6-18-23 OpMode for FTC PR 2853, testing Webcam Control Blocks for Exposure and Gain 6/26/23 removed setProcessEnabled()

W_ConceptAprilTag_v15_transBlocks_Exposure+Gain.blk

<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="puLG)dm!G_PW2D_0fg4N">myExposureControl</variable>
<variable id="ZVg[+e:.))r//_%M^Nz-">myGainControl</variable>
<variable id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</variable>
<variable id="d3c/kq?LHN~m;PA@fr-t">setModeBoolean</variable>
<variable id="B2#938q-r59OnX0GL2vb">setGainBoolean</variable>
<variable id="3_c70R~v%rN0,CI.DkqB">myGainValue</variable>
<variable id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</variable>
<variable type="AprilTagProcessor.Builder" id="NYqOu)Ei(Q{C!f;y!a^O">myAprilTagProcessorBuilder</variable>
<variable id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</variable>
<variable id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</variable>
<variable id="!;}U%XlE[1kRUxXb?;0=">setExposureBoolean</variable>
<variable id="aUe.oa!*S^m@RJWfjO!X">minGain</variable>
<variable id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</variable>
<variable id="YvlvTQ@0/mh_dUUW{(a;">maxGain</variable>
<variable id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</variable>
<variable id="TH^`wXe*;d{FEY#vBAtF">minExposure</variable>
<variable id="cf*^ww67t7IG$zoNx7I@">maxExposure</variable>
<variable type="VisionPortal.Builder" id="wx@xgbnS_]b0DQL.08Qg">myVisionPortalBuilder</variable>
</variables>
<block type="procedures_defnoreturn" id="WtpyD@tEu+EoY=P9iY,D" deletable="false" x="-206" y="-160">
<field name="NAME">runOpMode</field>
<comment pinned="false" h="45" w="532">This function is executed when this Op Mode is selected from the Driver Station.</comment>
<data>{"commentPositionLeft":-133,"commentPositionTop":-70}</data>
<statement name="STACK">
<block type="comment" id="vG1;7$#*;crH,9)V$Lbq">
<field name="COMMENT">This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation.</field>
<next>
<block type="comment" id="vUNjVyX%Y9V~:.7m2xe7">
<field name="COMMENT">It also tests the new "transformer Blocks" for Exposure and Gain.</field>
<next>
<block type="variables_set" id="+WOa|3hz0c^Rah6+[;U4">
<field name="VAR" id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</field>
<value name="VALUE">
<block type="logic_boolean" id="C]dWgdzJ2YW[h}=7w5QN">
<field name="BOOL">TRUE</field>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="f5VC4xOrYYZrGzpFY}@G">
<mutation name="initAprilTag"/>
<comment pinned="false" h="60" w="270">Initialize AprilTag before waitForStart.</comment>
<next>
<block type="controls_whileUntil" id="h1Xrlgu|L8w(=tIL,Q8V">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_operation" id="z2}lPJUqg#pK?C$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 Exposure Control"/>
<next>
<block type="procedures_callnoreturn" id="c:T)Cv@Q-!K+TUN,sH(o">
<mutation name="initialize Gain 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=":`$wN_ci`O;o6P0~.(+g">
<next>
<block type="controls_if" id="}Q?5mbxSO8Di;i!__6[y">
<value name="IF0">
<block type="linearOpMode_opModeIsActive" id=")o%YFX/#9kvv^sgXr4~5"/>
</value>
<statement name="DO0">
<block type="controls_whileUntil" id="^0Kagy/e+Ea{rbZPv2G6">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="linearOpMode_opModeIsActive" id="e)cr{!2VIET83s,JWC.="/>
</value>
<statement name="DO">
<block type="procedures_callnoreturn" id="vFtq$`!=QgH!UFn~vc0A">
<mutation name="set Exposure"/>
<next>
<block type="procedures_callnoreturn" id="FNL703DS@`YK;5_#FE%F">
<mutation name="set Gain"/>
<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$M*lJeh#@I/xsbHy">
<field name="NUM">20</field>
</shadow>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
</statement>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="fQp~,ZYAv00*6j5^:acx" x="509" y="-168">
