6-18-23 OpMode for FTC PR 2853, testing Webcam Control Blocks for Pan, Tilt, Zoom (PTZ) 6-26-23 removed setProcessEnabled()

W_ConceptAprilTag_v15_transBlocks_PTZ.blk

<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</variable>
<variable id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</variable>
<variable id="d3c/kq?LHN~m;PA@fr-t">setPanTiltBoolean</variable>
<variable type="AprilTagProcessor.Builder" id="NYqOu)Ei(Q{C!f;y!a^O">myAprilTagProcessorBuilder</variable>
<variable id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</variable>
<variable id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</variable>
<variable id="!;}U%XlE[1kRUxXb?;0=">setZoomBoolean</variable>
<variable id="38pzf4+Nfxi[{e!)xQ$z">myZoom</variable>
<variable id="+%tIk}4j8a~@ZZ.]IUIW">myPan</variable>
<variable id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</variable>
<variable id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</variable>
<variable id="tz6`Y}~l+FZ7Ws:JlGT!">minPan</variable>
<variable id=";3*gAvrwR)H{!gj7OHck">minZoom</variable>
<variable id="3l,ggs:?D`#fx(t}ULHk">maxZoom</variable>
<variable id="r`KXEXHT0clj3%G.P#:P">maxPan</variable>
<variable id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</variable>
<variable id="}rkTJV^O1`*U:)TN6TsY">myTilt</variable>
<variable type="VisionPortal.Builder" id="wx@xgbnS_]b0DQL.08Qg">myVisionPortalBuilder</variable>
<variable id="os!Pya9xy-H:D{0ZIjEB">minTilt</variable>
<variable id="2;BeGb*lC{IyD~t^?qr]">maxTilt</variable>
</variables>
<block type="procedures_defnoreturn" id="WtpyD@tEu+EoY=P9iY,D" deletable="false" x="-216" y="-153">
<field name="NAME">runOpMode</field>
<comment pinned="false" h="45" w="532">This function is executed when this Op Mode is selected from the Driver Station.</comment>
<statement name="STACK">
<block type="comment" id="vG1;7$#*;crH,9)V$Lbq">
<field name="COMMENT">This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation.</field>
<next>
<block type="comment" id="vUNjVyX%Y9V~:.7m2xe7">
<field name="COMMENT">It also tests the new "transformer Blocks" for Pan, Tilt, Zoom (PTZ).</field>
<next>
<block type="variables_set" id="+WOa|3hz0c^Rah6+[;U4">
<field name="VAR" id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</field>
<value name="VALUE">
<block type="logic_boolean" id="C]dWgdzJ2YW[h}=7w5QN">
<field name="BOOL">TRUE</field>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="f5VC4xOrYYZrGzpFY}@G">
<mutation name="initAprilTag"/>
<comment pinned="false" h="60" w="270">Initialize AprilTag before waitForStart.</comment>
<next>
<block type="controls_whileUntil" id="h1Xrlgu|L8w(=tIL,Q8V">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_operation" id="z2}lPJUqg#pK?C$DvTO." inline="false">
<field name="OP">AND</field>
<value name="A">
<block type="logic_compare" id="d!oj^kSgz%zjku|L3UxS" inline="false">
<field name="OP">NEQ</field>
<value name="A">
<block type="visionPortal_getCameraState" id="@S]9Bi|b/[P{$:xVO5RX">
<comment pinned="false" h="150" w="325">Return the state of the camera.</comment>
<value name="VISION_PORTAL">
<block type="variables_get" id="Vw2e55.uo`X]7PA(6hin">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="visionPortal_typedEnum_cameraState" id=";Qw#T4e8Fp%Ayv=IaV@1">
<field name="CAMERA_STATE">STREAMING</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="linearOpMode_opModeInInit" id="qkVI4$;4h~JUJxQD6BiD"/>
</value>
</block>
</value>
<statement name="DO">
<block type="comment" id=":uOqfr2m9(aBG`ytR7!-">
<field name="COMMENT">Wait for Streaming to begin, before using Camera Controls.</field>
<next>
<block type="linearOpMode_sleep_Number" id="W~bNu[!LFp4xMLXE2q6{">
<value name="MILLISECONDS">
<shadow type="math_number" id="s@8U^NWR20-Fz#c_D~!}">
<field name="NUM">200</field>
</shadow>
</value>
</block>
</next>
</block>
</statement>
<next>
<block type="procedures_callnoreturn" id="-BLW2A#m5-DaP,Fi~U15">
<mutation name="initialize PTZ Control"/>
<next>
<block type="telemetry_addTextData_All" id="Y/b(p3p_Ls7l_.)bQt%8">
<value name="KEY">
<shadow type="text" id="]K/@Q[7z:EBSoy.ggFCo">
<field name="TEXT">DS preview on/off</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="eV-62@bA|1V9{)n7lim2">
<field name="TEXT">3 dots, Camera Stream</field>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="/Zm[n8^)(`(S}Ab9j!;|">
<value name="KEY">
<shadow type="text" id="E)4aB(Zb2,Da/0v0AiN=">
<field name="TEXT">&gt;</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="^u5_oh+s(.Vs1Kk;$yw9">
<field name="TEXT">Touch Play to start OpMode</field>
</shadow>
</value>
<next>
<block type="telemetry_update" id="CcM7+$syN,5p}u1NCi8q">
<next>
<block type="linearOpMode_waitForStart" id=":`$wN_ci`O;o6P0~.(+g">
<next>
<block type="controls_if" id="}Q?5mbxSO8Di;i!__6[y">
<value name="IF0">
<block type="linearOpMode_opModeIsActive" id=")o%YFX/#9kvv^sgXr4~5"/>
</value>
<statement name="DO0">
