{"mode":"Blocks","hardwareTarget":"brain","workspace":"<xml xmlns=\"https://developers.google.com/blockly/xml\"><variables><variable id=\"_2.^beQjx|FGt38A,8(E\">Error</variable><variable id=\"C:FO{g~5UsvK}Qa9@U-H\">Kp</variable><variable id=\"KY`Dro4^N?tIJZ9()(At\">Integral</variable><variable id=\"hR9w?BQGp~?bl|=OODqL\">Ki</variable><variable id=\"IEqPcpuCMR?=C]]JH{D^\">Derivative</variable><variable id=\"[Rm;cG^!|VMLSlFr(Kl5\">Previous_Error</variable><variable id=\"HVtl2s9vT5t}xmBP#hvM\">Kd</variable><variable id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</variable></variables><block type=\"procedures_definition\" id=\"A%f-ciPg71h0R?.gMkQv\" x=\"10\" y=\"10\"><statement name=\"custom_block\"><shadow type=\"procedures_prototype\" id=\"!`^AhTXUm;7:a_[ip)*)\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" proccode=\"Drive Forwards %n Heading %n Velocity %n\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\" argumentids=\"[&quot;Miq)D7oX84EED$(EKM.$&quot;,&quot;A*xR6t:l9.b?zw,iPE$l&quot;,&quot;fNN7,8c!;J?B#[7famN%&quot;]\" argumentnames=\"[&quot;Distance&quot;,&quot;DesiredHeading&quot;,&quot;Velocity&quot;]\" argumentdefaults=\"[&quot;todo&quot;,&quot;todo&quot;,&quot;todo&quot;,&quot;todo&quot;]\" argumenttypes=\"[&quot;n&quot;,&quot;n&quot;,&quot;n&quot;]\" warp=\"false\"></mutation><value name=\"Miq)D7oX84EED$(EKM.$\"><shadow type=\"argument_reporter_number\" id=\"[{OL7yUFu_ytb#rI]]]G\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"Miq)D7oX84EED$(EKM.$\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Distance</field></shadow></value><value name=\"A*xR6t:l9.b?zw,iPE$l\"><shadow type=\"argument_reporter_number\" id=\"*wd^xAgqogDx.mSITLhb\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"A*xR6t:l9.b?zw,iPE$l\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">DesiredHeading</field></shadow></value><value name=\"fNN7,8c!;J?B#[7famN%\"><shadow type=\"argument_reporter_number\" id=\"hU3TOXq8,G@#N_r3CL^c\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"fNN7,8c!;J?B#[7famN%\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Velocity</field></shadow></value></shadow></statement><next><block type=\"iq_motion_set_motor_position\" id=\"4AtzO%f;|W#``~_0nHqk\"><field name=\"MOTOR\">Left1</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\"_vIMU/J@fG$SE,?fOZ9^\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_motion_set_motor_position\" id=\"OSWu4a^}-n(.)Yr8p41%\"><field name=\"MOTOR\">Left2</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\"=InM+FhV4^WP5b#]}{]s\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_motion_set_motor_position\" id=\"]3/u/-IH=ROM8`9[G-xo\"><field name=\"MOTOR\">Right1</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\")g^XGM9EfLeT;x1{F:h2\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_motion_set_motor_position\" id=\"bGHEiUMYQ;UwQyZ|E/eA\"><field name=\"MOTOR\">Right2</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\"CLRd+b(WFCh1HpqS%qN_\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_control_while\" id=\"`Lb(v,`GY`YU,J5MvI73\"><value name=\"CONDITION\"><block type=\"iq_operator_less_than\" id=\"T3)c?K|u3Qh5)UEz-Uv)\"><value name=\"OPERAND1\"><shadow type=\"math_number\" id=\"(g=of}GzKW}vgON[s-dC\"><field name=\"NUM\">0</field></shadow><block type=\"iq_sensing_position_of_motor\" id=\"E@tc^H.r@$7/uxFK7j1n\"><field name=\"MOTOR\">Left1</field><field name=\"UNITS\">deg</field></block></value><value name=\"OPERAND2\"><shadow type=\"math_number\" id=\"p!rJ@h*r2+8A8rfYl6`-\"><field name=\"NUM\">50</field></shadow><block type=\"argument_reporter_number\" id=\"Qh;K$n8_ZXi78Jw1;)u_\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"Miq)D7oX84EED$(EKM.