<field name="NAME">initialize Exposure Control</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="cIU,w5I;3FNYSCEa4J-2">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
<comment pinned="false" h="150" w="325">Get the ExposureControl object, to allow adjusting the camera's exposure.</comment>
<value name="VALUE">
<block type="visionPortal_getExposureControl" id="fPmk;?I8]MC)0TycR(S3">
<value name="VISION_PORTAL">
<block type="variables_get" id="4!;mpJ@mF3pa1eJL.7u#">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="S9y[x,OEXUTLN1;~6A%t">
<field name="VAR" id="d3c/kq?LHN~m;PA@fr-t">setModeBoolean</field>
<value name="VALUE">
<block type="logic_boolean" id="n3fi8q|kLrUW[@?=@a[0">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="g5}@kOj[+VUMRF(PHVMP">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setExposureBoolean</field>
<value name="VALUE">
<block type="logic_boolean" id=")+e@cFc,;WKs2%5s$%6z">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="comment" id="0tk7!PD{,d0SCEU?gi57">
<field name="COMMENT">Enable ONE of the next two Blocks.</field>
<next>
<block type="exposureControl_setMode" id="VgxsIQIBo`h)Oq~@sBRj">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the exposure mode value.</comment>
<data>{"commentPositionLeft":-68,"commentPositionTop":-175}</data>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="Kz*N#NT7o3d.]Hbm$#nW">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="MODE">
<shadow type="exposureControl_typedEnum_mode" id="DX!V|FN}5(,NI1j96t/v">
<field name="MODE">Manual</field>
</shadow>
</value>
<next>
<block type="variables_set" id=";1kP4`0-*:Sv^izRmWY+" disabled="true">
<field name="VAR" id="d3c/kq?LHN~m;PA@fr-t">setModeBoolean</field>
<value name="VALUE">
<block type="exposureControl_setMode" id="O7).)ZZNrQ(-VxXe@,uK">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the exposure mode value.</comment>
<data>{"commentPositionLeft":-68,"commentPositionTop":-175}</data>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="Rz_E5p7k!84tbj4[OE`9">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="MODE">
<shadow type="exposureControl_typedEnum_mode" id="l@?TxU=H_5Y3)wu..~^`">
<field name="MODE">Manual</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="N0I;MY}X2B%sr+-srwxp">
<field name="VAR" id="TH^`wXe*;d{FEY#vBAtF">minExposure</field>
<value name="VALUE">
<block type="exposureControl_getExposure" id="t!2e_y,3-]}OWI19^8e@">
<field name="FUNC">getMinExposure</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) exposure.</comment>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="o:|Ft@9.S|azDy9+O_2j">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="TIME_UNIT">
<shadow type="misc_typedEnum_TimeUnit" id="y){gz1@IiNC(ei-vZpg0">
<field name="TIME_UNIT">MILLISECONDS</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="F$kPup9*q@74HeiGguF}">
<field name="VAR" id="cf*^ww67t7IG$zoNx7I@">maxExposure</field>
<value name="VALUE">
<block type="exposureControl_getExposure" id="6(YKCxW1F!+1E+|:*m;8">
<field name="FUNC">getMaxExposure</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) exposure.</comment>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="TA7{*4yR%u/.qe*wz;ki">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="TIME_UNIT">
<shadow type="misc_typedEnum_TimeUnit" id="gE,@En`Wvo,jW+U-zXCy">
<field name="TIME_UNIT">MILLISECONDS</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="khE)ay;ssG?Nq7ducezI">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</field>
<value name="VALUE">
<block type="exposureControl_getExposure" id="GmA+gF7;U/Nw1gq;4T8L">
<field name="FUNC">getExposure</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) exposure.</comment>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="Q+8dVHl-MD[|$I_^}g(9">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="TIME_UNIT">