<block type="comment" id="(rU-p_T_/B|vExcs}liL">
<field name="COMMENT">Put run blocks here.</field>
<next>
<block type="controls_whileUntil" id="^0Kagy/e+Ea{rbZPv2G6">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="linearOpMode_opModeIsActive" id="e)cr{!2VIET83s,JWC.="/>
</value>
<statement name="DO">
<block type="procedures_callnoreturn" id="_@}uYV|jY-]R,_kgx[gb">
<mutation name="set Zoom"/>
<next>
<block type="procedures_callnoreturn" id="vFtq$`!=QgH!UFn~vc0A">
<mutation name="set Pan and Tllt"/>
<next>
<block type="procedures_callnoreturn" id="L1~6q-w9m`2ahlT|b!@A">
<mutation name="telemetryAprilTag"/>
<next>
<block type="telemetry_update" id="exvivmft-pX$n!1,8Ea$">
<comment pinned="false" h="55" w="295">Push telemetry to the Driver Station.</comment>
<next>
<block type="linearOpMode_sleep_Number" id="jjoCwI:;J87CrtGs%}K7">
<comment pinned="false" h="46" w="191">Share the CPU.</comment>
<value name="MILLISECONDS">
<shadow type="math_number" id="w~.7$M*lJeh#@I/xsbHy">
<field name="NUM">20</field>
</shadow>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
</next>
</block>
</statement>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="fQp~,ZYAv00*6j5^:acx" x="506" y="-165">
<field name="NAME">initialize PTZ Control</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="gE^nsLwX3^J/p--U8LTw">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
<comment pinned="false" h="150" w="325">Get the PtzControl object, to allow adjusting the camera's pan, tilt, and zoom.</comment>
<value name="VALUE">
<block type="visionPortal_getPtzControl" id="jYgv8gXSD?1_Bog^p+/u">
<comment pinned="false" h="150" w="325">Get the PtzControl object, to allow adjusting the camera's pan, tilt, and zoom.</comment>
<value name="VISION_PORTAL">
<block type="variables_get" id="*AMq-Ds#jo)Clg%A-y9T">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="S9y[x,OEXUTLN1;~6A%t">
<field name="VAR" id="d3c/kq?LHN~m;PA@fr-t">setPanTiltBoolean</field>
<value name="VALUE">
<block type="logic_boolean" id="n3fi8q|kLrUW[@?=@a[0">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="g5}@kOj[+VUMRF(PHVMP">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setZoomBoolean</field>
<value name="VALUE">
<block type="logic_boolean" id=")+e@cFc,;WKs2%5s$%6z">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="comment" id="gtB/9[[72Y7un}@1c[Uq">
<field name="COMMENT">This Holder object contains 2 values: pan and tilt</field>
<next>
<block type="variables_set" id="|a+6/|:P.(v4bO_V~-ft">
<field name="VAR" id="tz6`Y}~l+FZ7Ws:JlGT!">minPan</field>
<value name="VALUE">
<block type="panTiltHolder_getProperty_Number" id="MC%C1Ktqv=[%s2V(-ByA">
<field name="PROP">pan</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<value name="PAN_TILT_HOLDER">
<block type="ptzControl_getPanTilt" id="2#{(AR5/}ptibRn=kM*L">
<field name="FUNC">getMinPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="PP2gPJ-y@D.Eajq3?^$W">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="BtH.BuWXS^,|oy:z2Eo|">
<field name="VAR" id="r`KXEXHT0clj3%G.P#:P">maxPan</field>
<value name="VALUE">
<block type="panTiltHolder_getProperty_Number" id=")4A|D8mR209Sco.ZQp![">
<field name="PROP">pan</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<value name="PAN_TILT_HOLDER">
<block type="ptzControl_getPanTilt" id="b0A`oy$/XEjN3aQ@KzW0">
<field name="FUNC">getMaxPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="|gQE,ucSd2+3ikRGAUND">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="R-|}J_/)v4ph8@0^P0oG">
<field name="VAR" id="os!Pya9xy-H:D{0ZIjEB">minTilt</field>
<value name="VALUE">
<block type="panTiltHolder_getProperty_Number" id="/Xv#U{)+mdw0AD_OF/*N">
<field name="PROP">tilt</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<value name="PAN_TILT_HOLDER">
<block type="ptzControl_getPanTilt" id="nU!T,$QIlJa2%Dn|#wG=">
<field name="FUNC">getMinPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="+LsEB^?)w#Yw3O,/-J19">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="n3kk~@g]NnM~C)s`x=UR">
<field name="VAR" id="2;BeGb*lC{IyD~t^?qr]">maxTilt</field>
<value name="VALUE">
<block type="panTiltHolder_getProperty_Number" id="yzu1){z0y34mgQ=AQ~/D">
<field name="PROP">tilt</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<value name="PAN_TILT_HOLDER">
<block type="ptzControl_getPanTilt" id=",K,/X},Ee$m*J%XDg*j1">
<field name="FUNC">getMaxPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="T5!|4SOdYk}sTxLEh3ZO">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="comment" id="z|[]KJz0s]i76MG|U-lS">
<field name="COMMENT">See this Block's comment (blue question-mark icon)</field>
<next>
<block type="variables_set" id=".Ph;jIX,u{o:M4WoQ)br">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
<comment pinned="false" h="213" w="297">This Block with the NEW operator is optional if the OpMode will call getPanTilt() and assign it to the variable, as done in the Block that follows it here.

