{ "format": "uvira.forge.blocks", "version": 1, "workspace": { "blocks": { "languageVersion": 0, "blocks": [ { "type": "forge_program", "id": "b113", "fields": { "NAME": "look_around", "PERIOD": "20" }, "inputs": { "INIT": { "block": { "type": "variables_set", "id": "b2", "fields": { "VAR": { "id": "var_n0" } }, "inputs": { "VALUE": { "block": { "type": "forge_vehicle_value", "id": "b1", "fields": { "WHAT": "north" } } } }, "next": { "block": { "type": "variables_set", "id": "b4", "fields": { "VAR": { "id": "var_e0" } }, "inputs": { "VALUE": { "block": { "type": "forge_vehicle_value", "id": "b3", "fields": { "WHAT": "east" } } } }, "next": { "block": { "type": "variables_set", "id": "b6", "fields": { "VAR": { "id": "var_h0" } }, "inputs": { "VALUE": { "block": { "type": "forge_vehicle_value", "id": "b5", "fields": { "WHAT": "heading" } } } }, "next": { "block": { "type": "variables_set", "id": "b13", "fields": { "VAR": { "id": "var_fn" } }, "inputs": { "VALUE": { "block": { "type": "math_arithmetic", "id": "b12", "fields": { "OP": "ADD" }, "inputs": { "A": { "block": { "type": "variables_get", "id": "b7", "fields": { "VAR": { "id": "var_n0" } } } }, "B": { "block": { "type": "math_arithmetic", "id": "b10", "fields": { "OP": "MULTIPLY" }, "inputs": { "A": { "block": { "type": "math_number", "id": "b11", "fields": { "NUM": 30 } } }, "B": { "block": { "type": "math_trig", "id": "b9", "fields": { "OP": "COS" }, "inputs": { "NUM": { "block": { "type": "variables_get", "id": "b8", "fields": { "VAR": { "id": "var_h0" } } } } } } } } } } } } } }, "next": { "block": { "type": "variables_set", "id": "b20", "fields": { "VAR": { "id": "var_fe" } }, "inputs": { "VALUE": { "block": { "type": "math_arithmetic", "id": "b19", "fields": { "OP": "ADD" }, "inputs": { "A": { "block": { "type": "variables_get", "id": "b14", "fields": { "VAR": { "id": "var_e0" } } } }, "B": { "block": { "type": "math_arithmetic", "id": "b17", "fields": { "OP": "MULTIPLY" }, "inputs": { "A": { "block": { "type": "math_number", "id": "b18", "fields": { "NUM": 30 } } }, "B": { "block": { "type": "math_trig", "id": "b16", "fields": { "OP": "SIN" }, "inputs": { "NUM": { "block": { "type": "variables_get", "id": "b15", "fields": { "VAR": { "id": "var_h0" } } } } } } } } } } } } } } } } } } } } } } } }, "STATES": { "block": { "type": "forge_state", "id": "b38", "fields": { "NAME": "up" }, "inputs": { "TICK": { "block": { "type": "forge_cmd_guided", "id": "b24", "fields": { "yaw_valid": true, "DISARM_WHEN_LANDED": false }, "inputs": { "pos_n": { "block": { "type": "variables_get", "id": "b21", "fields": { "VAR": { "id": "var_n0" } } } }, "pos_e": { "block": { "type": "variables_get", "id": "b22", "fields": { "VAR": { "id": "var_e0" } } } }, "alt": { "block": { "type": "math_number", "id": "b25", "fields": { "NUM": 10 } } }, "yaw": { "block": { "type": "variables_get", "id": "b23", "fields": { "VAR": { "id": "var_h0" } } } }, "speed_max": { "block": { "type": "math_number", "id": "b26", "fields": { "NUM": 3 } } } }, "next": { "block": { "type": "forge_debug", "id": "b27", "fields": { "INDEX": "0" }, "inputs": { "VALUE": { "block": { "type": "math_number", "id": "b28", "fields": { "NUM": 0 } } } }, "next": { "block": { "type": "controls_if", "id": "b37", "inputs": { "IF0": { "block": { "type": "logic_operation", "id": "b35", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_compare", "id": "b30", "fields": { "OP": "GT" }, "inputs": { "A": { "block": { "type": "forge_vehicle_value", "id": "b29", "fields": { "WHAT": "alt" } } }, "B": { "block": { "type": "math_number", "id": "b31", "fields": { "NUM": 9.7 } } } } } }, "B": { "block": { "type": "logic_compare", "id": "b33", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "forge_vehicle_value", "id": "b32", "fields": { "WHAT": "alt" } } }, "B": { "block": { "type": "math_number", "id": "b34", "fields": { "NUM": 