<shadow type="misc_typedEnum_TimeUnit" id="/j{!)hT=3/]IoP_jHsj0">
<field name="TIME_UNIT">MILLISECONDS</field>
</shadow>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="Q]epLJ8t7%$CryS7Sz]0" x="1404" y="-173">
<field name="NAME">initialize Gain Control</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="_u:lGRkUORt$*t8[9kx~">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
<comment pinned="false" h="150" w="325">Get the GainControl object, to allow adjusting the camera's gain.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="VALUE">
<block type="visionPortal_getGainControl" id="Q$r1W31^-#Cx)KgNN={#">
<value name="VISION_PORTAL">
<block type="variables_get" id="|6l*s$zl*~qbQp3`,;i4">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="yEdKu)qMi(0dsc;aSe9B">
<field name="VAR" id="B2#938q-r59OnX0GL2vb">setGainBoolean</field>
<value name="VALUE">
<block type="logic_boolean" id="00G/o(kULaz!UyDPBpX:">
<field name="BOOL">FALSE</field>
</block>
</value>
<next>
<block type="variables_set" id="Gc3~Ny:|u_N#H5OJ6~cX">
<field name="VAR" id="aUe.oa!*S^m@RJWfjO!X">minGain</field>
<value name="VALUE">
<block type="gainControl_getGain" id="v^K-Dtja4^fv6|IsJjB8">
<field name="FUNC">getMinGain</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) gain.</comment>
<value name="GAIN_CONTROL">
<block type="variables_get" id="G+wN6~xZ2{!|RM@En0}t">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="$C8c`N^wFI[p@ozMW#!{">
<field name="VAR" id="YvlvTQ@0/mh_dUUW{(a;">maxGain</field>
<value name="VALUE">
<block type="gainControl_getGain" id="Mf2*Qyy}}|)pSi[Re7@a">
<field name="FUNC">getMaxGain</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) gain.</comment>
<value name="GAIN_CONTROL">
<block type="variables_get" id="SQh)]p)(9!-*ls,[h4|f">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="/M?:+pqNG7UiUwWW/[+p">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
<value name="VALUE">
<block type="gainControl_getGain" id="yyi.-{=~/ipIA{d?B{qh">
<field name="FUNC">getGain</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) gain.</comment>
<value name="GAIN_CONTROL">
<block type="variables_get" id="SJUL?Bg?G67j{^jBMU5j">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
</block>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="%M8Sjfbt@M*M9T/?h@st" x="1404" y="141">
<field name="NAME">set Gain</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="comment" id="!MHi2EXMt*P4y+uRYwEo">
<field name="COMMENT">Adjust Gain with Right Joystick up and down.</field>
<next>
<block type="math_change" id="=v!Nw[@eG`e,;Gh2f7@P">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
<value name="DELTA">
<shadow type="math_number">
<field name="NUM">2</field>
</shadow>
<block type="math_arithmetic" id="f@4Ll$gi7!gXu3n+4Yb/">
<field name="OP">MULTIPLY</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="gamepad_getProperty_Number" id="hrJ$V,#;F,KT^3`Cni!i">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">RightStickY</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<value name="B">
<shadow type="math_number" id="lw?jJqE4f!}3HIFZ2VVS">
<field name="NUM">-2</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="$t43=OfDqN$6jo,L+nnQ">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
<value name="VALUE">
<block type="math_constrain" id="*)2*9npPDYX+MA?R`6M1">
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">50</field>
</shadow>
<block type="variables_get" id="?~Hn`^Av:ln-*skYf_l;">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
</block>
</value>
<value name="LOW">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="wFrGWeZJHyOp3Y$m$-XF">
<field name="VAR" id="aUe.oa!*S^m@RJWfjO!X">minGain</field>
</block>
</value>
<value name="HIGH">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="q6SxCl*z:xsa8f$wUJ-C">