It is needed if instead the OpMode will next try to get (or set) that variable's pan and/or tilt values, or try to pass that variable to setPanTiltHolder(). The values will be zero.</comment>
<data>{"commentPositionLeft":-356,"commentPositionTop":-92}</data>
<value name="VALUE">
<block type="panTiltHolder_create" id="$y=nQ4E|ItyFyJ0IZsxR"/>
</value>
<next>
<block type="variables_set" id="fTn?GIBY+D,n9P,FJ0${">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
<value name="VALUE">
<block type="ptzControl_getPanTilt" id="^kVi!M=TQ0bm0~hj7~/D">
<field name="FUNC">getPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="PTZ_CONTROL">
<block type="variables_get" id="n^|`OpJ/AUL}|`oy9_#*">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="~iwi~kWMHko*kJ(#H*v~">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
<value name="VALUE">
<block type="panTiltHolder_getProperty_Number" id="R99@DFn6/rYtwgBlX+`O">
<field name="PROP">pan</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<value name="PAN_TILT_HOLDER">
<block type="variables_get" id="u,bMJI/z*~mvh~q{!K$5">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="Td!)K===trcRk+r]Lziw">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
<value name="VALUE">
<block type="panTiltHolder_getProperty_Number" id="55YW+%-8SQX5^8`X`eL,">
<field name="PROP">tilt</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<value name="PAN_TILT_HOLDER">
<block type="variables_get" id="UQqFiLlK;|+x@:Kg=7]5">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="[6w.86is15P0nsn7/h8I">
<field name="VAR" id=";3*gAvrwR)H{!gj7OHck">minZoom</field>
<value name="VALUE">
<block type="ptzControl_getZoom" id="9kLGback]W=@@xTQ`Oe9">
<field name="FUNC">getMinZoom</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) zoom.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="f$}?(E9{rr`ki8kS|c-T">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id=",E1),N#BmNDi~on.n%2g">
<field name="VAR" id="3l,ggs:?D`#fx(t}ULHk">maxZoom</field>
<value name="VALUE">
<block type="ptzControl_getZoom" id="98=?qJ,|~qXDn@A+]b~)">
<field name="FUNC">getMaxZoom</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) zoom.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="oaYyg9|CJ^l1j+6*-HCr">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id=",U79Eft=6vv6l4`TFBU{">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
<value name="VALUE">
<block type="ptzControl_getZoom" id="[k/d{n5PLdpl8sPu;flx">
<field name="FUNC">getZoom</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) zoom.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="H}~vHiUrii!w?:Ox3XV[">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</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>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="6r$9OtITaFkK^MHQ-Pp," x="1355" y="-168">
<field name="NAME">set Zoom</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="comment" id="*0o{CafF`3m[%{:3Gcg)">
<field name="COMMENT">Zoom: increase with Y (or Triangle), decrease with A (or Cross)</field>
<next>
<block type="controls_if" id="eZgz#*vLmFftWp7RSzSU">
<mutation elseif="1"/>
<value name="IF0">
<block type="gamepad_getProperty_Boolean" id="vy]WLvU73}yVlDL*e%jx">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">Y</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO0">
<block type="math_change" id="Fu`R^PDU^Phhv%|YA%Lu">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
<value name="DELTA">
<shadow type="math_number" id="`,cc@S:]]p}XIE;;[khn">
<field name="NUM">2</field>
</shadow>
</value>
</block>
</statement>
<value name="IF1">
<block type="gamepad_getProperty_Boolean" id="pdlZlt|m?3F]@q$%y0Zi">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">A</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO1">
<block type="math_change" id="IKW4g0}4tPtFvh$yn-e]">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
<value name="DELTA">
<shadow type="math_number" id="_wk7,Z*jE{`^O)%9~%NH">
<field name="NUM">-2</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="variables_set" id="YgE4g:VFyB2H_kEE03}8">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
<value name="VALUE">
<block type="math_constrain" id="YcF%|%7Z[j3GQ=~]C[tE">
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">50</field>
</shadow>
<block type="variables_get" id="#}H9q*39@zavcr^xb)74">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
</block>
</value>
<value name="LOW">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="g+:E{8t4wqDZ(]oo7U4V">
<field name="VAR" id=";3*gAvrwR)H{!gj7OHck">minZoom</field>
</block>
</value>
<value name="HIGH">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="dfwF%wp?m$IBQf|Ntjd(">
<field name="VAR" id="3l,ggs:?D`#fx(t}ULHk">maxZoom</field>
</block>
</value>
</block>
</value>
<next>
<block type="comment" id="giWLsOk~-Xs3BXZC1v`w">
<field name="COMMENT">Enable ONE of the next two Blocks.</field>
<next>
<block type="ptzControl_setZoom" id="=s=7$hv]Ho5PyUV[,iY]">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the zoom.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="0/ZVeFf;bte2)[+42fB{">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
<value name="ZOOM">
<shadow type="math_number" id="dnp!{8/F*EH$HO.k^8+n">
<field name="NUM">3</field>
</shadow>
<block type="variables_get" id="aV`+)%!UMcI9|A7;.:YQ">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
</block>
</value>
<next>
<block type="variables_set" id="u]zlh^=ghj.m%l7p5i-8" disabled="true">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setZoomBoolean</field>
<value name="VALUE">
<block type="ptzControl_setZoom" id="~7}gmEA4MVghT3szx}[4">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the zoom.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="LSpibIZ5}nVMi|s@pbN2">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
