{ "format": "evn-blocks", "version": 3, "title": "IMU: every block", "needs": "an EVN IMU module on I2C port 1, fixed flat to the robot; a table; you move the robot when the program asks", "description": "Every IMU block once: wait for the gyro to settle, calibrate on a level surface (one pose), calibrate again on any flat surface with half a turn (120 to 240 degrees) in between (two poses), then read heading, pitch and roll and which side faces up. Each finished calibration REPLACES the one stored on the board for port 1; the last one made is the one kept. If the robot moves during a pose, the program stops with \"IMU calibration failed\" and the stored calibration is unchanged: run it again. Without the half turn within 110 s the first pose is cancelled and nothing is stored. 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_imu_setup", "fields": { "PORT": "1", "CALIBRATE": "FALSE" } } } }, { "type": "evn_program_start", "x": 30, "y": 115, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "the calibration stored for the port is applied from the start; ready about a second after the robot is still (10 to 27 s without a stored calibration)" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "Keep the robot still ..." } } } }, "next": { "block": { "type": "evn_wait_until", "inputs": { "COND": { "block": { "type": "evn_imu_stationary", "fields": { "PORT": "1", "WHAT": "ready()" } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "gyro settled" } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "one pose: about 2 s, still on a level surface" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "Put the robot on a level table, then press the button and let go." } } } }, "next": { "block": { "type": "evn_wait_for_button", "next": { "block": { "type": "evn_wait_until", "inputs": { "COND": { "block": { "type": "evn_imu_stationary", "fields": { "PORT": "1", "WHAT": "stationary()" } } } }, "next": { "block": { "type": "evn_imu_calibrate", "fields": { "PORT": "1", "POSE": "0" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "one-pose calibration stored" } } } }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "two poses: the same spot, half a turn in between; a slope up to 20 degrees is left out" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "Put the robot on a flat surface, then press the button and let go." } } } }, "next": { "block": { "type": "evn_wait_for_button", "next": { "block": { "type": "evn_wait_until", "inputs": { "COND": { "block": { "type": "evn_imu_stationary", "fields": { "PORT": "1", "WHAT": "stationary()" } } } }, "next": { "block": { "type": "evn_imu_calibrate", "fields": { "PORT": "1", "POSE": "1" }, "next": { "block": { "type": "evn_imu_reset_heading", "fields": { "PORT": "1" }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "Turn the robot about half a turn (120 to 240 degrees) on the spot on its wheels, then let go." } } } }, "next": { "block": { "type": "evn_stopwatch_reset", "fields": { "ACTION": "reset" }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "wait for the half turn (the driver takes 120 to 240 degrees) with the robot still again, at most 110 s" }, "next": { "block": { "type": "evn_wait_until", "inputs": { "COND": { "block": { "type": "logic_operation", "fields": { "OP": "OR" }, "inputs": { "A": { "block": { "type": "logic_operation", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_operation", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_compare", "fields": { "OP": "GT" }, "inputs": { "A": { "block": { "type": "math_single", "fields": { "OP": "ABS" }, "inputs": { "NUM": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "heading()" } } } } } }, "B": { "shadow": { "type": "math_number", "fields": { "NUM": 120 } } } } } }, "B": { "block": { "type": "logic_compare", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "math_single", "fields": { "OP": "ABS" }, "inputs": { "NUM": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "heading()" } } } } } }, "B": { "shadow": { "type": "math_number", "fields": { "NUM": 240 } } } } } } } } }, "B": { "block": { "type": "evn_imu_stationary", "fields": { "PORT": "1", "WHAT": "stationary()" } } } } } }, "B": { "block": { "type": "logic_compare", "fields": { "OP": "GT" }, "inputs": { "A": { "block": { "type": "evn_stopwatch_time" } }, "B": { "shadow": { "type": "math_number", "fields": { "NUM": 110000 } } } } } } } } } }, "next": { "block": { "type": "controls_if", "inputs": { "IF0": { "block": { "type": "logic_operation", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_operation", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_compare", "fields": { "OP": "GT" }, "inputs": { "A": { "block": { "type": "math_single", "fields": { "OP": "ABS" }, "inputs": { "NUM": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "heading()" } } } } } }, "B": { "shadow": { "type": "math_number", "fields": { "NUM": 120 } } } } } }, "B": { "block": { "type": "logic_compare", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "math_single", "fields": { "OP": "ABS" }, "inputs": { "NUM": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "heading()" } } } } } }, "B": { "shadow": { "type": "math_number", "fields": { "NUM": 240 } } } } } } } } }, "B": { "block": { "type": "evn_imu_stationary", "fields": { "PORT": "1", "WHAT": "stationary()" } } } } } }, "DO0": { "block": { "type": "evn_imu_calibrate", "fields": { "PORT": "1", "POSE": "2" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "two-pose calibration stored" } } } } } } } }, "ELSE": { "block": { "type": "evn_python", "fields": { "CODE": "imu_1.cancel_calibration()" }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "no half turn seen: cancelled, the stored calibration stays" } } } } } } } } }, "extraState": { "hasElse": true }, "next": { "block": { "type": "evn_comment", "fields": { "TEXT": "what the IMU reads: tilt the robot and turn it" }, "next": { "block": { "type": "evn_imu_reset_heading", "fields": { "PORT": "1" }, "inputs": { "ANGLE": { "shadow": { "type": "math_number", "fields": { "NUM": 0 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "Tilt the robot and turn it for ten seconds." } } } }, "next": { "block": { "type": "controls_repeat_ext", "inputs": { "TIMES": { "shadow": { "type": "math_number", "fields": { "NUM": 20 } } }, "DO": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "heading " } } }, "ADD1": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "heading()" } } } }, "extraState": { "itemCount": 2 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "pitch " } } }, "ADD1": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "tilt()[0]" } } } }, "extraState": { "itemCount": 2 } } } }, "next": { "block": { "type": "text_print", "inputs": { "TEXT": { "block": { "type": "text_join", "inputs": { "ADD0": { "shadow": { "type": "text", "fields": { "TEXT": "roll " } } }, "ADD1": { "block": { "type": "evn_imu_angle", "fields": { "PORT": "1", "WHAT": "tilt()[1]" } } } }, "extraState": { "itemCount": 2 } } } }, "next": { "block": { "type": "controls_if", "inputs": { "IF0": { "block": { "type": "evn_imu_up", "fields": { "PORT": "1", "SIDE": "TOP" } } }, "DO0": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "top side up" } } } } } }, "ELSE": { "block": { "type": "text_print", "inputs": { "TEXT": { "shadow": { "type": "text", "fields": { "TEXT": "on its side or upside down" } } } } } } }, "extraState": { "hasElse": true }, "next": { "block": { "type": "evn_wait", "inputs": { "TIME": { "shadow": { "type": "math_number", "fields": { "NUM": 500 } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } } ] } } }