{
  "format": "evn-blocks",
  "version": 3,
  "title": "Data log: complete",
  "needs": "a motor on port 1, free to turn; an EVN IMU module on I2C port 1, kept still; a battery pack",
  "description": "Every data log block: the motor's angle at every new reading and its speed 100 times a second, the IMU's heading 50 times a second and the battery 1 time a second, plus one row of your own values (the motor angle and the heading) after each of four half turns. The motor stops before the log is saved.",
  "workspace": {
    "blocks": {
      "languageVersion": 0,
      "blocks": [
        {
          "type": "evn_setup_start",
          "x": 30,
          "y": 30,
          "next": {
            "block": {
              "type": "evn_imu_setup",
              "fields": {
                "PORT": "1",
                "CALIBRATE": "FALSE"
              },
              "next": {
                "block": {
                  "type": "evn_datalog_setup",
                  "fields": {
                    "NAME": "turns",
                    "COLUMNS": "angle, heading"
                  }
                }
              }
            }
          }
        },
        {
          "type": "evn_program_start",
          "x": 30,
          "y": 140,
          "next": {
            "block": {
              "type": "evn_datalog_add_motor",
              "fields": {
                "PORT": "1",
                "WHAT": "angle"
              },
              "inputs": {
                "RATE": {
                  "shadow": {
                    "type": "math_number",
                    "fields": {
                      "NUM": 0
                    }
                  }
                }
              },
              "next": {
                "block": {
                  "type": "evn_datalog_add_motor",
                  "fields": {
                    "PORT": "1",
                    "WHAT": "speed"
                  },
                  "inputs": {
                    "RATE": {
                      "shadow": {
                        "type": "math_number",
                        "fields": {
                          "NUM": 100
                        }
                      }
                    }
                  },
                  "next": {
                    "block": {
                      "type": "evn_datalog_add",
                      "fields": {
                        "SOURCE": "IMU",
                        "PORT": "1",
                        "QUANTITY": "heading"
                      },
                      "inputs": {
                        "RATE": {
                          "shadow": {
                            "type": "math_number",
                            "fields": {
                              "NUM": 50
                            }
                          }
                        }
                      },
                      "next": {
                        "block": {
                          "type": "evn_datalog_add",
                          "fields": {
                            "SOURCE": "battery",
                            "PORT": "1",
                            "QUANTITY": "voltage"
                          },
                          "inputs": {
                            "RATE": {
                              "shadow": {
                                "type": "math_number",
                                "fields": {
                                  "NUM": 1
                                }
                              }
                            }
                          },
                          "next": {
                            "block": {
                              "type": "evn_datalog_run",
                              "fields": {
                                "ACTION": "start"
                              },
                              "next": {
                                "block": {
                                  "type": "controls_repeat_ext",
                                  "inputs": {
                                    "TIMES": {
                                      "shadow": {
                                        "type": "math_number",
                                        "fields": {
                                          "NUM": 4
                                        }
                                      }
                                    },
                                    "DO": {
                                      "block": {
                                        "type": "evn_motor_run_angle",
                                        "fields": {
                                          "PORT": "1",
                                          "THEN": "HOLD",
                                          "WAIT": true
                                        },
                                        "inputs": {
                                          "ANGLE": {
                                            "shadow": {
                                              "type": "math_number",
                                              "fields": {
                                                "NUM": 180
                                              }
                                            }
                                          },
                                          "SPEED": {
                                            "shadow": {
                                              "type": "math_number",
                                              "fields": {
                                                "NUM": 500
                                              }
                                            }
                                          }
                                        },
                                        "next": {
                                          "block": {
                                            "type": "evn_datalog_row",
                                            "inputs": {
                                              "A": {
                                                "shadow": {
                                                  "type": "math_number",
                                                  "fields": {
                                                    "NUM": 0
                                                  }
                                                },
                                                "block": {
                                                  "type": "evn_motor_measure",
                                                  "fields": {
                                                    "PORT": "1",
                                                    "WHAT": "angle"
                                                  }
                                                }
                                              },
                                              "B": {
                                                "block": {
                                                  "type": "evn_imu_angle",
                                                  "fields": {
                                                    "PORT": "1",
                                                    "WHAT": "heading()"
                                                  }
                                                }
                                              }
                                            },
                                            "next": {
                                              "block": {
                                                "type": "evn_wait",
                                                "inputs": {
                                                  "TIME": {
                                                    "shadow": {
                                                      "type": "math_number",
                                                      "fields": {
                                                        "NUM": 500
                                                      }
                                                    }
                                                  }
                                                }
                                              }
                                            }
                                          }
                                        }
                                      }
                                    }
                                  },
                                  "next": {
                                    "block": {
                                      "type": "evn_motor_stop",
                                      "fields": {
                                        "ACTION": "stop",
                                        "PORT": "1"
                                      },
                                      "next": {
                                        "block": {
                                          "type": "evn_datalog_run",
                                          "fields": {
                                            "ACTION": "stop"
                                          },
                                          "next": {
                                            "block": {
                                              "type": "evn_datalog_save"
                                            }
                                          }
                                        }
                                      }
                                    }
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    }
                  }
                }
              }
            }
          }
        }
      ]
    }
  }
}