10.3 } } } } } } } } }, "DO0": { "block": { "type": "forge_goto", "id": "b36", "fields": { "NAME": "out" } } } } } } } } } } }, "next": { "block": { "type": "forge_state", "id": "b62", "fields": { "NAME": "out" }, "inputs": { "TICK": { "block": { "type": "forge_cmd_guided", "id": "b42", "fields": { "yaw_valid": true, "DISARM_WHEN_LANDED": false }, "inputs": { "pos_n": { "block": { "type": "variables_get", "id": "b39", "fields": { "VAR": { "id": "var_fn" } } } }, "pos_e": { "block": { "type": "variables_get", "id": "b40", "fields": { "VAR": { "id": "var_fe" } } } }, "alt": { "block": { "type": "math_number", "id": "b43", "fields": { "NUM": 10 } } }, "yaw": { "block": { "type": "variables_get", "id": "b41", "fields": { "VAR": { "id": "var_h0" } } } }, "speed_max": { "block": { "type": "math_number", "id": "b44", "fields": { "NUM": 5 } } } }, "next": { "block": { "type": "variables_set", "id": "b48", "fields": { "VAR": { "id": "var_d" } }, "inputs": { "VALUE": { "block": { "type": "forge_distance_to", "id": "b47", "inputs": { "N": { "block": { "type": "variables_get", "id": "b45", "fields": { "VAR": { "id": "var_fn" } } } }, "E": { "block": { "type": "variables_get", "id": "b46", "fields": { "VAR": { "id": "var_fe" } } } } } } } }, "next": { "block": { "type": "forge_debug", "id": "b49", "fields": { "INDEX": "0" }, "inputs": { "VALUE": { "block": { "type": "math_number", "id": "b50", "fields": { "NUM": 1 } } } }, "next": { "block": { "type": "forge_debug", "id": "b52", "fields": { "INDEX": "1" }, "inputs": { "VALUE": { "block": { "type": "variables_get", "id": "b51", "fields": { "VAR": { "id": "var_d" } } } } }, "next": { "block": { "type": "controls_if", "id": "b61", "inputs": { "IF0": { "block": { "type": "logic_operation", "id": "b59", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_compare", "id": "b54", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "variables_get", "id": "b53", "fields": { "VAR": { "id": "var_d" } } } }, "B": { "block": { "type": "math_number", "id": "b55", "fields": { "NUM": 0.5 } } } } } }, "B": { "block": { "type": "logic_compare", "id": "b57", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "forge_vehicle_value", "id": "b56", "fields": { "WHAT": "ground_speed" } } }, "B": { "block": { "type": "math_number", "id": "b58", "fields": { "NUM": 0.5 } } } } } } } } }, "DO0": { "block": { "type": "forge_goto", "id": "b60", "fields": { "NAME": "look" } } } } } } } } } } } } } } }, "next": { "block": { "type": "forge_state", "id": "b80", "fields": { "NAME": "look" }, "inputs": { "TICK": { "block": { "type": "forge_cmd_guided", "id": "b70", "fields": { "yaw_valid": true, "DISARM_WHEN_LANDED": false }, "inputs": { "pos_n": { "block": { "type": "variables_get", "id": "b63", "fields": { "VAR": { "id": "var_fn" } } } }, "pos_e": { "block": { "type": "variables_get", "id": "b64", "fields": { "VAR": { "id": "var_fe" } } } }, "alt": { "block": { "type": "math_number", "id": "b71", "fields": { "NUM": 10 } } }, "yaw": { "block": { "type": "math_arithmetic", "id": "b69", "fields": { "OP": "ADD" }, "inputs": { "A": { "block": { "type": "variables_get", "id": "b65", "fields": { "VAR": { "id": "var_h0" } } } }, "B": { "block": { "type": "math_arithmetic", "id": "b67", "fields": { "OP": "MULTIPLY" }, "inputs": { "A": { "block": { "type": "math_number", "id": "b68", "fields": { "NUM": 20 } } }, "B": { "block": { "type": "forge_time_in_state", "id": "b66" } } } } } } } }, "speed_max": { "block": { "type": "math_number", "id": "b72", "fields": { "NUM": 5 } } } }, "next": { "block": { "type": "forge_debug", "id": "b73", "fields": { "INDEX": "0" }, "inputs": { "VALUE": { "block": { "type": "math_number", "id": "b74", "fields": { "NUM": 