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17546 lines (17544 loc) · 585 KB
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<cb:CODEBLOCKS xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://education.mit.edu/openblocks/ns http://education.mit.edu/openblocks/codeblocks.xsd" xmlns:cb="http://education.mit.edu/openblocks/ns">
<Pages collapsible-pages="yes" drawer-with-page="yes">
<Page page-color="160 160 160" page-drawer="Main" page-infullview="yes" page-name="Main" page-width="8935">
<PageBlocks>
<Block genus-name="subroutine" id="15126">
<Label>calcDiff</Label>
<Location>
<X>2609</X>
<Y>3779</Y>
</Location>
<Comment>
<Text>Простая разность - останавливаем мотор</Text>
<Location>
<X>3137</X>
<Y>3782</Y>
</Location>
<BoxSize>
<Width>349</Width>
<Height>44</Height>
</BoxSize>
<Collapsed/>
</Comment>
<Sockets num-sockets="1">
<BlockConnector con-block-id="15127" connector-kind="socket" connector-type="cmd" init-type="cmd" label="commands" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="15127">
<Location>
<X>2770</X>
<Y>3787</Y>
</Location>
<BeforeBlockId>15126</BeforeBlockId>
<AfterBlockId>20242</AfterBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="15128" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="20257" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="20242">
<Location>
<X>2770</X>
<Y>3841</Y>
</Location>
<BeforeBlockId>15127</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20243" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="20244" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="number" id="20244">
<Label>0</Label>
<Location>
<X>3030</X>
<Y>3868</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20242" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20243">
<Label>prop</Label>
<Location>
<X>3030</X>
<Y>3844</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20242" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="number" id="20257">
<Label>0</Label>
<Location>
<X>3030</X>
<Y>3814</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15127" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="15128">
<Label>diff</Label>
<Location>
<X>3030</X>
<Y>3790</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15127" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20263">
<Label>dir</Label>
<Location>
<X>3133</X>
<Y>3732</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20261" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_vector" id="20261">
<Label>tblProp</Label>
<Location>
<X>3033</X>
<Y>3732</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20258" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="single"/>
</Plug>
<Sockets num-sockets="1">
<BlockConnector con-block-id="20263" connector-kind="socket" connector-type="number" init-type="number" label="#" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="20258">
<Location>
<X>2773</X>
<Y>3705</Y>
</Location>
<BeforeBlockId>20241</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20259" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="20261" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20259">
<Label>prop</Label>
<Location>
<X>3033</X>
<Y>3708</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20258" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="subroutine" id="20245">
<Label>calcDiff1</Label>
<Location>
<X>2610</X>
<Y>3922</Y>
</Location>
<Comment>
<Text>Изменялку берем из таблицы</Text>
<Location>
<X>3142</X>
<Y>3902</Y>
</Location>
<BoxSize>
<Width>377</Width>
<Height>49</Height>
</BoxSize>
<Collapsed/>
</Comment>
<Sockets num-sockets="1">
<BlockConnector con-block-id="20246" connector-kind="socket" connector-type="cmd" init-type="cmd" label="commands" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="20246">
<Location>
<X>2779</X>
<Y>3930</Y>
</Location>
<BeforeBlockId>20245</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20247" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="20248" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="multiplication" id="20248">
<Location>
<X>3039</X>
<Y>3957</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20246" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20249" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20252" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_vector" id="20252">
<Label>tblDiffs</Label>
<Location>
<X>3309</X>
<Y>3964</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20248" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="single"/>
</Plug>
<Sockets num-sockets="1">
<BlockConnector con-block-id="20253" connector-kind="socket" connector-type="number" init-type="number" label="#" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20253">
<Label>dir</Label>
<Location>
<X>3417</X>
<Y>3964</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20252" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="subtraction" id="20249">