<field name="VAR" id="YvlvTQ@0/mh_dUUW{(a;">maxGain</field>
</block>
</value>
</block>
</value>
<next>
<block type="comment" id="fF%xPzU)4EWmt);,6QsT">
<field name="COMMENT">Enable ONE of the next two Blocks.</field>
<next>
<block type="gainControl_setGain" id="+5791~wTsyV#UBnl:fBP">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the gain. Requires Exposure Control Mode to be MANUAL.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="GAIN_CONTROL">
<block type="variables_get" id="xHa#uA`Iz@?CeG7)B;il">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
</block>
</value>
<value name="GAIN">
<shadow type="math_number" id="TNTxL=K-my]{~BMIXf9U">
<field name="NUM">25</field>
</shadow>
<block type="variables_get" id="c0XRhMqzo]x@(RmXqdfM">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
</block>
</value>
<next>
<block type="variables_set" id=")#pad?dcm_M^Qvd@H,/S" disabled="true">
<field name="VAR" id="B2#938q-r59OnX0GL2vb">setGainBoolean</field>
<value name="VALUE">
<block type="gainControl_setGain" id="`UWiR6bns/nBF/4!Rf%!">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the gain. Requires Exposure Control Mode to be MANUAL.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="GAIN_CONTROL">
<block type="variables_get" id="NTqXK:|xM[AF|h;1jfXl">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
</block>
</value>
<value name="GAIN">
<shadow type="math_number">
<field name="NUM">25</field>
</shadow>
<block type="variables_get" id="#i$|r*9Zg`huG-T{KSUb">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="vfYy`ej%l(M{`HA79t?r">
<value name="TEXT">
<shadow type="text" id="SIoJikcSuz]vK(tV]d_z">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="Ne{!A/RB`45Td;LNpv5v">
<value name="KEY">
<shadow type="text" id="8rlj$976.a[bO*wAn9,7">
<field name="TEXT">setGainBoolean, if used</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="B%J)L9/vDjjs@(i9vbyn">
<field name="VAR" id="B2#938q-r59OnX0GL2vb">setGainBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="Ole~4g{Q=i5o_MLV6xk]">
<value name="KEY">
<shadow type="text" id="_n3CH?;2r0C#[E21AQf=">
<field name="TEXT">Right Joystick up/down: myGainValue</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="?8JDYO[}~FQ~l#%UI]0/">
<value name="NUMBER">
<shadow type="math_number" id="?z2_t_D8rX$FVlW.lkrV">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="dkUVtp2;bOdM]dhJCT4*">
<field name="VAR" id="3_c70R~v%rN0,CI.DkqB">myGainValue</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="14w]d#4q8RZP(AG!!)Ga">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="ekIM!f%@mB7W+{nHN4;[">
<value name="KEY">
<shadow type="text" id="kt|.#jFsG(/Ee+C=#Do8">
<field name="TEXT">actual Gain value from webcam</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="BymJ*WN7_H`jKPae$[sy">
<value name="NUMBER">
<shadow type="math_number" id="AFrm%GfDMerVI6eu(GYQ">
<field name="NUM">3.14159265</field>
</shadow>
<block type="gainControl_getGain" id="Ww^q.LmAhz]E}v?PTYL4">
<field name="FUNC">getGain</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) gain.</comment>
<value name="GAIN_CONTROL">
<block type="variables_get" id="YX]b}DF(vHvSt!GxEmmp">
<field name="VAR" id="ZVg[+e:.))r//_%M^Nz-">myGainControl</field>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="?BT0nl6+AQK,p?YjZdCe">
<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>
</statement>
</block>
<block type="procedures_defnoreturn" id="6(R9{]~cvOn[(#xb8M6P" x="510" y="436">
<field name="NAME">set Exposure</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="comment" id="@{Y#t`sftT}0]FF11w@g">
<field name="COMMENT">Adjust Exposure with Left Joystick up and down.</field>
<next>
<block type="math_change" id="=EfWUUz(T#YV5zQF[@xd">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</field>