$\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Distance</field></block></value></block></value><statement name=\"SUBSTACK\"><block type=\"iq_variables_set_variable\" id=\"Dwp,cDg:R,:0k8E=z6z)\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\":~u4kIdpG4Cye_RyEo?2\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_subtract\" id=\"?2mUDB_8jn|8$iXMaWTo\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"5Q8cQeG*R*^ny6IG}iM|\"><field name=\"NUM\">100</field></shadow><block type=\"argument_reporter_number\" id=\"Ol.|Tjcye]Fj-^Vd_#29\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"A*xR6t:l9.b?zw,iPE$l\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">DesiredHeading</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"rT85n#PCY-U)mrF[|;x)\"><field name=\"NUM\">0</field></shadow><block type=\"iq_sensing_heading_of_gyro\" id=\"|uTM7#G(z$KT*_-)tY)R\"><field name=\"GYRO\">BrainInertial</field></block></value></block></value><next><block type=\"iq_variables_set_variable\" id=\"#^$nal8Q+UF46jqoLjV:\"><field name=\"VARIABLE\" id=\"KY`Dro4^N?tIJZ9()(At\">Integral</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"WG[eaP|P$;}ap|IFBme/\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_add\" id=\"u_tWk{X+x18T5b@%o:$X\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"jByJ{xw@ZZ!f}o]XH|aM\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"~M{!Ri$QD~P_3kWzvk7e\"><field name=\"VARIABLE\" id=\"KY`Dro4^N?tIJZ9()(At\">Integral</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"|laf)QROoe:0x)j/?e;=\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"h`$HDBF_m;*DQS}~7}6(\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value></block></value><next><block type=\"iq_variables_set_variable\" id=\")cBXD+D}xYV}9DBNr.tA\"><field name=\"VARIABLE\" id=\"IEqPcpuCMR?=C]]JH{D^\">Derivative</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"r`Jk5q;VT4CYU:Q9srl+\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_subtract\" id=\"m+QuYe}0SvYA_9tLnbP,\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"%~Lb;p)9gaumJAL{W}5.\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"#J?-iQ2U7Zh2I)mg?Tk^\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\".Kj}(Hz|,9UwBD6b!t1U\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"jB^NYD[_4|!@IIv_KJr:\"><field name=\"VARIABLE\" id=\"[Rm;cG^!|VMLSlFr(Kl5\">Previous_Error</field></block></value></block></value><next><block type=\"iq_variables_set_variable\" id=\"^?g5wC/zONe$R5J%f-x!\"><field name=\"VARIABLE\" id=\"[Rm;cG^!|VMLSlFr(Kl5\">Previous_Error</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"t9s}]NGK}vjZtk|m7*A0\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"*;gV~L_2En]3LjjN=Odf\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value><next><block type=\"iq_variables_set_variable\" id=\"u1ugv?:+lo*pcS$xSx+a\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"S6AEfh|eUdsR~`p5VpBi\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_add\" id=\"UZU`}M@g?i:Vi_`}$t;L\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_add\" id=\"M@Kr1}Th}c-f`]3ajT$/\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"nHRi)pQ|xjNy*2wW^pU`\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"qoK%-`}LiDnT8taaeRJB\"><field name=\"VARIABLE\" id=\"C:FO{g~5UsvK}Qa9@U-H\">Kp</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"AyP`p[}2fg?