<value name="ZOOM">
<shadow type="math_number" id="c?_,t%;p.9j_snZ_.W[X">
<field name="NUM">3</field>
</shadow>
<block type="variables_get" id="s:i^bSg[lDJDv}4%NZ-o">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="Md/t$H?otklcH2gs{_Bf">
<value name="KEY">
<shadow type="text" id="#@WwW,feuxEdy:EuMM~u">
<field name="TEXT">setZoomBoolean, if used</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="}~/A?xt!Nhn)Utg/LBB^">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setZoomBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addLine" id="(27^sO/5^_}3#{${s`:K">
<value name="TEXT">
<shadow type="text" id="_Yh7?3;3:Sx(]-!{8=J0">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addLine" id="jq4:**/P-eWpDl@,9Qy,">
<value name="TEXT">
<shadow type="text" id="d=$Za/u?*{@OgqX+Zg93">
<field name="TEXT">Zoom:   + with Y (or Triangle)    - with A (or Cross)</field>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="o=tel=LxeBMu^QWR9+W*">
<value name="KEY">
<shadow type="text" id="Q{|/*`)@lnj!kzIA=rNJ">
<field name="TEXT">myZoom</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="K!6,o,6c$QP#DU}=B7Jv">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="`iM$2i}T?oSv5JQq/)M^">
<field name="VAR" id="38pzf4+Nfxi[{e!)xQ$z">myZoom</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="sz%E6E4~Yy8.Pp+~9g}(">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="6m?IQDqvO_N+$-:c3wTr">
<value name="KEY">
<shadow type="text" id="@6%]:_7S#vc$`]|l(%{Q">
<field name="TEXT">actual Zoom from webcam</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="Nz#q3s]s_Cx:OH8iJfOK">
<value name="NUMBER">
<shadow type="math_number" id="/og81^A/o8~HwJH_s+nC">
<field name="NUM">3.14159265</field>
</shadow>
<block type="ptzControl_getZoom" id="}tP$JLx?zYV82E0ZVA:}">
<field name="FUNC">getZoom</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) zoom.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="ZYxmF#*g/@SZiva1bqgZ">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="%P9$S3+lG@dP46dYu^uj">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="6(R9{]~cvOn[(#xb8M6P" x="2153" y="-188">
<field name="NAME">set Pan and Tllt</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="comment" id="7;*5|RK|$9YTZIs9o,!(">
<field name="COMMENT">Pan: Dpad right/left   Tilt: Dpad up/down</field>
<next>
<block type="controls_if" id=":d4)2bJY/jWc4:LQRXLr">
<mutation elseif="1"/>
<value name="IF0">
<block type="gamepad_getProperty_Boolean" id="/jVQ[%.DxoEQ.BybdS%]">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">DpadRight</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO0">
<block type="math_change" id="=EfWUUz(T#YV5zQF[@xd">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
<value name="DELTA">
<shadow type="math_number" id="[bAY*OWXjPmG%?!TQ+{]">
<field name="NUM">3600</field>
</shadow>
</value>
</block>
</statement>
<value name="IF1">
<block type="gamepad_getProperty_Boolean" id="IWe^JL6[joW%|7iyIc*?">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">DpadLeft</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO1">
<block type="math_change" id="7YK{N^L+3+q,7@38stw.">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
<value name="DELTA">
<shadow type="math_number" id="y:Wg~h@iYPLGLc_n*r0V">
<field name="NUM">-3600</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="variables_set" id="N*xOW=cYtxm{9tKdb+fi">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
<value name="VALUE">
<block type="math_constrain" id="Ue{!*1dV#E{78J(EKbqJ">
<value name="VALUE">
<shadow type="math_number" id="0Yk2X821UH.hoYW-=w+}">
<field name="NUM">50</field>
</shadow>
<block type="variables_get" id="tH2CNP+M)k.?kX:IaUAy">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
</block>
</value>
<value name="LOW">
<shadow type="math_number" id="4tauSa5%#VKF3l4|wC|t">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="`j}a2RG?1=ru|aE#I`{O">
<field name="VAR" id="tz6`Y}~l+FZ7Ws:JlGT!">minPan</field>
</block>
</value>
<value name="HIGH">
<shadow type="math_number" id="XXPz=s`Qn%0~GJ_p|_iq">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="gH,XIc7B}z0U*vq7ybim">
<field name="VAR" id="r`KXEXHT0clj3%G.P#:P">maxPan</field>
</block>
</value>
</block>
</value>
<next>
<block type="panTiltHolder_setProperty_Number" id="F5l2zUraoCLH$DmLG#g$">
<field name="PROP">pan</field>
<comment pinned="false" h="150" w="325">Set the pan field in the given PanTiltHolder object.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="PAN_TILT_HOLDER">
<block type="variables_get" id="Tj0VmT^QrPkVm[G*;KNR">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
</block>
</value>
<value name="VALUE">
<shadow type="math_number" id="mwEz(^Vn-1=^mcYB0N0!">
<field name="NUM">5</field>
</shadow>
<block type="variables_get" id="F{*vFjmB:z`)bKp7g*hu">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
</block>
</value>
<next>
<block type="controls_if" id="wz+$XZkF$~@ll7=6qM|G">
<mutation elseif="1"/>
<value name="IF0">
<block type="gamepad_getProperty_Boolean" id="akoe]~QHsw{lDxT]OF+S">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">DpadUp</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO0">
<block type="math_change" id="~M^HDwmTwm)@p_T!J]d*">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
<value name="DELTA">
<shadow type="math_number" id="T15BS$.5z9z1CigUxqv[">
<field name="NUM">3600</field>
</shadow>
</value>
</block>
</statement>
<value name="IF1">
<block type="gamepad_getProperty_Boolean" id="O-@F+6XV~p*Xb.#{[M!/">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">DpadDown</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO1">
<block type="math_change" id="#QX7SZRb#;?4~yw[Xi_h">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
<value name="DELTA">
<shadow type="math_number" id="}.OOi;B,0l_pO3FD;Z+@">