<value name="DELTA">
<shadow type="math_number" id="[bAY*OWXjPmG%?!TQ+{]">
<field name="NUM">2</field>
</shadow>
<block type="math_arithmetic" id="-.S$o$;95i4alhDXNnn{">
<field name="OP">MULTIPLY</field>
<value name="A">
<shadow type="math_number" id="_W0PS#wk4Gj2}D2_PRII">
<field name="NUM">1</field>
</shadow>
<block type="gamepad_getProperty_Number" id="GIXrc,}rzwhRU+1k5uj]">
<field name="IDENTIFIER">gamepad1</field>
<field name="PROP">LeftStickY</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<value name="B">
<shadow type="math_number" id="F7w?)]tWYlo+D6+%f#XW">
<field name="NUM">-2</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="N*xOW=cYtxm{9tKdb+fi">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</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="?$5B~Px*.0/^b(+=;!)C">myExposureValue</field>
</block>
</value>
<value name="LOW">
<shadow type="math_number" id="4tauSa5%#VKF3l4|wC|t">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="xlKSrkC*um(SG+8+|}!;">
<field name="VAR" id="TH^`wXe*;d{FEY#vBAtF">minExposure</field>
</block>
</value>
<value name="HIGH">
<shadow type="math_number" id="XXPz=s`Qn%0~GJ_p|_iq">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="#-8g8m:Mg-l(D4c*L%NI">
<field name="VAR" id="cf*^ww67t7IG$zoNx7I@">maxExposure</field>
</block>
</value>
</block>
</value>
<next>
<block type="comment" id="{fQQ:cb|*/F[#,)/[WLS">
<field name="COMMENT">Enable ONE of the next two Blocks.</field>
<next>
<block type="exposureControl_setExposure" id="kz--I?G3`.7$P4NWFRs5">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the exposure.</comment>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="ZCQm,|bT_tQ|wJC=JInj">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="DURATION">
<shadow type="math_number" id=")pXBxWM}i_A`YVZ[fJTY">
<field name="NUM">30</field>
</shadow>
<block type="variables_get" id="^vIbhj3+A-d^Beh2{tmg">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</field>
</block>
</value>
<value name="TIME_UNIT">
<shadow type="misc_typedEnum_TimeUnit" id="^XLyl-,Z}^vu#@b6#)U4">
<field name="TIME_UNIT">MILLISECONDS</field>
</shadow>
</value>
<next>
<block type="variables_set" id="WezcDHjYxcdg6am!su6w" disabled="true">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setExposureBoolean</field>
<value name="VALUE">
<block type="exposureControl_setExposure" id="C9o@KFd}^;9#77nPUvza">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the exposure.</comment>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="q0gp]P[rm`)wN[oEB!*W">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="DURATION">
<shadow type="math_number">
<field name="NUM">30</field>
</shadow>
<block type="variables_get" id="g~8_Vm5f0{?2j%M*9{r1">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</field>
</block>
</value>
<value name="TIME_UNIT">
<shadow type="misc_typedEnum_TimeUnit" id="@#N^`T`n}SQW8UyrEv~3">
<field name="TIME_UNIT">MILLISECONDS</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="F4|d.o.-Uy[8xm.VHb;s">
<value name="KEY">
<shadow type="text" id="CEFUZ3[,]6SgqC-Pt32^">
<field name="TEXT">setModeBoolean, if used</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="0=mNsoqGbaLY7a+3./3)">
<field name="VAR" id="d3c/kq?LHN~m;PA@fr-t">setModeBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="r}aJJeUB/EAVd*d[gJgl">
<value name="KEY">
<shadow type="text" id="$GySn4JP-Tc0)@^Saqj;">
<field name="TEXT">setExposureBoolean, if used</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="T}@S|=^/5F7yDq11MIqT">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="^#%8`w72kETF}L{S*6F~">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setExposureBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="]8-OP?gW_H8m-p|B-M}D">
<value name="KEY">
<shadow type="text" id="|P9B$Cue2pab44c2+C4X">