_2g7uN+@N\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"XgIvC#]rd8,D)0dFc[W8\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"e#Yl:^@Mhi]*i8f8#zv=\"><field name=\"VARIABLE\" id=\"hR9w?BQGp~?bl|=OODqL\">Ki</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"jD$}s{;/nm});tuwP5c_\"><field name=\"VARIABLE\" id=\"KY`Dro4^N?tIJZ9()(At\">Integral</field></block></value></block></value></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"X#N8)So})Jl}|Mzi..b]\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"ay6U57kwvHN[Y8k,gVIK\"><field name=\"VARIABLE\" id=\"HVtl2s9vT5t}xmBP#hvM\">Kd</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"Kn`o=/2tL5AB,?s{#])6\"><field name=\"VARIABLE\" id=\"IEqPcpuCMR?=C]]JH{D^\">Derivative</field></block></value></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"9z`#?~ZT.H1=_UKk/6mr\"><field name=\"MOTOR\">Right1</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"L0Q|wO:=C3$+a7ae+[2+\"><field name=\"NUM\">80</field></shadow><block type=\"iq_operator_add\" id=\"hWrKtGKqMcA3zQvcs-g5\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\".gvLxoN;s$I.=z{}hX/h\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"fNN7,8c!;J?B#[7famN%\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"P{2@`O3#G))[6;b~IP;i\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"Dx/F`(/ObP@Y)m}C/E}+\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"qzEF5+nhzxf6EjpYvDsd\"><field name=\"MOTOR\">Right2</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"-W*?+JE6}7J_u,JXlZ9[\"><field name=\"NUM\">80</field></shadow><block type=\"iq_operator_add\" id=\"%P!tzZW,4;CuPnr8_LuT\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"-jy_YP{*-FmC3[G~iYT8\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"fNN7,8c!;J?B#[7famN%\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"z:LqS/Ieg9?l9v7-9+)K\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"4++#mJ8*qXlS:1)]p?Ar\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"mzqF??nL9[T[M^`w/Wjc\"><field name=\"MOTOR\">Left1</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"_6JDfb`kBjScx*wyAtlX\"><field name=\"NUM\">50</field></shadow><block type=\"iq_operator_subtract\" id=\"Zfp-=`n6r)w^]gOZj6Z~\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"#r!#ip+4R=?[BNfToUs#\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"iz|GHQe6bR$FvlZ`=8VS\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"fNN7,8c!;J?B#[7famN%\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"LrwN2S5rl`H)q9g$xiuP\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"gACF0D-QBauF_[(S|,;%\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"XVQPu?|V]jmb|Hf%n@.x\"><field name=\"MOTOR\">Left2</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"Y_a,}bG-9G@a!Fwy=Pos\"><field name=\"NUM\">50</field></shadow><block type=\"iq_operator_subtract\" id=\"q^]-UYvBvWYGYP/]^;TP\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"ot7kavLI6R?^Rm#+4prS\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Forwards_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"fNN7,8c!;J?B#[7famN%\" proceduredefid=\"!`^AhTXUm;7:a_[ip)*)\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"4WRzu)qn30$4/Gh]LE?J\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"y]OzCW^~[T3=CW+KC@@i\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_spin\" id=\"hD@;GA~hII.ih5.?:)96\"><field name=\"MOTOR\">Left1</field><field name=\"DIRECTION\">fwd</field><next><block type=\"iq_motion_spin\" id=\"=]#3ZhN+r|M0VJ,mpsVU\"><field name=\"MOTOR\">Left2</field><field name=\"DIRECTION\">fwd</field><next><block type=\"iq_motion_spin\" id=\"0~N9tFzL0=RFm;K,He`?