<Location>
<X>3049</X>
<Y>3960</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20248" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20250" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20251" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20251">
<Label>prevDirMS</Label>
<Location>
<X>3155</X>
<Y>3963</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20249" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20250">
<Label>dir</Label>
<Location>
<X>3059</X>
<Y>3963</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20249" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20247">
<Label>diff</Label>
<Location>
<X>3039</X>
<Y>3933</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20246" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="subroutine" id="20241">
<Label>calcProp</Label>
<Location>
<X>2612</X>
<Y>3697</Y>
</Location>
<Comment>
<Text>пропорциональное управление - радиус поворота из таблички</Text>
<Location>
<X>3206</X>
<Y>3703</Y>
</Location>
<BoxSize>
<Width>268</Width>
<Height>61</Height>
</BoxSize>
<Collapsed/>
</Comment>
<Sockets num-sockets="1">
<BlockConnector con-block-id="20258" connector-kind="socket" connector-type="cmd" init-type="cmd" label="commands" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20237">
<Label>MAX_ROTATE</Label>
<Location>
<X>3124</X>
<Y>3408</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20232" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20236">
<Label>MAX_ROTATE</Label>
<Location>
<X>3005</X>
<Y>3351</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20231" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20235">
<Label>speedIn</Label>
<Location>
<X>2877</X>
<Y>3351</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20231" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="setter_variable_number" id="20232">
<Location>
<X>2864</X>
<Y>3381</Y>
</Location>
<BeforeBlockId>20230</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20233" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="20237" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20233">
<Label>speedIn</Label>
<Location>
<X>3124</X>
<Y>3384</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20232" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="greater" id="20231">
<Location>
<X>2867</X>
<Y>3348</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20230" connector-kind="plug" connector-type="boolean" init-type="boolean" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20235" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20236" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="if" id="20230">
<Location>
<X>2755</X>
<Y>3345</Y>
</Location>
<BeforeBlockId>6533</BeforeBlockId>
<AfterBlockId>15574</AfterBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20231" connector-kind="socket" connector-type="boolean" init-type="boolean" label="условие" position-type="single"/>
<BlockConnector con-block-id="20232" connector-kind="socket" connector-type="cmd" init-type="cmd" label="то" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20229">
<Label>summ</Label>
<Location>
<X>3391</X>
<Y>3314</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20226" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20228">
<Label>diff</Label>
<Location>
<X>3287</X>
<Y>3314</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20226" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="20227">
<Label>prop</Label>
<Location>
<X>3173</X>
<Y>3315</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20225" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="addition" id="20226">
<Location>
<X>3277</X>
<Y>3311</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20225" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20228" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20229" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="addition" id="20225">
<Location>
<X>3163</X>
<Y>3308</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6537" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20227" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20226" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="6533">
<Location>
<X>2755</X>
<Y>3275</Y>
</Location>
<BeforeBlockId>20224</BeforeBlockId>
<AfterBlockId>20230</AfterBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6534" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="6539" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="if" id="15574">
<Location>
<X>2755</X>
<Y>3444</Y>
</Location>
<BeforeBlockId>20230</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="15576" connector-kind="socket" connector-type="boolean" init-type="boolean" label="условие" position-type="single"/>
