{
  "format": "evn-blocks",
  "version": 3,
  "title": "Compass: every block",
  "needs": "an EVN compass module on I2C port 2, away from the motors; a robot you can turn by hand on the floor",
  "description": "Every compass block once: the heading with the stored calibration, a new calibration made by turning the robot on the floor, and a heading that counts from the way the robot points. A finished calibration REPLACES the one stored on the board for port 2. It is finished only once the robot has been turned through every direction; after a minute without that it is cancelled and the stored one stays. Even then the board can refuse the fit (steel or a magnet near the robot bends the field): the program then stops with \"calibration refused\", nothing is stored, and you run it again somewhere else. The program waits for the user button at each step; to leave, press Stop in the editor (or Ctrl-C).",
  "workspace": {
    "blocks": {
      "languageVersion": 0,
      "blocks": [
        {
          "type": "evn_setup_start",
          "x": 30,
          "y": 30,
          "next": {
            "block": {
              "type": "evn_compass_setup",
              "fields": {
                "PORT": "2"
              }
            }
          }
        },
        {
          "type": "evn_program_start",
          "x": 30,
          "y": 115,
          "next": {
            "block": {
              "type": "evn_comment",
              "fields": {
                "TEXT": "the calibration stored for the port is used from the start"
              },
              "next": {
                "block": {
                  "type": "text_print",
                  "inputs": {
                    "TEXT": {
                      "shadow": {
                        "type": "text",
                        "fields": {
                          "TEXT": "heading with the stored calibration:"
                        }
                      }
                    }
                  },
                  "next": {
                    "block": {
                      "type": "text_print",
                      "inputs": {
                        "TEXT": {
                          "block": {
                            "type": "evn_compass_heading",
                            "fields": {
                              "PORT": "2"
                            }
                          }
                        }
                      },
                      "next": {
                        "block": {
                          "type": "evn_comment",
                          "fields": {
                            "TEXT": "a new calibration: the robot on the floor, turned by hand on the spot"
                          },
                          "next": {
                            "block": {
                              "type": "text_print",
                              "inputs": {
                                "TEXT": {
                                  "shadow": {
                                    "type": "text",
                                    "fields": {
                                      "TEXT": "Put the robot on the floor, then press the button."
                                    }
                                  }
                                }
                              },
                              "next": {
                                "block": {
                                  "type": "evn_wait_for_button",
                                  "next": {
                                    "block": {
                                      "type": "evn_compass_calibrate",
                                      "fields": {
                                        "PORT": "2",
                                        "PLANAR": "TRUE"
                                      },
                                      "next": {
                                        "block": {
                                          "type": "text_print",
                                          "inputs": {
                                            "TEXT": {
                                              "shadow": {
                                                "type": "text",
                                                "fields": {
                                                  "TEXT": "Turn the robot slowly on the spot: two full turns."
                                                }
                                              }
                                            }
                                          },
                                          "next": {
                                            "block": {
                                              "type": "evn_stopwatch_reset",
                                              "fields": {
                                                "ACTION": "reset"
                                              },
                                              "next": {
                                                "block": {
                                                  "type": "controls_whileUntil",
                                                  "fields": {
                                                    "MODE": "WHILE"
                                                  },
                                                  "inputs": {
                                                    "BOOL": {
                                                      "block": {
                                                        "type": "logic_operation",
                                                        "fields": {
                                                          "OP": "AND"
                                                        },
                                                        "inputs": {
                                                          "A": {
                                                            "block": {
                                                              "type": "logic_compare",
                                                              "fields": {
                                                                "OP": "LT"
                                                              },
                                                              "inputs": {
                                                                "A": {
                                                                  "block": {
                                                                    "type": "evn_compass_coverage",
                                                                    "fields": {
                                                                      "PORT": "2"
                                                                    }
                                                                  }
                                                                },
                                                                "B": {
                                                                  "shadow": {
                                                                    "type": "math_number",
                                                                    "fields": {
                                                                      "NUM": 100
                                                                    }
                                                                  }
                                                                }
                                                              }
                                                            }
                                                          },
                                                          "B": {
                                                            "block": {
                                                              "type": "logic_compare",
                                                              "fields": {
                                                                "OP": "LT"
                                                              },
                                                              "inputs": {
                                                                "A": {
                                                                  "block": {
                                                                    "type": "evn_stopwatch_time"
                                                                  }
                                                                },
                                                                "B": {
                                                                  "shadow": {
                                                                    "type": "math_number",
                                                                    "fields": {
                                                                      "NUM": 60000
                                                                    }
                                                                  }
                                                                }
                                                              }
                                                            }
                                                          }
                                                        }
                                                      }
                                                    },
                                                    "DO": {
                                                      "block": {
                                                        "type": "text_print",
                                                        "inputs": {
                                                          "TEXT": {
                                                            "block": {
                                                              "type": "text_join",
                                                              "inputs": {
                                                                "ADD0": {
                                                                  "shadow": {
                                                                    "type": "text",
                                                                    "fields": {
                                                                      "TEXT": "coverage % "
                                                                    }
                                                                  }
                                                                },
                                                                "ADD1": {
                                                                  "block": {
                                                                    "type": "evn_compass_coverage",
                                                                    "fields": {
                                                                      "PORT": "2"
                                                                    }
                                                                  }
                                                                }
                                                              },
                                                              "extraState": {
                                                                "itemCount": 2
                                                              }
                                                            }
                                                          }
                                                        },
                                                        "next": {
                                                          "block": {
                                                            "type": "evn_wait",
                                                            "inputs": {
                                                              "TIME": {
                                                                "shadow": {
                                                                  "type": "math_number",
                                                                  "fields": {
                                                                    "NUM": 1000
                                                                  }
                                                                }
                                                              }
                                                            }
                                                          }
                                                        }
                                                      }
                                                    }
                                                  },
                                                  "next": {
                                                    "block": {
                                                      "type": "evn_comment",
                                                      "fields": {
                                                        "TEXT": "every direction seen: fit and store it (it replaces the stored one); else give up and keep the old one"
                                                      },
                                                      "next": {
                                                        "block": {
                                                          "type": "evn_comment",
                                                          "fields": {
                                                            "TEXT": "a fit spoiled by steel or a magnet nearby is refused: the program stops there and nothing is stored"
                                                          },
                                                          "next": {
                                                            "block": {
                                                              "type": "controls_if",
                                                              "inputs": {