\"><field name=\"MOTOR\">Right1</field><field name=\"DIRECTION\">fwd</field><next><block type=\"iq_motion_spin\" id=\".O2+iOmh=D8VB|Ibk$V:\"><field name=\"MOTOR\">Right2</field><field name=\"DIRECTION\">fwd</field><next><block type=\"iq_control_wait\" id=\"@X?u,t/w!qFbp4fXd#m^\"><value name=\"DURATION\"><shadow type=\"math_positive_number\" id=\"](aHd+unKHi^Q3~2|V;5\"><field name=\"NUM\">0.15</field></shadow></value></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement><next><block type=\"iq_motion_stop_motor\" id=\",#2P;NiP{mp~KP^aPNAO\"><field name=\"MOTOR\">Left1</field><next><block type=\"iq_motion_stop_motor\" id=\"_)wGU!ME9W$}QdM7yK9G\"><field name=\"MOTOR\">Left2</field><next><block type=\"iq_motion_stop_motor\" id=\"lqyVcDgijE*]@Ck$8AgL\"><field name=\"MOTOR\">Right1</field><next><block type=\"iq_motion_stop_motor\" id=\"#|9LKA2$;uzo#wW1L`4=\"><field name=\"MOTOR\">Right2</field></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"procedures_definition\" id=\"md},_#F%g]ubG;IQ^uMs\" x=\"10\" y=\"2890\"><statement name=\"custom_block\"><shadow type=\"procedures_prototype\" id=\"*@ogUdy+ytp|!@lf8cN:\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" proccode=\"Drive Reverse %n Heading %n Velocity %n\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\" argumentids=\"[&quot;Lf=HD;9A~Ag[9$,GEp2~&quot;,&quot;S:$$P4?Og2@is{]hMI)y&quot;,&quot;}=vMi|BE~QgXj?8{A4+p&quot;]\" argumentnames=\"[&quot;Distance&quot;,&quot;DesiredHeading&quot;,&quot;Velocity&quot;]\" argumentdefaults=\"[&quot;todo&quot;,&quot;todo&quot;,&quot;todo&quot;,&quot;todo&quot;]\" argumenttypes=\"[&quot;n&quot;,&quot;n&quot;,&quot;n&quot;]\" warp=\"false\"></mutation><value name=\"Lf=HD;9A~Ag[9$,GEp2~\"><shadow type=\"argument_reporter_number\" id=\"zGtHB1V#c[;@N2hep0pq\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"Lf=HD;9A~Ag[9$,GEp2~\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Distance</field></shadow></value><value name=\"S:$$P4?Og2@is{]hMI)y\"><shadow type=\"argument_reporter_number\" id=\"QjmKWFtv1Uf4ig=j~@m~\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"S:$$P4?Og2@is{]hMI)y\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">DesiredHeading</field></shadow></value><value name=\"}=vMi|BE~QgXj?8{A4+p\"><shadow type=\"argument_reporter_number\" id=\"#?u|d/U6]9*eWS$3+m#(\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"}=vMi|BE~QgXj?8{A4+p\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Velocity</field></shadow></value></shadow></statement><next><block type=\"iq_motion_set_motor_position\" id=\"D^vRTIl2=OgF_l/z^*~K\"><field name=\"MOTOR\">Left1</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\"PQCS*5D/^EYaMhBN5ws3\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_motion_set_motor_position\" id=\"EeWFd_UnuZ:k)V8+_U#X\"><field name=\"MOTOR\">Left2</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\"Z[-vw]:OcW(BmF?q8iUP\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_motion_set_motor_position\" id=\"WPjx$rzoxW^hip*,Q-7O\"><field name=\"MOTOR\">Right1</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\"CLGZ{X%q};0#skl`C#]2\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_motion_set_motor_position\" id=\"!DKOl6J^Y8nLgBr)A.53\"><field name=\"MOTOR\">Right2</field><field name=\"UNITS\">deg</field><value name=\"DEGS\"><shadow type=\"math_number\" id=\";PY!MvS2v(a280raZOkW\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_control_while\" id=\"2CHJ?)@i4!E,e=yf=+sF\"><value name=\"CONDITION\"><block type=\"iq_operator_less_than\" id=\"Xfy~2hj8.`Q08QMz3K`_\"><value name=\"OPERAND1\"><shadow type=\"math_number\" id=\"^9Ku.`s+Z|vTwZ+!JN^a\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"gE,IT7+wY/yE[2NI=}aK\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"$T9Zdt=.