<BlockConnector con-block-id="15579" connector-kind="socket" connector-type="cmd" init-type="cmd" label="то" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="15579">
<Location>
<X>2864</X>
<Y>3484</Y>
</Location>
<BeforeBlockId>15574</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="15580" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="20220" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="subtraction" id="20220">
<Location>
<X>3124</X>
<Y>3511</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15579" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20221" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20222" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20222">
<Label>MAX_ROTATE</Label>
<Location>
<X>3214</X>
<Y>3514</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20220" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="number" id="20221">
<Label>0</Label>
<Location>
<X>3134</X>
<Y>3514</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20220" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="15580">
<Label>speedIn</Label>
<Location>
<X>3124</X>
<Y>3487</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15579" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="less" id="15576">
<Location>
<X>2867</X>
<Y>3447</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15574" connector-kind="plug" connector-type="boolean" init-type="boolean" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="15577" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20217" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="subtraction" id="20217">
<Location>
<X>3005</X>
<Y>3450</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15576" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="20218" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20219" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="20219">
<Label>MAX_ROTATE</Label>
<Location>
<X>3095</X>
<Y>3453</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20217" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="number" id="20218">
<Label>0</Label>
<Location>
<X>3015</X>
<Y>3453</Y>
</Location>
<Plug>
<BlockConnector con-block-id="20217" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="15577">
<Label>speedIn</Label>
<Location>
<X>2877</X>
<Y>3454</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15576" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="division" id="6539">
<Location>
<X>3015</X>
<Y>3302</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6533" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6537" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="6540" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="number" id="6540">
<Label>128</Label>
<Location>
<X>3525</X>
<Y>3317</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6539" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="multiplication" id="6537">
<Location>
<X>3025</X>
<Y>3305</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6539" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6536" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="20225" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="6536">
<Label>speedEx</Label>
<Location>
<X>3035</X>
<Y>3316</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6537" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="6534">
<Label>speedIn</Label>
<Location>
<X>3015</X>
<Y>3278</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6533" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="subroutine-ref" id="20224">
<Label>calcSumm</Label>
<Location>
<X>2755</X>
<Y>3251</Y>
</Location>
<BeforeBlockId>15125</BeforeBlockId>
<AfterBlockId>6533</AfterBlockId>
</Block>
<Block genus-name="subroutine-ref" id="20223">
<Label>calcProp</Label>
<Location>
<X>2755</X>
<Y>3203</Y>
</Location>
<BeforeBlockId>6523</BeforeBlockId>
<AfterBlockId>15125</AfterBlockId>
</Block>
<Block genus-name="subroutine-ref" id="15125">
<Label>calcDiff</Label>
<Location>
<X>2755</X>
<Y>3227</Y>
</Location>
<BeforeBlockId>20223</BeforeBlockId>
<AfterBlockId>20224</AfterBlockId>
</Block>
<Block genus-name="subroutine" id="6548">
<Label>calcDir</Label>
<Location>
<X>2616</X>
<Y>2978</Y>
</Location>
<Sockets num-sockets="1">
<BlockConnector con-block-id="6523" connector-kind="socket" connector-type="cmd" init-type="cmd" label="commands" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="if" id="6523">
<Location>
<X>2755</X>
<Y>2986</Y>
</Location>
<BeforeBlockId>6548</BeforeBlockId>
<AfterBlockId>20223</AfterBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6524" connector-kind="socket" connector-type="boolean" init-type="boolean" label="условие" position-type="single"/>
<BlockConnector con-block-id="6912" connector-kind="socket" connector-type="cmd" init-type="cmd" label="то" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="ifelse" id="6912">
<Location>
