API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Jul 18th, 2018
84
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 21.33 KB | None | 0 0
raw download clone embed print report
  1. <xml xmlns="http://www.w3.org/1999/xhtml">
  2. <variables>
  3. <variable type="" id="d/EpjIBO3f!]-)RZ_m.A">left</variable>
  4. <variable type="" id="Su{TSoYB(9X1oITn*I%{">right</variable>
  5. </variables>
  6. <block type="ros_basic_init_node" id="=B*iFbj4CzP/zaILrhBp" x="-488" y="-588">
  7. <field name="NODE_NAME">Control</field>
  8. <next>
  9. <block type="init_turtle" id="0+}|2wwHN!j,FhW7^L|O">
  10. <next>
  11. <block type="face_goal" id="60,WCna(^`ak5;MB[OCf">
  12. <next>
  13. <block type="move_turtlebot_distance" id="NqoS@X.?4BR**WL{Z$zO">
  14. <value name="Distance">
  15. <block type="math_arithmetic" id="d}ky0`:Q*=D`$;PJk?hZ">
  16. <field name="OP">MINUS</field>
  17. <value name="A">
  18. <shadow type="math_number" id="IY8y}x=/=XYZ_s5-r9Jw">
  19. <field name="NUM">1</field>
  20. </shadow>
  21. <block type="angle_obstacle" id="3,/`8^t6BdL+F#Y]GihH">
  22. <value name="angle">
  23. <block type="math_number" id="Ees,NHN%F1k@j7fQsYGd">
  24. <field name="NUM">0</field>
  25. </block>
  26. </value>
  27. </block>
  28. </value>
  29. <value name="B">
  30. <shadow type="math_number" id="WtEL_i^G]wxkg@t5?CW2">
  31. <field name="NUM">1</field>
  32. </shadow>
  33. <block type="math_number" id="(47iPpc.fPUsAv7Wr]~Y">
  34. <field name="NUM">0.3</field>
  35. </block>
  36. </value>
  37. </block>
  38. </value>
  39. <next>
  40. <block type="add_checkpoint" id="tHx_8psCJ|ocEfhOfUi}">
  41. <next>
  42. <block type="turn_turtle_angle" id="^xo.lpr4QRrbna~C4(A3">
  43. <field name="direction">LEFT</field>
  44. <field name="angle">90</field>
  45. <next>
  46. <block type="move_turtlebot_distance" id="N#-m![7nnKQ}3h@`4pXz">
  47. <value name="Distance">
  48. <block type="math_number" id="#rOl.6}A92xQ?H,Au7:m">
  49. <field name="NUM">1</field>
  50. </block>
  51. </value>
  52. <next>
  53. <block type="controls_whileUntil" id="BR=z%[I`FxH[%W:e,Nxl">
  54. <field name="MODE">WHILE</field>
  55. <value name="BOOL">
  56. <block type="logic_operation" id="NHQjZsaT8#k?a%/rtqfO">
  57. <field name="OP">OR</field>
  58. <value name="A">
  59. <block type="logic_compare" id="]QT7f[oXsi4j][jhx130">
  60. <field name="OP">LT</field>
  61. <value name="A">
  62. <block type="math_single" id="74;C.RW@q+pM%(5EF0xW">
  63. <field name="OP">ABS</field>
  64. <value name="NUM">
  65. <shadow type="math_number" id="4ZKOS9,HV3Q647}TO~+Z">
  66. <field name="NUM">9</field>
  67. </shadow>
  68. <block type="math_arithmetic" id="?BWu%$P1WtC=-?/O-@uG">
  69. <field name="OP">MINUS</field>
  70. <value name="A">
  71. <shadow type="math_number" id="ZJ*/cn3EnLAHpzF|g/!3">
  72. <field name="NUM">1</field>
  73. </shadow>
  74. <block type="goal_y" id=";@kFwaeoiOL@pMlaCygG"></block>
  75. </value>
  76. <value name="B">
  77. <shadow type="math_number" id="V$$n%^jM180!l[omp;^e">
  78. <field name="NUM">1</field>
  79. </shadow>
  80. <block type="own_y" id="L=a.i^bkxt%Y3_)eCGP:"></block>
  81. </value>
  82. </block>
  83. </value>
  84. </block>
  85. </value>
  86. <value name="B">
  87. <block type="math_number" id="!d+5V7oF2*0qo9i9mW#/">
  88. <field name="NUM">0.1</field>
  89. </block>
  90. </value>
  91. </block>
  92. </value>
  93. <value name="B">
  94. <block type="logic_compare" id="u1Ue#1/VumF!LWsG(9wE">
  95. <field name="OP">LT</field>
  96. <value name="A">