$VeG.Q#LkN*)\"><field name=\"NUM\">0</field></shadow><block type=\"iq_sensing_position_of_motor\" id=\",nFw+1qF#S(yWE#6U+=q\"><field name=\"MOTOR\">Left1</field><field name=\"UNITS\">deg</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"N6gAs-hlf~J}[{:S)7y_\"><field name=\"NUM\">-1</field></shadow></value></block></value><value name=\"OPERAND2\"><shadow type=\"math_number\" id=\"Fz*dA7OLB#ZyWp/Isz;$\"><field name=\"NUM\">50</field></shadow><block type=\"argument_reporter_number\" id=\"EjWAKB?7Ug)f-8QuZe|a\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"Lf=HD;9A~Ag[9$,GEp2~\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Distance</field></block></value></block></value><statement name=\"SUBSTACK\"><block type=\"iq_variables_set_variable\" id=\"mNs8z(L?V}Dxy3qMCvq,\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field><value name=\"VALUE\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_subtract\" id=\"o/)__GXD_J?X8JH0N7#;\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"@?f8kUWo}{/[Cda%A`{W\"><field name=\"NUM\">100</field></shadow><block type=\"argument_reporter_number\" id=\"*8I[cV?Lws$JP.63~n|(\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"S:$$P4?Og2@is{]hMI)y\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">DesiredHeading</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"J~9SNeA*_dwgS$%D-fCh\"><field name=\"NUM\">0</field></shadow><block type=\"iq_sensing_heading_of_gyro\" id=\"fmk%F*FeLo@ERr}a0M`#\"><field name=\"GYRO\">BrainInertial</field></block></value></block></value><next><block type=\"iq_variables_set_variable\" id=\"~mB:dNDM8`y[O%fWx:}Y\"><field name=\"VARIABLE\" id=\"KY`Dro4^N?tIJZ9()(At\">Integral</field><value name=\"VALUE\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_add\" id=\"O)]^v5?7;,SQ/K%Hd,k_\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"HSe7uLr`lFFEDYoQrzsB\"><field name=\"VARIABLE\" id=\"KY`Dro4^N?tIJZ9()(At\">Integral</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"Dygc#UBd$ID/dNeeZ6|+\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value></block></value><next><block type=\"iq_variables_set_variable\" id=\"OsROCI=3*Ox,t,3Sy3ng\"><field name=\"VARIABLE\" id=\"IEqPcpuCMR?=C]]JH{D^\">Derivative</field><value name=\"VALUE\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_subtract\" id=\"0a;%pt/:eONh7`=1Hm./\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"U1}AUSoM@s}u190I.AH#\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"B3H9Q3*8s/D*Yw3;CS=p\"><field name=\"VARIABLE\" id=\"[Rm;cG^!|VMLSlFr(Kl5\">Previous_Error</field></block></value></block></value><next><block type=\"iq_variables_set_variable\" id=\"q|I_iQAc91m@0#tpcTnl\"><field name=\"VARIABLE\" id=\"[Rm;cG^!|VMLSlFr(Kl5\">Previous_Error</field><value name=\"VALUE\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"p!cP*`(Lno7pQT7at}No\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value><next><block type=\"iq_variables_set_variable\" id=\"RMyogp}2@V|kMs$o6{(*\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"/%$8dV58x!~c9QZWDkOt\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_add\" id=\"hNT}qQv[CC0h@`Q7T!1n\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_add\" id=\"|7G)*y%Yxv1Lh-C)1=ph\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"!,.P9MZ@grqAaK~G{lC(\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"R*4Sg-)FJxqwGMuNbIy1\"><field name=\"VARIABLE\" id=\"C:FO{g~5UsvK}Qa9@U-H\">Kp</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"]7^Eac:=Hs.t.yFpRNQx\"><field name=\"VARIABLE\" id=\"_2.^beQjx|FGt38A,8(E\">Error</field></block></value></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"k,A!h~{Q}Q8(}$ad8)~o\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"7CVd$mXaQ3}6%vUJAk{@\"><field name=\"VARIABLE\" id=\"hR9w?BQGp~?bl|=OODqL\">Ki</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"I5Y}-$FDg]XJDw=TX:8|\"><field name=\"VARIABLE\" id=\"KY`Dro4^N?tIJZ9()(At\">Integral</field></block></value></block></value></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_operator_multiply\" id=\"0/?s@GQn_qfm66qd=`q1\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"D|03rW)ZWFBt`K7!RIr`\"><field name=\"VARIABLE\" id=\"HVtl2s9vT5t}xmBP#hvM\">Kd</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"g1y1Q*3uyAt+E8lIffPa\"><field name=\"VARIABLE\" id=\"IEqPcpuCMR?