{
  "format": "evn-blocks",
  "version": 3,
  "title": "HiTechnic compass: every block",
  "needs": "a HiTechnic NXT Compass Sensor on I2C port 5, through an NXT cable adapter; room to turn the robot on the floor",
  "description": "Every block of the HiTechnic compass: the direction the robot points at the start becomes heading 0, then the heading twice a second for twenty seconds while you turn the robot. Then the sensor's own calibration, started by the user button: press it when you are ready, turn the robot slowly and level through a little more than one full turn during the 25 seconds it runs, and the program says whether the sensor accepted it.",
  "workspace": {
    "blocks": {
      "languageVersion": 0,
      "blocks": [
        {
          "type": "evn_setup_start",
          "x": 30,
          "y": 30,
          "next": {
            "block": {
              "type": "evn_htcompass_setup",
              "fields": {
                "PORT": "5"
              }
            }
          }
        },
        {
          "type": "evn_program_start",
          "x": 30,
          "y": 160,
          "next": {
            "block": {
              "type": "evn_htcompass_north",
              "fields": {
                "PORT": "5"
              },
              "inputs": {
                "HEADING": {
                  "shadow": {
                    "type": "math_number",
                    "fields": {
                      "NUM": 0
                    }
                  }
                }
              },
              "next": {
                "block": {
                  "type": "controls_repeat_ext",
                  "inputs": {
                    "TIMES": {
                      "shadow": {
                        "type": "math_number",
                        "fields": {
                          "NUM": 40
                        }
                      }
                    },
                    "DO": {
                      "block": {
                        "type": "text_print",
                        "inputs": {
                          "TEXT": {
                            "block": {
                              "type": "evn_htcompass_heading",
                              "fields": {
                                "PORT": "5"
                              }
                            }
                          }
                        },
                        "next": {
                          "block": {
                            "type": "evn_wait",
                            "inputs": {
                              "TIME": {
                                "shadow": {
                                  "type": "math_number",
                                  "fields": {
                                    "NUM": 500
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    }
                  },
                  "next": {
                    "block": {
                      "type": "text_print",
                      "inputs": {
                        "TEXT": {
                          "shadow": {
                            "type": "text",
                            "fields": {
                              "TEXT": "CALIBRATION: press the user button when you are ready, then turn the robot slowly and level through a little more than one full turn, taking at least 20 seconds"
                            }
                          }
                        }
                      },
                      "next": {
                        "block": {
                          "type": "evn_wait_for_button",
                          "next": {
                            "block": {
                              "type": "evn_htcompass_calibrate",
                              "fields": {
                                "PORT": "5"
                              },
                              "next": {
                                "block": {
                                  "type": "text_print",
                                  "inputs": {
                                    "TEXT": {
                                      "shadow": {
                                        "type": "text",
                                        "fields": {
                                          "TEXT": "calibrating: turn the robot now (25 seconds)"
                                        }
                                      }
                                    }
                                  },
                                  "next": {
                                    "block": {
                                      "type": "evn_wait",
                                      "inputs": {
                                        "TIME": {
                                          "shadow": {
                                            "type": "math_number",
                                            "fields": {
                                              "NUM": 25000
                                            }
                                          }
                                        }
                                      },
                                      "next": {
                                        "block": {
                                          "type": "controls_if",
                                          "extraState": {
                                            "hasElse": true
                                          },
                                          "inputs": {
                                            "IF0": {
                                              "block": {
                                                "type": "evn_htcompass_calibrate_stop",
                                                "fields": {
                                                  "PORT": "5"
                                                }
                                              }
                                            },
                                            "DO0": {
                                              "block": {
                                                "type": "text_print",
                                                "inputs": {
                                                  "TEXT": {
                                                    "shadow": {
                                                      "type": "text",
                                                      "fields": {
                                                        "TEXT": "calibration accepted"
                                                      }
                                                    }
                                                  }
                                                }
                                              }
                                            },
                                            "ELSE": {
                                              "block": {
                                                "type": "text_print",
                                                "inputs": {
                                                  "TEXT": {
                                                    "shadow": {
                                                      "type": "text",
                                                      "fields": {
                                                        "TEXT": "calibration rejected: turn more slowly, level, and try again"
                                                      }
                                                    }
                                                  }
                                                }
                                              }
                                            }
                                          },
                                          "next": {
                                            "block": {
                                              "type": "text_print",
                                              "inputs": {
                                                "TEXT": {
                                                  "block": {
                                                    "type": "evn_htcompass_heading",
                                                    "fields": {
                                                      "PORT": "5"
                                                    }
                                                  }
                                                }
                                              }
                                            }
                                          }
                                        }
                                      }
                                    }
                                  }
                                }
                              }
                            }
                          }
                        }
                      }
                    }
                  }
                }
              }
            }
          }
        }
      ]
    }
  }
}