<X>2864</X>
<Y>3022</Y>
</Location>
<BeforeBlockId>6523</BeforeBlockId>
<Sockets num-sockets="3">
<BlockConnector con-block-id="6913" connector-kind="socket" connector-type="boolean" init-type="boolean" label="условие" position-type="single"/>
<BlockConnector con-block-id="6918" connector-kind="socket" connector-type="cmd" init-type="cmd" label="то" position-type="single"/>
<BlockConnector con-block-id="6923" connector-kind="socket" connector-type="cmd" init-type="cmd" label="иначе" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="setter_variable_number" id="6923">
<Location>
<X>3020</X>
<Y>3131</Y>
</Location>
<BeforeBlockId>6912</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6924" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="6925" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="6925">
<Label>MAX_ROTATE</Label>
<Location>
<X>3280</X>
<Y>3158</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6923" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="6924">
<Label>speedEx</Label>
<Location>
<X>3280</X>
<Y>3134</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6923" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="setter_variable_number" id="6918">
<Location>
<X>3021</X>
<Y>3062</Y>
</Location>
<BeforeBlockId>6912</BeforeBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6919" connector-kind="socket" connector-type="number" init-type="number" label="переменная" position-type="single"/>
<BlockConnector con-block-id="6920" connector-kind="socket" connector-type="number" init-type="number" label="значение" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="addition" id="6920">
<Location>
<X>3281</X>
<Y>3089</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6918" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6921" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="6922" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="6922">
<Label>STEP</Label>
<Location>
<X>3419</X>
<Y>3092</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6920" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="6921">
<Label>speedEx</Label>
<Location>
<X>3291</X>
<Y>3092</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6920" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="6919">
<Label>speedEx</Label>
<Location>
<X>3281</X>
<Y>3065</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6918" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="greater" id="6913">
<Location>
<X>3024</X>
<Y>3025</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6912" connector-kind="plug" connector-type="boolean" init-type="boolean" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6914" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="6917" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="6917">
<Label>STEP</Label>
<Location>
<X>3334</X>
<Y>3032</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6913" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="subtraction" id="6914">
<Location>
<X>3034</X>
<Y>3028</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6913" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6915" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="6916" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="6916">
<Label>speedEx</Label>
<Location>
<X>3196</X>
<Y>3031</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6914" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="6915">
<Label>MAX_ROTATE</Label>
<Location>
<X>3044</X>
<Y>3031</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6914" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="less" id="6524">
<Location>
<X>2867</X>
<Y>2989</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6523" connector-kind="plug" connector-type="boolean" init-type="boolean" label="" position-type="mirror"/>
</Plug>
<Sockets num-sockets="2">
<BlockConnector con-block-id="6525" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
<BlockConnector con-block-id="6526" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="bottom"/>
</Sockets>
</Block>
<Block genus-name="variable_number" id="6526">
<Label>MAX_ROTATE</Label>
<Location>
<X>3005</X>
<Y>2992</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6524" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="variable_number" id="6525">
<Label>speedEx</Label>
<Location>
<X>2877</X>
<Y>2992</Y>
</Location>
<Plug>
<BlockConnector con-block-id="6524" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="serial_print" id="15907">
<Location>
<X>1489</X>
<Y>4534</Y>
</Location>
<AfterBlockId>12523</AfterBlockId>
<Sockets num-sockets="2">
<BlockConnector con-block-id="15908" connector-kind="socket" connector-type="string" init-type="string" label="message2" position-type="single"/>
<BlockConnector con-block-id="15909" connector-kind="socket" connector-type="boolean" init-type="boolean" label="новая линия" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="subroutine-ref" id="12523">