                                                                "IF0": {
                                                                  "block": {
                                                                    "type": "logic_compare",
                                                                    "fields": {
                                                                      "OP": "GTE"
                                                                    },
                                                                    "inputs": {
                                                                      "A": {
                                                                        "block": {
                                                                          "type": "evn_compass_coverage",
                                                                          "fields": {
                                                                            "PORT": "2"
                                                                          }
                                                                        }
                                                                      },
                                                                      "B": {
                                                                        "shadow": {
                                                                          "type": "math_number",
                                                                          "fields": {
                                                                            "NUM": 100
                                                                          }
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                },
                                                                "DO0": {
                                                                  "block": {
                                                                    "type": "evn_compass_calibrate_stop",
                                                                    "fields": {
                                                                      "PORT": "2"
                                                                    },
                                                                    "next": {
                                                                      "block": {
                                                                        "type": "text_print",
                                                                        "inputs": {
                                                                          "TEXT": {
                                                                            "shadow": {
                                                                              "type": "text",
                                                                              "fields": {
                                                                                "TEXT": "calibrated and stored on the board"
                                                                              }
                                                                            }
                                                                          }
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                },
                                                                "ELSE": {
                                                                  "block": {
                                                                    "type": "evn_compass_calibrate_cancel",
                                                                    "fields": {
                                                                      "PORT": "2"
                                                                    },
                                                                    "next": {
                                                                      "block": {
                                                                        "type": "text_print",
                                                                        "inputs": {
                                                                          "TEXT": {
                                                                            "shadow": {
                                                                              "type": "text",
                                                                              "fields": {
                                                                                "TEXT": "not turned far enough: cancelled, the old calibration stays"
                                                                              }
                                                                            }
                                                                          }
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                }
                                                              },
                                                              "extraState": {
                                                                "hasElse": true
                                                              },
                                                              "next": {
                                                                "block": {
                                                                  "type": "evn_comment",
                                                                  "fields": {
                                                                    "TEXT": "count from the way the robot points now"
                                                                  },
                                                                  "next": {
                                                                    "block": {
                                                                      "type": "text_print",
                                                                      "inputs": {
                                                                        "TEXT": {
                                                                          "shadow": {
                                                                            "type": "text",
                                                                            "fields": {
                                                                              "TEXT": "Point the robot where 0 degrees should be, then press the button."
                                                                            }
                                                                          }
                                                                        }
                                                                      },
                                                                      "next": {
                                                                        "block": {
                                                                          "type": "evn_wait_for_button",
                                                                          "next": {
                                                                            "block": {
                                                                              "type": "evn_compass_north",
                                                                              "fields": {
                                                                                "PORT": "2"
                                                                              },
                                                                              "inputs": {
                                                                                "HEADING": {
                                                                                  "shadow": {
                                                                                    "type": "math_number",
                                                                                    "fields": {
                                                                                      "NUM": 0
                                                                                    }
                                                                                  }
                                                                                }
                                                                              },
                                                                              "next": {
                                                                                "block": {
                                                                                  "type": "controls_repeat_ext",
                                                                                  "inputs": {
                                                                                    "TIMES": {
                                                                                      "shadow": {
                                                                                        "type": "math_number",
                                                                                        "fields": {
                                                                                          "NUM": 30
                                                                                        }
                                                                                      }
                                                                                    },
                                                                                    "DO": {
                                                                                      "block": {
                                                                                        "type": "text_print",
                                                                                        "inputs": {
                                                                                          "TEXT": {
                                                                                            "block": {
                                                                                              "type": "evn_compass_heading",
                                                                                              "fields": {
                                                                                                "PORT": "2"
                                                                                              }
                                                                                            }
                                                                                          }
                                                                                        },
                                                                                        "next": {
                                                                                          "block": {
                                                                                            "type": "evn_wait",
                                                                                            "inputs": {
                                                                                              "TIME": {
                                                                                                "shadow": {
                                                                                                  "type": "math_number",
                                                                                                  "fields": {
                                                                                                    "NUM": 300
                                                                                                  }
                                                                                                }
                                                                                              }
                                                                                            }
                                                                                          }
                                                                                        }
                                                                                      }
                                                                                    }
                                                                                  }
                                                                                }
                                                                              }
                                                                            }
                                                                          }
                                                                        }
                                                                      }
                                                                    }
                                                                  }
                                                                }
                                                              }
                                                            }
                                                          }
                                                        }
                                                      }
                                                    }
                                                  }
                                                }
                                              }
                                            }
                                          }
                                        }
                                      }
                                    }
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    }
                  }
                }
              }
            }
          }
        }
      ]
    }
  }
}