<field name="TEXT">Left Joystick up/down: myExposureValue</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="-DqAtNcsXD*?)9#D/3_7">
<value name="NUMBER">
<shadow type="math_number" id="Z2mPXRy*{{`Z(n@#yJRS">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="qrLF(kRV/Y@PZwx$]/3W">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myExposureValue</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id=",Ft~apl]@?/6P.|EQema">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="nnq#--K6Punrm`*q+;e|">
<value name="KEY">
<shadow type="text" id="[,[80LKZM)g?S}}578nC">
<field name="TEXT">actual exposure value from webcam</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="Oycch?s|qu(-1f8Txi{L">
<value name="NUMBER">
<shadow type="math_number" id="I`FNplAC4qP3~;U,f7oJ">
<field name="NUM">3.14159265</field>
</shadow>
<block type="exposureControl_getExposure" id="~GGHsY2Gb`@fq@9J$r)j">
<field name="FUNC">getExposure</field>
<comment pinned="false" h="150" w="325">Return the current (or minimum or maximum) exposure.</comment>
<value name="EXPOSURE_CONTROL">
<block type="variables_get" id="EtQn:s:1iEM;5Ib*f3f4">
<field name="VAR" id="puLG)dm!G_PW2D_0fg4N">myExposureControl</field>
</block>
</value>
<value name="TIME_UNIT">
<shadow type="misc_typedEnum_TimeUnit" id="g^Tw}D$cG;F1xGG?l_iC">
<field name="TIME_UNIT">MILLISECONDS</field>
</shadow>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="|cY]*/Mc,P+AMr?[C]GF">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id=":Un!nS!LS%^tq]:g4^?Z" x="-208" y="738">
<field name="NAME">initAprilTag</field>
<comment pinned="false" h="80" w="160">Initialize AprilTag Detection.</comment>
<statement name="STACK">
<block type="comment" id="Z#tr,B$;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="-208" y="1226">
<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$UY#">
<field name="VAR" id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="tpt|};%V*Y/Jp7xaWt9)">
<value name="TEXT">
<shadow type="text" id="HJ/qb!~X%(aOG]no+FQ5">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="3m5}jTks8BeMJ]|.h*Kp">
<value name="KEY">
<shadow type="text" id="MNA3Pe{~9.uc1dSMmO=j">
<field name="TEXT"># AprilTags Detected</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="DRWu-r*O-0eJ4pG2n$_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>
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<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$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="GU73O^@;SXL))%*l[8Me">
<field name="NUM">6</field>
</shadow>
</value>
<value name="PRECISION">
<shadow type="math_number" id="4Nv)-M9MfCY%aAn:1SEF">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</value>
<value name="ADD6">
<block type="text" id="x`,kpt}.uw,YSWON!D^j">
<field name="TEXT">  (inch, deg, deg)</field>
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</value>
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</next>
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</next>
</block>
</next>
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</statement>
<statement name="ELSE">
<block type="telemetry_addLine" id=".k7)ZU|.JU[vLM%.9oWH">
<value name="TEXT">
<shadow type="text" id="hqwM9[:8R6P;nJWo`z$@">
<field name="TEXT"/>
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<block type="text_join" id="Q$XL59m.y(HLLD=Lb6bM">
<mutation items="3"/>
<value name="ADD0">
<block type="text" id="GO{s|1|cjZX5wm!s}6^U">
<field name="TEXT">==== (ID </field>
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<value name="ADD1">
<block type="aprilTagDetection_getProperty_Number" id="YbKMT]1!N/1orH}f.`^%">
<field name="PROP">id</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="*DZMa]u.xVDWo54-+9Xp">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="Ej2sUV*ZReT^:zwt~{Ar">
<field name="TEXT">) Unknown</field>