<field name="NUM">-3600</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="variables_set" id="@m?*Kmfa4M)uS.QRfYDA">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
<value name="VALUE">
<block type="math_constrain" id="MR#lWl)g?qbKtZ$P,$`d">
<value name="VALUE">
<shadow type="math_number" id="q5/xrN`eE1H[X$qH7fD*">
<field name="NUM">50</field>
</shadow>
<block type="variables_get" id="*MZS9/*K!)DR{V8O;buV">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
</block>
</value>
<value name="LOW">
<shadow type="math_number" id="Iq4|(oc7?mEvi!`ZSkK4">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="jD9KFb,{aaFRq,W1v0XS">
<field name="VAR" id="os!Pya9xy-H:D{0ZIjEB">minTilt</field>
</block>
</value>
<value name="HIGH">
<shadow type="math_number" id="9hS]{hYd+G~#[!/gD.FV">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="V]9OuRAn|bfCYqSu$3`]">
<field name="VAR" id="2;BeGb*lC{IyD~t^?qr]">maxTilt</field>
</block>
</value>
</block>
</value>
<next>
<block type="panTiltHolder_setProperty_Number" id="c/+%#Vl_slI1*j1,`aHV">
<field name="PROP">tilt</field>
<comment pinned="false" h="150" w="325">Set the pan field in the given PanTiltHolder object.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="PAN_TILT_HOLDER">
<block type="variables_get" id="vP65``graE7Ex?s9|9]K">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
</block>
</value>
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">5</field>
</shadow>
<block type="variables_get" id="`!lCe`{/[j;4(=c%3i95">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
</block>
</value>
<next>
<block type="comment" id="0tk7!PD{,d0SCEU?gi57">
<field name="COMMENT">Enable ONE of the next two Blocks.</field>
<next>
<block type="ptzControl_setPanTilt" id="?Aq#::g_UG.F[)4LKh_H">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="]V(tb=ixPnVYFh,Q.,Sm">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
<value name="PAN_TILT_HOLDER">
<block type="variables_get" id=":z@vzDaz/%F|5WaR8}b{">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
</block>
</value>
<next>
<block type="variables_set" id=";1kP4`0-*:Sv^izRmWY+" disabled="true">
<field name="VAR" id="d3c/kq?LHN~m;PA@fr-t">setPanTiltBoolean</field>
<value name="VALUE">
<block type="ptzControl_setPanTilt" id="2*%|oPXFJV#,IgKDieW9">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="5)fm+ix3|o[VGV8fZ{pt">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
<value name="PAN_TILT_HOLDER">
<block type="variables_get" id="+]IB^4._IKb*j6nsIT9L">
<field name="VAR" id="~lfV1A.z),jEYDU_dW]f">myPanTiltHolder</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="]{ix~-kOP0/kK`m7jcbj">
<value name="TEXT">
<shadow type="text" id="bMIB8JP0hNvS:tmQ{.Rn">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="1by~|w-q:EIQ6gItCyuF">
<value name="KEY">
<shadow type="text" id="l=r_8cb|.MGz|3K!0#lb">
<field name="TEXT">setPanTiltBoolean, if used</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="?~(1;y2:g9g144{cI77h">
<field name="VAR" id="d3c/kq?LHN~m;PA@fr-t">setPanTiltBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addLine" id="Y)#%wBSWMdRw/`Qp`p]m">
<value name="TEXT">
<shadow type="text" id="r46%+2LD6dDY`T|@Up+,">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addLine" id="eXP?rX@-SkWVk[UcU[Ui">
<value name="TEXT">
<shadow type="text" id="SDx/().;d??{1YwYstV~">
<field name="TEXT">Pan: Dpad right/left   Tilt: Dpad up/down</field>
</shadow>
<block type="text_join" id="B0W^9ErD8C*/}nNj#-me">
<mutation items="4"/>
<value name="ADD0">
<block type="text" id="9Kgti8A~rn6`hYU$XjAP">
<field name="TEXT">myPan: Dpad Rt/Lt: </field>
</block>
</value>
<value name="ADD1">
<block type="misc_formatNumber" id="hs/zY7QBxEp:N/:m{FrB">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="(!Y.I}xE=K4GYy#CLjy[">
<field name="VAR" id="+%tIk}4j8a~@ZZ.]IUIW">myPan</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="k1FTHIZ;!U@c7{mwB4nK">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="7|Lk@$pv/)zN,ozygG?f">
<field name="TEXT">    myTilt: Up/Dn: </field>
</block>
</value>
<value name="ADD3">
<block type="misc_formatNumber" id="}Pj(UPirGdBQkad2f$/`">
<value name="NUMBER">
<shadow type="math_number">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id=":1gESQ7EZ,3r(MD:(4.`">
<field name="VAR" id="}rkTJV^O1`*U:)TN6TsY">myTilt</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="VSJvUB6gx!ve.k23+9Rr">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="Y((~yVhC,oqK`.$m2Z7T">
<value name="TEXT">
<shadow type="text">
<field name="TEXT">Pan: Dpad right/left   Tilt: Dpad up/down</field>
</shadow>
<block type="text_join" id="I(::[+7VXJq%h^mJ;7Ab">
<mutation items="4"/>
<value name="ADD0">
<block type="text" id="TvmU=84{.Kl}$N?A4RPf">
<field name="TEXT">Actual from webcam  Pan: </field>
</block>
</value>
<value name="ADD1">
<block type="misc_formatNumber" id="Vns~i|g$[xi-ug6f`3*S">
<value name="NUMBER">
<shadow type="math_number" id="$3tPa^5d:?Sq3bO}NyNR">
<field name="NUM">3.14159265</field>
</shadow>
<block type="panTiltHolder_getProperty_Number" id="l!O0NyMKms%gM3_TDcWc">
<field name="PROP">pan</field>
<comment pinned="false" h="150" w="325">Get the pan value from the given PanTiltHolder object.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":50}</data>
<value name="PAN_TILT_HOLDER">
<block type="ptzControl_getPanTilt" id="F8mjo$p*eU5-l|8HO=cQ">
<field name="FUNC">getPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="|_ts9:^|V)ZM_0QcaNp3">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="#N(n|=!QO~05!HtRsHh.">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id=";:1%[03NpOBIxaU9ez02">
<field name="TEXT">   Tilt: </field>
</block>
</value>
<value name="ADD3">
<block type="misc_formatNumber" id="QbuRAV$E9MqdXr%(dc~W">
<value name="NUMBER">
<shadow type="math_number" id="E|#jG?iF48b(b`uLQ@!u">
