{
  "format": "evn-blocks",
  "version": 3,
  "title": "Pose: minimal",
  "needs": "a robot: left wheel motor on port 4 (mounted mirrored), right on port 3, 62.4 mm wheels 170 mm apart; you push it along the floor while the program runs.",
  "description": "Where is the robot? Push it around by hand for 20 s and watch its position and heading, worked out from the two wheel encoders. Nothing is driven: the pose only reads the encoders, and the robot coasts at the end. It starts at x 0, y 0 facing heading 0: forward from where the robot stands is +y, to its right is +x.",
  "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
                  }
                }
              }
            }
          }
        },
        {
          "type": "evn_program_start",
          "x": 30,
          "y": 170,
          "next": {
            "block": {
              "type": "controls_repeat_ext",
              "inputs": {
                "TIMES": {
                  "shadow": {
                    "type": "math_number",
                    "fields": {
                      "NUM": 40
                    }
                  }
                },
                "DO": {
                  "block": {
                    "type": "text_print",
                    "inputs": {
                      "TEXT": {
                        "block": {
                          "type": "text_join",
                          "inputs": {
                            "ADD0": {
                              "shadow": {
                                "type": "text",
                                "fields": {
                                  "TEXT": "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_wait",
                        "inputs": {
                          "TIME": {
                            "shadow": {
                              "type": "math_number",
                              "fields": {
                                "NUM": 500
                              }
                            }
                          }
                        }
                      }
                    }
                  }
                }
              },
              "next": {
                "block": {
                  "type": "evn_drivebase_stop",
                  "fields": {
                    "ACTION": "stop"
                  }
                }
              }
            }
          }
        }
      ]
    }
  }
}