2 } } } }, "next": { "block": { "type": "controls_if", "id": "b79", "inputs": { "IF0": { "block": { "type": "logic_compare", "id": "b76", "fields": { "OP": "GT" }, "inputs": { "A": { "block": { "type": "forge_time_in_state", "id": "b75" } }, "B": { "block": { "type": "math_number", "id": "b77", "fields": { "NUM": 18 } } } } } }, "DO0": { "block": { "type": "forge_goto", "id": "b78", "fields": { "NAME": "back" } } } } } } } } } } }, "next": { "block": { "type": "forge_state", "id": "b106", "fields": { "NAME": "back" }, "inputs": { "TICK": { "block": { "type": "forge_cmd_guided", "id": "b86", "fields": { "yaw_valid": true, "DISARM_WHEN_LANDED": false }, "inputs": { "pos_n": { "block": { "type": "variables_get", "id": "b81", "fields": { "VAR": { "id": "var_n0" } } } }, "pos_e": { "block": { "type": "variables_get", "id": "b82", "fields": { "VAR": { "id": "var_e0" } } } }, "alt": { "block": { "type": "math_number", "id": "b87", "fields": { "NUM": 10 } } }, "yaw": { "block": { "type": "math_arithmetic", "id": "b84", "fields": { "OP": "ADD" }, "inputs": { "A": { "block": { "type": "variables_get", "id": "b83", "fields": { "VAR": { "id": "var_h0" } } } }, "B": { "block": { "type": "math_number", "id": "b85", "fields": { "NUM": 180 } } } } } }, "speed_max": { "block": { "type": "math_number", "id": "b88", "fields": { "NUM": 5 } } } }, "next": { "block": { "type": "variables_set", "id": "b92", "fields": { "VAR": { "id": "var_d" } }, "inputs": { "VALUE": { "block": { "type": "forge_distance_to", "id": "b91", "inputs": { "N": { "block": { "type": "variables_get", "id": "b89", "fields": { "VAR": { "id": "var_n0" } } } }, "E": { "block": { "type": "variables_get", "id": "b90", "fields": { "VAR": { "id": "var_e0" } } } } } } } }, "next": { "block": { "type": "forge_debug", "id": "b93", "fields": { "INDEX": "0" }, "inputs": { "VALUE": { "block": { "type": "math_number", "id": "b94", "fields": { "NUM": 3 } } } }, "next": { "block": { "type": "forge_debug", "id": "b96", "fields": { "INDEX": "1" }, "inputs": { "VALUE": { "block": { "type": "variables_get", "id": "b95", "fields": { "VAR": { "id": "var_d" } } } } }, "next": { "block": { "type": "controls_if", "id": "b105", "inputs": { "IF0": { "block": { "type": "logic_operation", "id": "b103", "fields": { "OP": "AND" }, "inputs": { "A": { "block": { "type": "logic_compare", "id": "b98", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "variables_get", "id": "b97", "fields": { "VAR": { "id": "var_d" } } } }, "B": { "block": { "type": "math_number", "id": "b99", "fields": { "NUM": 0.5 } } } } } }, "B": { "block": { "type": "logic_compare", "id": "b101", "fields": { "OP": "LT" }, "inputs": { "A": { "block": { "type": "forge_vehicle_value", "id": "b100", "fields": { "WHAT": "ground_speed" } } }, "B": { "block": { "type": "math_number", "id": "b102", "fields": { "NUM": 0.5 } } } } } } } } }, "DO0": { "block": { "type": "forge_goto", "id": "b104", "fields": { "NAME": "land" } } } } } } } } } } } } } } }, "next": { "block": { "type": "forge_state", "id": "b112", "fields": { "NAME": "land" }, "inputs": { "TICK": { "block": { "type": "forge_cmd_land", "id": "b107", "inputs": { "vel_x": { "block": { "type": "math_number", "id": "b108", "fields": { "NUM": 0 } } }, "vel_y": { "block": { "type": "math_number", "id": "b109", "fields": { "NUM": 0 } } } }, "next": { "block": { "type": "forge_debug", "id": "b110", "fields": { "INDEX": "0" }, "inputs": { "VALUE": { "block": { "type": "math_number", "id": "b111", "fields": { "NUM": 4 } } } } } } } } } } } } } } } } } } } }, "x": 40, "y": 40 } ] }, "variables": [ { "name": "n0", "id": "var_n0" }, { "name": "e0", "id": "var_e0" }, { "name": "h0", "id": "var_h0" }, { "name": "fn", "id": "var_fn" }, { "name": "fe", "id": "var_fe" }, { "name": "d", "id": "var_d" } ] } }