=C]]JH{D^\">Derivative</field></block></value></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"WblL:7:R=KiC?(KU`r_x\"><field name=\"MOTOR\">Right1</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"h#;.7%h#|4[d23[W5Q]`\"><field name=\"NUM\">80</field></shadow><block type=\"iq_operator_add\" id=\"q;FpM7uH;M-Av{VtL=#i\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"oZNoUYG]?O)~}Wa2g2{%\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"}=vMi|BE~QgXj?8{A4+p\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"LgDf!zP2UI0i+Hb{.l!A\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\";|.YRCn+)0|6WG7L8v8w\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"~KPe=MUQw%hdua*UhC?^\"><field name=\"MOTOR\">Right2</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"A_O=jnxv!5-v1P!lS](Q\"><field name=\"NUM\">80</field></shadow><block type=\"iq_operator_add\" id=\"*Q41m{mw!F3]7I=)3c?0\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"Oy8%1|qL/~SJd(hd?=LN\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"~@SqIXrA2tpBnNU6m/zH\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"}=vMi|BE~QgXj?8{A4+p\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"!|`eMu~6OzvhW(Gk-gvF\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"!grUQbhl8[TUpHgd`K7N\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\"|iho@Y%943R.ne|Y*_1y\"><field name=\"MOTOR\">Left1</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"wQRT$,,D{]3##]]v^IDd\"><field name=\"NUM\">-80</field></shadow><block type=\"iq_operator_subtract\" id=\"0{m#V3DBm+MPX$JXEt@}\"><value name=\"NUM1\"><shadow type=\"math_number\" id=\"g`B$/9`ZjZxRoc+d~[rJ\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"fVTL1#qvpb#C7,hZy6^S\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"}=vMi|BE~QgXj?8{A4+p\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"K6*s;aRTQg4S.!eoKMuP\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"zpQ%4M*g~Gh?9_F/-U!g\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_set_motor_velocity\" id=\":*j$CEa8aYWj_2@GyxC*\"><field name=\"MOTOR\">Left2</field><field name=\"UNITS\">pct</field><value name=\"VELOCITY\"><shadow type=\"math_number\" id=\"Fqdb#o%29^1_aOr;a{`H\"><field name=\"NUM\">-80</field></shadow><block type=\"iq_operator_subtract\" id=\"Q~eK|-9O=%sLhVjiBlmw\"><value name=\"NUM1\"><shadow type=\"math_number\"><field name=\"NUM\">0</field></shadow><block type=\"argument_reporter_number\" id=\"#leohe}vL[9SPZZFK(9l\"><mutation xmlns=\"http://www.w3.org/1999/xhtml\" funcname=\"Drive_Reverse_Distance_Heading_DesiredHeading_Velocity_Velocity\" argumentid=\"}=vMi|BE~QgXj?8{A4+p\" proceduredefid=\"*@ogUdy+ytp|!@lf8cN:\"></mutation><field name=\"VALUE\">Velocity</field></block></value><value name=\"NUM2\"><shadow type=\"math_number\" id=\"H@-dx3-@xDiVtG!pU0k#\"><field name=\"NUM\">0</field></shadow><block type=\"iq_variables_variable\" id=\"#+Xn^Nw,ID7j(4EkP}XK\"><field name=\"VARIABLE\" id=\"`IQ+K0x3J-wkw?