<field name="NUM">3.14159265</field>
</shadow>
<block type="panTiltHolder_getProperty_Number" id="LMv0qoU?#*`KJ:m9kr6E">
<field name="PROP">tilt</field>
<comment pinned="false" h="150" w="325">Get the tilt value from the given PanTiltHolder object.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="PAN_TILT_HOLDER">
<block type="ptzControl_getPanTilt" id="C{4G`,Pb;^-7-YGaD{9P">
<field name="FUNC">getPanTilt</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) virtual pan/tilt.</comment>
<value name="PTZ_CONTROL">
<block type="variables_get" id="A]NzsSCi0w47p%09,N_g">
<field name="VAR" id="^LOc6Zc;}2!}X(TgIE3E">myPtzControl</field>
</block>
</value>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="_:2XF4#t@L]faUzEikLC">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id=":Un!nS!LS%^tq]:g4^?Z" x="-213" y="717">
<field name="NAME">initAprilTag</field>
<comment pinned="false" h="80" w="160">Initialize AprilTag Detection.</comment>
<statement name="STACK">
<block type="comment" id="Z#tr,B$;l$RV0)j4q0n.">
<field name="COMMENT">First, create an AprilTagProcessor.Builder.</field>
<next>
<block type="aprilTagProcessorBuilder_create_assign" id="]gR@^J/H_v)OY6f[`3z5">
<field name="APRIL_TAG_PROCESSOR_BUILDER" id="NYqOu)Ei(Q{C!f;y!a^O" variabletype="AprilTagProcessor.Builder">myAprilTagProcessorBuilder</field>
<next>
<block type="comment" id="-dkxGvL2:a(h8n8Mok-i">
<field name="COMMENT">Create an AprilTagProcessor by calling build.</field>
<next>
<block type="variables_set" id="$.wt,WCD1s5fSqROQT*(">
<field name="VAR" id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</field>
<value name="VALUE">
<block type="aprilTagProcessorBuilder_build" id="3Vk~@]VGDELD;GHGgEgn">
<field name="APRIL_TAG_PROCESSOR_BUILDER" id="NYqOu)Ei(Q{C!f;y!a^O" variabletype="AprilTagProcessor.Builder">myAprilTagProcessorBuilder</field>
</block>
</value>
<next>
<block type="comment" id="w{nzs#L5ZbP.GKW2S`x_">
<field name="COMMENT">Next, create a VisionPortal.Builder and set attributes related to the camera.</field>
<next>
<block type="visionPortalBuilder_create_assign" id="s1^/ZS*LG[dC%CsYcl=%">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<next>
<block type="controls_if" id="T`t))DI)e(S6b*Xls7U=">
<mutation else="1"/>
<value name="IF0">
<block type="variables_get" id="Zr+H]wQb_aiB|J+{-0:G">
<field name="VAR" id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</field>
</block>
</value>
<statement name="DO0">
<block type="visionPortalBuilder_setCamera" id="h;`Yd}]R=F.Fw89p`1N/">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<comment pinned="false" h="68" w="247">Use a webcam.</comment>
<value name="CAMERA">
<shadow type="navigation_webcamName" id="b`AjugjMrzm855@U*q;W">
<field name="WEBCAM_NAME">Webcam 1</field>
</shadow>
</value>
</block>
</statement>
<statement name="ELSE">
<block type="visionPortalBuilder_setCamera" id="pm=N,.9EB)-Y)[HJlB;-">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<comment pinned="false" h="56" w="298">Use the device's back camera.</comment>
<value name="CAMERA">
<shadow type="navigation_typedEnum_builtinCameraDirection" id="8u8O_}55dptgjBxmKq`9">
<field name="CAMERA_DIRECTION">BACK</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="comment" id="-QJd~|I/HUP84GR.F=0N">
<field name="COMMENT">Add myAprilTagProcessor to the VisionPortal.Builder.</field>
<next>
<block type="visionPortalBuilder_addProcessor" id="`A$k?7nl@kd=7y*v@/+-">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
<value name="VISION_PROCESSOR">
<block type="variables_get" id="HoXmAtlB7{ai0YF!ZyTl">
<field name="VAR" id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</field>
</block>
</value>
<next>
<block type="comment" id="6Q2EYFS^A(u/rVLX*nI}">
<field name="COMMENT">Create a VisionPortal by calling build.</field>
<next>
<block type="variables_set" id="UggZXj@UuhBf97)(oA;m">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
<value name="VALUE">
<block type="visionPortalBuilder_build" id="OBOV:tKH!^AaYsI{A$~x">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="Eg%7GTPuhcoA]FCw9:]O" collapsed="true" x="509" y="731">
<field name="NAME">telemetryAprilTag</field>
<comment pinned="false" h="80" w="160">Display info (using telemetry) for a recognized AprilTag.</comment>
<statement name="STACK">
<block type="variables_set" id="c8~R@@~J_)0dhTTP,GP@">
<field name="VAR" id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</field>
<comment pinned="false" h="80" w="160">Get a list of AprilTag detections.</comment>
<value name="VALUE">
<block type="aprilTagProcessor_getLatestDetections" id="^Sth`xX=n79Q8`P*Z#qt">
<value name="APRIL_TAG_PROCESSOR">
<block type="variables_get" id="Icn).;@XjTI7SR.j$UY#">
<field name="VAR" id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="6E^b4L`Jfq56E$-!S%yU">
<value name="TEXT">
<shadow type="text" id="*^s8ZGvb=(P@,}r{IGmG">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="3m5}jTks8BeMJ]|.h*Kp">
<value name="KEY">
<shadow type="text" id="MNA3Pe{~9.uc1dSMmO=j">
<field name="TEXT"># AprilTags Detected</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="DRWu-r*O-0eJ4pG2n$_l">
<field name="TEXT"/>
</shadow>
<block type="lists_length" id="q{bEB[P*p2XiVOMj*ku#">
<value name="VALUE">
<block type="variables_get" id="/5v#48C2W5M+l:4)g!zX">
<field name="VAR" id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</field>
</block>
</value>
</block>
</value>
<next>
<block type="controls_forEach" id="|@Y$y8D~],V(MRQ+Cyv{">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
<comment pinned="false" h="81" w="199">Iterate through list and call a function to display info for each recognized AprilTag.</comment>
<value name="LIST">
<block type="variables_get" id="W,d1s!eFWeDT0X}~eq,n">
<field name="VAR" id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</field>