  97. <block type="math_single" id="fu3tE_UJ:*]6B:!DZ1U;">
  98. <field name="OP">ABS</field>
  99. <value name="NUM">
  100. <shadow type="math_number" id="XPR9;tdU2*c{Sb,K6InG">
  101. <field name="NUM">9</field>
  102. </shadow>
  103. <block type="math_arithmetic" id="}8S[7`?S)~REwC3=8I3v">
  104. <field name="OP">MINUS</field>
  105. <value name="A">
  106. <shadow type="math_number" id="[DSp8g[#*y=A}69:|{J;">
  107. <field name="NUM">1</field>
  108. </shadow>
  109. <block type="goal_x" id="hdB_Rq.B6,1|t@bQ[xJt"></block>
  110. </value>
  111. <value name="B">
  112. <shadow type="math_number" id="|uTeyud/yB+hK:}xG+ED">
  113. <field name="NUM">1</field>
  114. </shadow>
  115. <block type="own_x" id="5#xa%nFRr)ER{~*~ALF^"></block>
  116. </value>
  117. </block>
  118. </value>
  119. </block>
  120. </value>
  121. <value name="B">
  122. <block type="math_number" id="`=nzwU{1*:FQ-ZaD@%.J">
  123. <field name="NUM">0.1</field>
  124. </block>
  125. </value>
  126. </block>
  127. </value>
  128. </block>
  129. </value>
  130. <statement name="DO">
  131. <block type="variables_set" id=";X:3i{cG*hbeF4(q`YEq">
  132. <field name="VAR" id="d/EpjIBO3f!]-)RZ_m.A" variabletype="">left</field>
  133. <value name="VALUE">
  134. <block type="lists_getIndex" id="At?QcH!Lf2Jb}vBdCFBd">
  135. <mutation statement="false" at="false"></mutation>
  136. <field name="MODE">GET</field>
  137. <field name="WHERE">LAST</field>
  138. <value name="VALUE">
  139. <block type="angle_obstacle" id=")vmJIw2d2|H$:N/O9CeQ">
  140. <value name="angle">
  141. <block type="math_number" id="FmqF2(^1@/=`iZiGL-4E">
  142. <field name="NUM">90</field>
  143. </block>
  144. </value>
  145. </block>
  146. </value>
  147. </block>
  148. </value>
  149. <next>
  150. <block type="variables_set" id="q!]:eC;Jp}SC5b-h-E#=">
  151. <field name="VAR" id="Su{TSoYB(9X1oITn*I%{" variabletype="">right</field>
  152. <value name="VALUE">
  153. <block type="lists_getIndex" id="#u4qmi..h!ABgTq`)}o-">
  154. <mutation statement="false" at="false"></mutation>
  155. <field name="MODE">GET</field>
  156. <field name="WHERE">LAST</field>
  157. <value name="VALUE">
  158. <block type="angle_obstacle" id="6Knye8xUe/92bl/ar}aS">
  159. <value name="angle">
  160. <block type="math_number" id="NFPT%MOkY-ew]Xvzf:@}">
  161. <field name="NUM">-90</field>
  162. </block>
  163. </value>
  164. </block>
  165. </value>
  166. </block>
  167. </value>
  168. <next>
  169. <block type="controls_if" id="HN4PYvuVa/%hLZ=-g`ZB">
  170. <mutation elseif="1"></mutation>
  171. <value name="IF0">
  172. <block type="logic_compare" id="%o.(7sh!]X.#G0!o5RMX">
  173. <field name="OP">GT</field>
  174. <value name="A">
  175. <block type="variables_get" id="#Q|t9ERy8$QZJr.t?=D2">
  176. <field name="VAR" id="Su{TSoYB(9X1oITn*I%{" variabletype="">right</field>
  177. </block>
  178. </value>
  179. <value name="B">
  180. <block type="math_number" id="0W8@5$_%`2(ZACq@_{t)">
  181. <field name="NUM">0.6</field>
  182. </block>
  183. </value>
  184. </block>
  185. </value>
  186. <statement name="DO0">
  187. <block type="turn_turtle_angle" id=".if%nA3ln9Kr$T;vYOy[">
  188. <field name="direction">RIGHT</field>
  189. <field name="angle">25</field>
  190. </block>
  191. </statement>
  192. <value name="IF1">
  193. <block type="logic_compare" id="huT[1M7kWT5hXz~Ipg1*">
  194. <field name="OP">LT</field>
  195. <value name="A">
  196. <block type="variables_get" id="0YaslPKpr)!xhOHN;6Xh">
