "velocity()[1]" } } } } } }, "ADD4": { "shadow": { "type": "text", "fields": { "TEXT": " deg/s" } } } }, "extraState": { "itemCount": 5 } } } }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 250 } } } } } } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "after 30 cm: x " } } }, "ADD1": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "position()[0]" } } } } } }, "ADD2": { "shadow": { "type": "text", "fields": { "TEXT": " mm y " } } }, "ADD3": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "position()[1]" } } } } } }, "ADD4": { "shadow": { "type": "text", "fields": { "TEXT": " mm heading " } } }, "ADD5": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "heading()" } } } } } }, "ADD6": { "shadow": { "type": "text", "fields": { "TEXT": " degrees" } } } }, "extraState": { "itemCount": 7 } } } }, "next": { "block": { "type": "evn_drivebase_turn", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 45 } } } }, "next": { "block": { "type": "evn_drivebase_turn", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": -45 } } } }, "next": { "block": { "type": "evn_drivebase_straight", "fields": { "THEN": "HOLD", "WAIT": true }, "inputs": { "DISTANCE": { "shadow": { "type": "math_number", "fields": { "NUM": -300 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "back: x " } } }, "ADD1": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "position()[0]" } } } } } }, "ADD2": { "shadow": { "type": "text", "fields": { "TEXT": " mm y " } } }, "ADD3": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "position()[1]" } } } } } }, "ADD4": { "shadow": { "type": "text", "fields": { "TEXT": " mm heading " } } }, "ADD5": { "block": { "type": "math_round", "fields": { "OP": "ROUND" }, "inputs": { "NUM": { "block": { "type": "evn_pose_value", "fields": { "WHAT": "heading()" } } } } } }, "ADD6": { "shadow": { "type": "text", "fields": { "TEXT": " degrees" } } } }, "extraState": { "itemCount": 7 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "uncertainty: x " } } }, "ADD1": { "block": { "type": "evn_pose_uncertainty", "fields": { "WHAT": "0" } } }, "ADD2": { "shadow": { "type": "text", "fields": { "TEXT": " mm, y " } } }, "ADD3": { "block": { "type": "evn_pose_uncertainty", "fields": { "WHAT": "1" } } }, "ADD4": { "shadow": { "type": "text", "fields": { "TEXT": " mm, heading " } } }, "ADD5": { "block": { "type": "evn_pose_uncertainty", "fields": { "WHAT": "2" } } }, "ADD6": { "shadow": { "type": "text", "fields": { "TEXT": " degrees" } } } }, "extraState": { "itemCount": 7 } } } }, "next": { "block": { "type": "evn_drivebase_stop", "fields": { "ACTION": "stop" } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } ] } } }