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</value>
</block>
</value>
<next>
<block type="telemetry_addLine" id="*wewMc^H[$Rs0;EK}Ow]">
<value name="TEXT">
<shadow type="text" id="2oq;P##KvH:(,WjrIe3!">
<field name="TEXT"/>
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<block type="text_join" id="DS^4mx0$o}XW[*EAx9g+">
<mutation items="5"/>
<value name="ADD0">
<block type="text" id="~aS!V+hMdY{-*4G3Ow%3">
<field name="TEXT">Center </field>
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</value>
<value name="ADD1">
<block type="misc_formatNumber_withWidth" id="NWWJ-BvdUXyMBZ|RD`m}">
<value name="NUMBER">
<shadow type="math_number" id="WWZ1rIy[E-^rf4i5ES.w">
<field name="NUM">3.14159265</field>
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<block type="aprilTagDetection_getProperty_Number" id="Kns6PW?m}A;SO?@NVb#)">
<field name="PROP">center.x</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="Ar)`$(G]w1~mg?c!0{v;">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
</block>
</value>
</block>
</value>
<value name="WIDTH">
<shadow type="math_number" id="ZZ080[{./+Y}t=(P1DCR">
<field name="NUM">6</field>
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</value>
<value name="PRECISION">
<shadow type="math_number" id="sPPkrRLvHyLpl?+E}RhL">
<field name="NUM">0</field>
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</value>
</block>
</value>
<value name="ADD2">
<block type="text" id="QO=g./qsEJDCSmKz*Wpu">
<field name="TEXT"/>
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</value>
<value name="ADD3">
<block type="misc_formatNumber_withWidth" id="IGswFrO!Q%aCF}3x,SPE">
<value name="NUMBER">
<shadow type="math_number" id="iQ6P;:;Igrei}.mq2:.{">
<field name="NUM">3.14159265</field>
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<block type="aprilTagDetection_getProperty_Number" id="P2eT2TYX6nNBSYz7e^E)">
<field name="PROP">center.y</field>
<value name="APRIL_TAG_DETECTION">
<block type="variables_get" id="ZmOVtYIkx|@b66VSAfd]">
<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
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</value>
<value name="WIDTH">
<shadow type="math_number" id="MQkYmiA}ms4pA[Ifr2gb">
<field name="NUM">6</field>
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</value>
<value name="PRECISION">
<shadow type="math_number" id="*L=(!sY,[nz~xV=Ke@]u">
<field name="NUM">0</field>
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</value>
</block>
</value>
<value name="ADD4">
<block type="text" id="RlN,el}fA6Th3SjoD@!G">
<field name="TEXT">  (pixels)</field>
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<next>
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<value name="TEXT">
<shadow type="text" id="ds{Hr}!u1tUZ{*]D~==j">
<field name="TEXT"/>
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<next>
<block type="telemetry_addLine" id="[:W.s1Ok!]MP)3.3IU{#">
<value name="TEXT">
<shadow type="text" id="Pzz,~#oj]g6(p8-kE+HJ">
<field name="TEXT">key:</field>
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<next>
<block type="telemetry_addLine" id="(z3|~vT*DZX[fOyQ2%S[">
<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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<next>
<block type="telemetry_addLine" id="M,AbdMv6W{1dFQc)zQt~">
<value name="TEXT">
<shadow type="text" id="`KTr5c!E2VUU.9*_77qL">
<field name="TEXT">PRY = Pitch, Roll &amp; Yaw (XYZ Rotation)</field>
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</value>
<next>
<block type="telemetry_addLine" id="uuC6(PL0R.pO7.AFo]db">
<value name="TEXT">
<shadow type="text" id="^GlP*DEB!=^Mvq=zsRKv">
<field name="TEXT">RBE = Range, Bearing &amp; Elevation</field>
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</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
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