</block>
</value>
<statement name="DO">
<block type="comment" id="U@Dkpel-LMa.00jJsqA-">
<field name="COMMENT">Display info about the detection.</field>
<next>
<block type="telemetry_addLine" id="qrKb?#/HMYJo.RhU8rW:">
<value name="TEXT">
<shadow type="text" id="3^Lv-r.jG6}7LV;(yIh.">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="controls_if" id="1KHSCf_sX!Qd~BKfG}QD">
<mutation else="1"/>
<value name="IF0">
<block type="aprilTagDetection_getProperty_IsNotNull" id=":^$lP:Ut!p3Z)E+vy^]D">
<field name="PROP">metadata</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="9Lq*6VTlT$7uDRiB|mYe">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<statement name="DO0">
<block type="telemetry_addLine" id="awB~K!HjEb=h6tM,%vLN">
<value name="TEXT">
<shadow type="text" id="?hM/$PX}4MN:|W`joKgn">
<field name="TEXT"/>
</shadow>
<block type="text_join" id="0C_x2#T#t7yl!%45k{$?">
<mutation items="4"/>
<value name="ADD0">
<block type="text" id="buEo7p[-2T4:49=`uwK1">
<field name="TEXT">==== (ID </field>
</block>
</value>
<value name="ADD1">
<block type="aprilTagDetection_getProperty_Number" id="lifbVBMNn+.1j?y6v54X">
<field name="PROP">id</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="w(63KWmGiZ83+qITBep;">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="=n-]].djPxb,OFyxcOQF">
<field name="TEXT">) </field>
</block>
</value>
<value name="ADD3">
<block type="aprilTagDetection_getProperty_String" id="=AvXMAjUic3u3lbFtEt4">
<field name="PROP">metadata.name</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="zKHYs.Y87Qrl9%G~Oq^V">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id=";grqK`+-g7;g50c=|L0l">
<value name="TEXT">
<shadow type="text" id="!y]i-sUsabeyV/)u=6D5">
<field name="TEXT"/>
</shadow>
<block type="text_join" id="4TtGi;Z(gbFaks}Eap^9">
<mutation items="7"/>
<value name="ADD0">
<block type="text" id="+]Cns+.i=%b0bFaT6;NI">
<field name="TEXT">XYZ </field>
</block>
</value>
<value name="ADD1">
<block type="misc_formatNumber_withWidth" id="df*#gw3iYx$kvL$9{Y?m">
<value name="NUMBER">
<shadow type="math_number" id="g`p?z|x@JeU%MJ4.tSFQ">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="jUN`u.6t[:O8`9Ncql]!">
<field name="PROP">ftcPose.x</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="mb(6}~t}KLoi4`XT~d:H">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="k*}!VVn#l8HSq7E2i?#R">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="mh4H+`GE$Em,(iS4ZjPR">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="y34}1aACqw@S]sESt=A#">
<field name="TEXT"> </field>
</block>
</value>
<value name="ADD3">
<block type="misc_formatNumber_withWidth" id="4Oj?ZaC$d#_1X}?b[T.|">
<value name="NUMBER">
<shadow type="math_number" id="2cGf/q9c-ZnJ}LB6C1i$">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="^ZxENE!MDi;z:vW0d@XL">
<field name="PROP">ftcPose.y</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="bYyr?K,sa#Z.])=_ot.X">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="BQJxM*kkA=P:cx1$gjDj">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="$REh~]PUb9LYTO;OfzqZ">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD4">
<block type="text" id="D7A3=:fGOVPSdci(UQtX">
<field name="TEXT"> </field>
</block>
</value>
<value name="ADD5">
<block type="misc_formatNumber_withWidth" id="FCZL%yFs6[0x{rm0ps54">
<value name="NUMBER">
<shadow type="math_number" id="|j[Xf6X[,{Y~6k#Ow9ay">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="@o/Xx/]f-CWGv|Tr)2Nk">
<field name="PROP">ftcPose.z</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="[9!-4|yF{X2|/{iSu:SC">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="ga,Viu`_|ozkv#5q3*@0">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="(E3-dHVlUbl(~6A~LN[p">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD6">
<block type="text" id=")9nfo^3]N$S,m~5}*3*=">
<field name="TEXT">  (inch)</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="6W%[*9{;}.5Jl{VBB=*t">
<value name="TEXT">
<shadow type="text" id=";t?`r+|~SzTLUUHO=;M9">
<field name="TEXT"/>
</shadow>
<block type="text_join" id="$$x)e|XJcO*g[Y8~M2/Q">
<mutation items="7"/>
<value name="ADD0">
<block type="text" id="CNSpY2iH=tR#]P,pi4u.">
<field name="TEXT">PRY </field>
</block>
</value>
<value name="ADD1">
<block type="misc_formatNumber_withWidth" id="sht8%%Nn`h2}jwZ`-{x)">
<value name="NUMBER">
<shadow type="math_number" id="?pMQrP+klggGPQ})NZWJ">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="Iy|1o|tQ9/Xq~XhaEN$_">
<field name="PROP">ftcPose.yaw</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="rVJim4c8+/ys[,t:o!0a">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="mHP*I^3G3|9rAiui`;?f">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="VxWPF,FgQz,lDodmj[WR">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="]dbZO?6z_PP)Na=ij|hW">
<field name="TEXT"> </field>
</block>
</value>
<value name="ADD3">
<block type="misc_formatNumber_withWidth" id="!i;Ow5b5|tm]^:f=af8O">
<value name="NUMBER">
<shadow type="math_number" id="xsH[9W8/eLks@vlm]1*g">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="ShLjZCVXxN!~/4l*tkIW">
<field name="PROP">ftcPose.pitch</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="OCoPF8gE#WFKctf6vd6f">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="DyJDDqNjyT?RD%Og91T/">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="M?Svc5)[b)Apn186A8Em">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD4">
<block type="text" id="7-XP1=zX3p(TS(}va$9`">
<field name="TEXT"> </field>
</block>
</value>
<value name="ADD5">
<block type="misc_formatNumber_withWidth" id=":tQhsy?3wU|KpZT;GEux">
<value name="NUMBER">
<shadow type="math_number" id="v%b/#{Uh]xNL*jCpZAlp">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="rr^=wlJCB2_afebAXJ}Z">