<Label>motorsTest</Label>
<Location>
<X>1489</X>
<Y>4588</Y>
</Location>
<BeforeBlockId>15907</BeforeBlockId>
<AfterBlockId>17495</AfterBlockId>
</Block>
<Block genus-name="subroutine-ref" id="17495">
<Label>printSpeed3</Label>
<Location>
<X>1489</X>
<Y>4612</Y>
</Location>
<BeforeBlockId>12523</BeforeBlockId>
<AfterBlockId>12167</AfterBlockId>
</Block>
<Block genus-name="subroutine-ref" id="12167">
<Label>printSpeed</Label>
<Location>
<X>1489</X>
<Y>4636</Y>
</Location>
<BeforeBlockId>17495</BeforeBlockId>
<AfterBlockId>12120</AfterBlockId>
</Block>
<Block genus-name="subroutine-ref" id="12120">
<Label>printDirMS</Label>
<Location>
<X>1489</X>
<Y>4660</Y>
</Location>
<BeforeBlockId>12167</BeforeBlockId>
<AfterBlockId>10932</AfterBlockId>
</Block>
<Block genus-name="serial_println" id="10932">
<Location>
<X>1489</X>
<Y>4684</Y>
</Location>
<BeforeBlockId>12120</BeforeBlockId>
<AfterBlockId>10931</AfterBlockId>
<Sockets num-sockets="1">
<BlockConnector con-block-id="10934" connector-kind="socket" connector-type="string" init-type="string" label="" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="subroutine-ref" id="10931">
<Label>printSensors</Label>
<Location>
<X>1489</X>
<Y>4714</Y>
</Location>
<BeforeBlockId>10932</BeforeBlockId>
<AfterBlockId>15213</AfterBlockId>
</Block>
<Block genus-name="subroutine-ref" id="15213">
<Label>testCount</Label>
<Location>
<X>1489</X>
<Y>4738</Y>
</Location>
<BeforeBlockId>10931</BeforeBlockId>
</Block>
<Block genus-name="message" id="10934">
<Label>-</Label>
<Location>
<X>1623</X>
<Y>4687</Y>
</Location>
<Plug>
<BlockConnector con-block-id="10932" connector-kind="plug" connector-type="string" init-type="string" label="" position-type="single"/>
</Plug>
<Sockets num-sockets="1">
<BlockConnector connector-kind="socket" connector-type="string" init-type="string" label="" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="false" id="15909">
<Location>
<X>1693</X>
<Y>4561</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15907" connector-kind="plug" connector-type="boolean" init-type="boolean" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="message" id="15908">
<Label>, d=</Label>
<Location>
<X>1693</X>
<Y>4537</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15907" connector-kind="plug" connector-type="string" init-type="string" label="" position-type="single"/>
</Plug>
<Sockets num-sockets="1">
<BlockConnector con-block-id="15910" connector-kind="socket" connector-type="string" init-type="string" label="" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="glue_sn" id="15910">
<Location>
<X>1753</X>
<Y>4537</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15908" connector-kind="plug" connector-type="string" init-type="string" label="" position-type="single"/>
</Plug>
<Sockets num-sockets="1">
<BlockConnector con-block-id="15911" connector-kind="socket" connector-type="number" init-type="number" label="" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="variable_number_unsigned_long" id="15911">
<Label>distance</Label>
<Location>
<X>1813</X>
<Y>4537</Y>
</Location>
<Plug>
<BlockConnector con-block-id="15910" connector-kind="plug" connector-type="number" init-type="number" label="" position-type="mirror"/>
</Plug>
</Block>
<Block genus-name="subroutine" id="1166">
<Label>calcSpeed</Label>
<Location>
<X>2613</X>
<Y>1213</Y>
</Location>
<Sockets num-sockets="1">
<BlockConnector con-block-id="6445" connector-kind="socket" connector-type="cmd" init-type="cmd" label="commands" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="ifelse" id="6445">
<Location>
<X>2768</X>
<Y>1221</Y>
</Location>
<BeforeBlockId>1166</BeforeBlockId>
<Sockets num-sockets="3">
<BlockConnector con-block-id="6446" connector-kind="socket" connector-type="boolean" init-type="boolean" label="условие" position-type="single"/>
<BlockConnector con-block-id="19867" connector-kind="socket" connector-type="cmd" init-type="cmd" label="то" position-type="single"/>
<BlockConnector con-block-id="6469" connector-kind="socket" connector-type="cmd" init-type="cmd" label="иначе" position-type="single"/>
</Sockets>
</Block>
<Block genus-name="ifelse" id="6469">
<Location>
<X>2924</X>
<Y>2088</Y>
</Location>
<Comment>
<Text>> 0 поворачиваем вправо
< 0 поворот ВЛЕВО!</Text>
<Location>
<X>3475</X>
<Y>2085</Y>
</Location>
<BoxSize>
<Width>231</Width>
<Height>55</Height>
</BoxSize>
<Collapsed/>
</Comment>
<BeforeBlockId>6445</BeforeBlockId>
<Sockets num-sockets="3">
<BlockConnector con-block-id="6470" connector-kind="socket" connector-type="boolean" init-type="boolean" label="условие" position-type="single"/>
<BlockConnector con-block-id="6478" connector-kind="socket" connector-type="cmd" init-type="cmd" label="то" position-type="single"/>