{ "format": "evn-blocks", "version": 3, "title": "Controllers: complete", "needs": "a robot: left wheel motor on port 4 (mounted mirrored), right on port 3, 62.4 mm wheels 170 mm apart; an EVN colour sensor on I2C port 2 facing the floor a few mm up, over the edge of a dark line on a light floor; an EVN IMU on I2C port 1", "description": "Two controllers in two variables: the line follower (pid) for 5 s, its PID terms printed; then, once the IMU's gyro has settled, an ADRC (hold) brings the robot back to the heading it started at and holds it for 5 s (push it by hand: the disturbance it prints is your push), and the robot stops.", "workspace": { "blocks": { "languageVersion": 0, "blocks": [ { "type": "evn_setup_start", "id": "n7!r6CwYK1VG8x0_tWf`", "x": 20, "y": -40, "deletable": false, "next": { "block": { "type": "evn_motor_setup", "id": "$7DE`WmW?kWYf:!]i`AK", "fields": { "PORT": "4", "DIRECTION": "CCW", "UNIT": "DEG_S" }, "next": { "block": { "type": "evn_drivebase_setup", "id": "5P3ceB1EiJNx6j#%^{50", "fields": { "LEFT": "4", "RIGHT": "3", "WHEEL": 62.4, "TRACK": 170 }, "next": { "block": { "type": "evn_colorsensor_setup", "id": "1kf*{k0waqfA9Vcd=x-7", "fields": { "PORT": "2" }, "next": { "block": { "type": "evn_imu_setup", "id": "s.6WEdI!acS!`+fvPhjc", "fields": { "PORT": "1", "CALIBRATE": false } } } } } } } } } }, { "type": "evn_program_start", "id": "3C.V`uVwoMcM_e$Cx}#M", "x": 20, "y": 200, "deletable": false, "next": { "block": { "type": "variables_set", "id": "set_5", "fields": { "VAR": { "id": "ctl_pid" } }, "inputs": { "VALUE": { "block": { "type": "evn_pid_create", "id": "make_6", "fields": { "KP": 1.5, "KI": 0.2, "KD": 0.08, "LIMIT": 120 } } } }, "next": { "block": { "type": "variables_set", "id": "set_7", "fields": { "VAR": { "id": "ctl_hold" } }, "inputs": { "VALUE": { "block": { "type": "evn_adrc_create", "id": "make_8", "fields": { "ORDER": "1", "B0": 1, "WC": 6, "LIMIT": 180 } } } }, "next": { "block": { "type": "controls_repeat_ext", "id": 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