<field name="PROP">ftcPose.roll</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="vBZ8!}wPWKb}V3-g]Wle">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="mu5y,^`sp#UgVsrfnkbc">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="1a@0e%XGstoBjtg)K@p]">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD6">
<block type="text" id="I*Wn1Gf}j+e`]CP5J0Cp">
<field name="TEXT">  (deg)</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="p~aY/Ief^l:6#%yF5mBb">
<value name="TEXT">
<shadow type="text" id="[:Q^{:f(MSqR]$h@YO_G">
<field name="TEXT">text</field>
</shadow>
<block type="text_join" id="7AAW16ak[E;pRyJ50_pV">
<mutation items="7"/>
<value name="ADD0">
<block type="text" id="_D88fgJh36dZBe#kxQkh">
<field name="TEXT">RBE </field>
</block>
</value>
<value name="ADD1">
<block type="misc_formatNumber_withWidth" id="o=,mI,_W=C-(irqk:S^/">
<value name="NUMBER">
<shadow type="math_number" id="67$:0vchTm|ZAu?yf9Zs">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="V_e8w[RX[YJ6%2RfwTK4">
<field name="PROP">ftcPose.range</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="5U:C0C|9gsGJwjwric-u">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="E}T84I!akJTmE1gb#KTc">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="UKUfpg-DJ~rM||Pp1;?~">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="/)!A!j+m`c^.RSzJfnW8">
<field name="TEXT"> </field>
</block>
</value>
<value name="ADD3">
<block type="misc_formatNumber_withWidth" id="v,Ilg5bR5*;(#^l3B@-0">
<value name="NUMBER">
<shadow type="math_number" id="%)S}?+}8]#C5YOJMTtIz">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="}bh%9Kz6)u_zYo7,L]Iq">
<field name="PROP">ftcPose.bearing</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="B6P^H@vWo+vyX@sYn_ik">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="5ti##om.fc`N4y~4C#;|">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="22o;=,7*otM:5h`-4L|A">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD4">
<block type="text" id="Q|e}m1um|X;(#X^F`wb(">
<field name="TEXT"> </field>
</block>
</value>
<value name="ADD5">
<block type="misc_formatNumber_withWidth" id="x-{*.Ghd4zinz}U9X3?V">
<value name="NUMBER">
<shadow type="math_number" id=".MdJRQ6rUBU)RFzD8T%o">
<field name="NUM">3.14159265</field>
</shadow>
<block type="aprilTagDetection_getProperty_Number" id="D(K1+O}E+Y7i_ek8}A?z">
<field name="PROP">ftcPose.elevation</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="sv;lYz!5q^E[A|N14(.X">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="GU73O^@;SXL))%*l[8Me">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="4Nv)-M9MfCY%aAn:1SEF">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD6">
<block type="text" id="x`,kpt}.uw,YSWON!D^j">
<field name="TEXT">  (inch, deg, deg)</field>
</block>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
<statement name="ELSE">
<block type="telemetry_addLine" id=".k7)ZU|.JU[vLM%.9oWH">
<value name="TEXT">
<shadow type="text" id="hqwM9[:8R6P;nJWo`z$@">
<field name="TEXT"/>
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<field name="TEXT">==== (ID </field>
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<field name="PROP">id</field>
<value name="APRIL_TAG_DETECTION">
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<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
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</block>
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<value name="ADD2">
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<field name="TEXT">) Unknown</field>
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<value name="TEXT">
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<field name="TEXT"/>
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<field name="TEXT">Center </field>
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<value name="ADD1">
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<value name="NUMBER">
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<field name="NUM">3.14159265</field>
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<field name="PROP">center.x</field>
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<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
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<value name="WIDTH">
<shadow type="math_number" id="ZZ080[{./+Y}t=(P1DCR">
<field name="NUM">6</field>
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<field name="NUM">0</field>
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<block type="text" id="QO=g./qsEJDCSmKz*Wpu">
<field name="TEXT"/>
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<value name="NUMBER">
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<field name="NUM">3.14159265</field>
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<field name="PROP">center.y</field>
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<field name="NUM">0</field>
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<field name="TEXT">  (pixels)</field>
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<field name="TEXT"/>
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<value name="TEXT">
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<field name="TEXT">key:</field>
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<value name="TEXT">
<shadow type="text" id="M=~-,X%t3PZW:?]x+FCV">
<field name="TEXT">XYZ = X (Right), Y (Forward), Z (Up) dist.</field>
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<value name="TEXT">
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<field name="TEXT">PRY = Pitch, Roll &amp; Yaw (XYZ Rotation)</field>
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<value name="TEXT">
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<field name="TEXT">RBE = Range, Bearing &amp; Elevation</field>
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