  197. <field name="VAR" id="Su{TSoYB(9X1oITn*I%{" variabletype="">right</field>
  198. </block>
  199. </value>
  200. <value name="B">
  201. <block type="math_number" id="v_L8.u~lr7$-aL$v46K%">
  202. <field name="NUM">0.35</field>
  203. </block>
  204. </value>
  205. </block>
  206. </value>
  207. <statement name="DO1">
  208. <block type="turn_turtle_angle" id="=piTG~Uqgg?owUctig?!">
  209. <field name="direction">LEFT</field>
  210. <field name="angle">25</field>
  211. </block>
  212. </statement>
  213. <next>
  214. <block type="move_turtlebot_distance" id="$KhcF,ky4T]7Q7sZEL5Q">
  215. <value name="Distance">
  216. <block type="math_number" id="K`z2Mf9jb!}#b/DZ#Ezn">
  217. <field name="NUM">0.5</field>
  218. </block>
  219. </value>
  220. <next>
  221. <block type="face_goal" id="n8ZN0$92Wy/tiFL*@O2(">
  222. <next>
  223. <block type="controls_if" id="k~N|5B6V#XIZS#1cHLEa">
  224. <mutation else="1"></mutation>
  225. <value name="IF0">
  226. <block type="logic_operation" id="YJQSJh)Be|rwK;%p[p6)">
  227. <field name="OP">OR</field>
  228. <value name="A">
  229. <block type="logic_compare" id="~uwnN95GDT-R5jx9}e4F">
  230. <field name="OP">EQ</field>
  231. <value name="A">
  232. <block type="line_of_sight" id="[m+5M9P+x)FU#8dnm-Kz"></block>
  233. </value>
  234. <value name="B">
  235. <block type="logic_boolean" id="e6;5FT^(?!6.Y/8MfTGe">
  236. <field name="BOOL">TRUE</field>
  237. </block>
  238. </value>
  239. </block>
  240. </value>
  241. <value name="B">
  242. <block type="logic_compare" id="`ffxfQZ-qg4TEW+[@*ZW">
  243. <field name="OP">GT</field>
  244. <value name="A">
  245. <block type="angle_obstacle" id="fEiK3vWMiB)PeTvzO1Sq">
  246. <value name="angle">
  247. <shadow type="constrained_number" id="_+U{q[`2%EY6sQQjcqAm">
  248. <field name="NAME">0</field>
  249. </shadow>
  250. </value>
  251. </block>
  252. </value>
  253. <value name="B">
  254. <block type="get_goal_distance" id="KXGgzB{z5Y.+?%VW|cC@"></block>
  255. </value>
  256. </block>
  257. </value>
  258. </block>
  259. </value>
  260. <statement name="DO0">
  261. <block type="move_turtlebot_distance" id="z(`+5FuS.Ipoxm6lV#bv">
  262. <value name="Distance">
  263. <block type="get_goal_distance" id="hMp7n.10;NXS:I4#T@`G"></block>
  264. </value>
  265. </block>
  266. </statement>
  267. <statement name="ELSE">
  268. <block type="turn_turtle_angle" id="`-U6}4_iZ:^aXWQA,Y0m">
  269. <field name="direction">LEFT</field>
  270. <field name="angle">90</field>
  271. <next>
  272. <block type="move_turtlebot_distance" id="-%s]j-k~1j8/^75c@7-[">
  273. <value name="Distance">
  274. <block type="math_number" id="=dI]mx-O?6[lx]]RB8]A">
  275. <field name="NUM">1</field>
  276. </block>
  277. </value>
  278. </block>
  279. </next>
  280. </block>
  281. </statement>
  282. </block>
  283. </next>
  284. </block>
  285. </next>
  286. </block>
  287. </next>
  288. </block>
  289. </next>
  290. </block>
  291. </next>
  292. </block>
  293. </statement>
  294. <next>
  295. <block type="ros_basic_log" id="%nMXrG-xjj^F?L_U.Sni">
  296. <value name="INFO">
  297. <block type="text" id="d2!lKkU{2amkHZ.#h}0U">
  298. <field name="TEXT">Done</field>
  299. </block>
  300. </value>
  301. </block>
  302. </next>
  303. </block>
  304. </next>
  305. </block>
  306. </next>
  307. </block>
  308. </next>
  309. </block>
  310. </next>
  311. </block>
  312. </next>
  313. </block>
  314. </next>
  315. </block>
  316. </next>
  317. </block>
  318. </xml>
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!