}7NqKN\">Output</field></block></value></block></value><next><block type=\"iq_motion_spin\" id=\".oiH+ZN{kiZ-g+.TO?6K\"><field name=\"MOTOR\">Left1</field><field name=\"DIRECTION\">rev</field><next><block type=\"iq_motion_spin\" id=\"rpw?,Mq3EMdBU0VUve=n\"><field name=\"MOTOR\">Left2</field><field name=\"DIRECTION\">rev</field><next><block type=\"iq_motion_spin\" id=\"VU]FHu{sExFW:-}E,nTz\"><field name=\"MOTOR\">Right1</field><field name=\"DIRECTION\">rev</field><next><block type=\"iq_motion_spin\" id=\"-v|28a*zQn]y7cZE@*Ae\"><field name=\"MOTOR\">Right2</field><field name=\"DIRECTION\">rev</field><next><block type=\"iq_control_wait\" id=\"|4G::G((@I2ARSH=rDhE\"><value name=\"DURATION\"><shadow type=\"math_positive_number\" id=\"9X{d}sf=tQJcZ*+5_#Co\"><field name=\"NUM\">0.15</field></shadow></value></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement><next><block type=\"iq_motion_stop_motor\" id=\"o}uBz~/oaDT9nFJX`Z2x\"><field name=\"MOTOR\">Left1</field><next><block type=\"iq_motion_stop_motor\" id=\")gd5dipyBp*54_s{A,/E\"><field name=\"MOTOR\">Left2</field><next><block type=\"iq_motion_stop_motor\" id=\"h`zr0B)D07Wa00+CtE8O\"><field name=\"MOTOR\">Right1</field><next><block type=\"iq_motion_stop_motor\" id=\"QNmkPkKMnO+;QeBDOnD2\"><field name=\"MOTOR\">Right2</field></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"iq_events_when_started\" id=\".NsXwU_L.OuU1l7Sho$F\" x=\"10\" y=\"5690\"><next><block type=\"iq_variables_set_variable\" id=\"[/DJltYZFngeiZ{^YbBq\"><field name=\"VARIABLE\" id=\"C:FO{g~5UsvK}Qa9@U-H\">Kp</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"k@%n(.OTXlFy[9FxtT;A\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"iq_variables_set_variable\" id=\";hd^8Y8_8RReqTL3M`n+\"><field name=\"VARIABLE\" id=\"hR9w?BQGp~?bl|=OODqL\">Ki</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"T+p@a]N9D?MxuxDCNxMR\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"iq_variables_set_variable\" id=\"^N[^`=W_*il4Dx%;G1?f\"><field name=\"VARIABLE\" id=\"HVtl2s9vT5t}xmBP#hvM\">Kd</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"VCRZUOw3c5c/+}D|X-#V\"><field name=\"NUM\">1</field></shadow></value><next><block type=\"iq_sensing_inertial_calibrate\" id=\"3$WdJ[?+8w+M)=aV=g{c\"><next><block type=\"iq_sensing_set_gyro_heading\" id=\"[la;KRx3bQ8]TI!Bv0W]\"><field name=\"GYRO\">BrainInertial</field><value name=\"VALUE\"><shadow type=\"math_number\" id=\"!JhmT=ereYLSqo`tpH/b\"><field name=\"NUM\">0</field></shadow></value><next><block type=\"iq_sounds_play_sound\" id=\"(Fe[Q@gT$w{_yF3:6M8G\"><field name=\"SOUND\">headlightsOff</field></block></next></block></next></block></next></block></next></block></next></block></next></block><block type=\"iq_events_when_controller_button\" id=\"%J2{)Dsz}lI:4~hkXI(L\" x=\"10\" y=\"6910\"><field name=\"BUTTON\">ButtonFUp</field><field name=\"EVENTTYPE\">pressed</field></block></xml>","robotConfig":[{"port":[12],"name":"Left1","customName":true,"deviceType":"Motor","deviceClass":"motor","setting":{"reversed":"true","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[7],"name":"Left2","customName":true,"deviceType":"Motor","deviceClass":"motor","setting":{"reversed":"true","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[6],"name":"Right1","customName":true,"deviceType":"Motor","deviceClass":"motor","setting":{"reversed":"false","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[1],"name":"Right2","customName":true,"deviceType":"Motor","deviceClass":"motor","setting":{"reversed":"false","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[],"name":"Controller","customName":false,"deviceType":"Controller","deviceClass":"controller","setting":{"left":"","leftDir":"false","right":"","rightDir":"false","e":"","eDir":"false","f":"","fDir":"false","l3r3":"","l3r3Dir":"false","drive":"none"},"triportSourcePort":22}],"slot":1,"platform":"IQ","sdkVersion":"20230818.11.00.00","appVersion":"4.0.8","fileFormat":"2.0.0","targetBrainGen":"Second","v5SoundsEnabled":false,"downloadLanguage":"python","virtualSkillsYear":"2023"}