{
  "format": "evn-blocks",
  "version": 3,
  "title": "IMU: minimal",
  "needs": "an EVN IMU module on I2C port 1, fixed flat to the robot; keep it still for the first seconds",
  "description": "The robot's heading from the gyro, five times a second for ten seconds: 0 where it points at the start, going up as it turns clockwise.",
  "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_imu_reset_heading",
              "fields": {
                "PORT": "1"
              },
              "inputs": {
                "ANGLE": {
                  "shadow": {
                    "type": "math_number",
                    "fields": {
                      "NUM": 0
                    }
                  }
                }
              },
              "next": {
                "block": {
                  "type": "controls_repeat_ext",
                  "inputs": {
                    "TIMES": {
                      "shadow": {
                        "type": "math_number",
                        "fields": {
                          "NUM": 50
                        }
                      }
                    },
                    "DO": {
                      "block": {
                        "type": "text_print",
                        "inputs": {
                          "TEXT": {
                            "block": {
                              "type": "evn_imu_angle",
                              "fields": {
                                "PORT": "1",
                                "WHAT": "heading()"
                              }
                            }
                          }
                        },
                        "next": {
                          "block": {
                            "type": "evn_wait",
                            "inputs": {
                              "TIME": {
                                "shadow": {
                                  "type": "math_number",
                                  "fields": {
                                    "NUM": 200
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    }
                  }
                }
              }
            }
          }
        }
      ]
    }
  }
}