6-18-23 OpMode for FTC PR 2853, testing Webcam Control Blocks for Focus 6-26-23 removed setProcessEnabled()

W_ConceptAprilTag_v15_transBlocks_Focus.blk

<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</variable>
<variable id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</variable>
<variable id="{:J2/]@pdXLv)Y`5k(EG">isFocusSupportedBoolean</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="~Efc:M9yLHyGN=ny;eT.">isFixedModeSupportedBoolean</variable>
<variable id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</variable>
<variable id="?.?jAjDXaP~!^(jq/Ls_">myAprilTagProcessor</variable>
<variable id="d3c/kq?LHN~m;PA@fr-t">setFocusModeBoolean</variable>
<variable id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</variable>
<variable id="!;}U%XlE[1kRUxXb?;0=">setFocusBoolean</variable>
<variable id="TH^`wXe*;d{FEY#vBAtF">minFocalLength</variable>
<variable id="cf*^ww67t7IG$zoNx7I@">maxFocalLength</variable>
<variable type="VisionPortal.Builder" id="wx@xgbnS_]b0DQL.08Qg">myVisionPortalBuilder</variable>
</variables>
<block type="procedures_defnoreturn" id="WtpyD@tEu+EoY=P9iY,D" deletable="false" x="-212" y="-157">
<field name="NAME">runOpMode</field>
<comment pinned="false" h="45" w="532">This function is executed when this Op Mode is selected from the Driver Station.</comment>
<statement name="STACK">
<block type="comment" id="vG1;7$#*;crH,9)V$Lbq">
<field name="COMMENT">This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation.</field>
<next>
<block type="comment" id="vUNjVyX%Y9V~:.7m2xe7">
<field name="COMMENT">It also tests the new "transformer Blocks" for Focus Control.</field>
<next>
<block type="variables_set" id="+WOa|3hz0c^Rah6+[;U4">
<field name="VAR" id="3.)/eLHm(iRl1^Qsq;Hb">USE_WEBCAM</field>
<value name="VALUE">
<block type="logic_boolean" id="C]dWgdzJ2YW[h}=7w5QN">
<field name="BOOL">TRUE</field>
</block>
</value>
<next>
<block type="procedures_callnoreturn" id="f5VC4xOrYYZrGzpFY}@G">
<mutation name="initAprilTag"/>
<comment pinned="false" h="60" w="270">Initialize AprilTag before waitForStart.</comment>
<next>
<block type="controls_whileUntil" id="h1Xrlgu|L8w(=tIL,Q8V">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_operation" id="z2}lPJUqg#pK?C$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 Focus 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 Focus"/>
<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>
</statement>
</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="509" y="-168">
<field name="NAME">initialize Focus Control</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="!6yO;]CbW3N$0@RZLite">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
<value name="VALUE">
<block type="visionPortal_getFocusControl" id="wrxU?3JBfLcXFr}@5-V%">
<comment pinned="false" h="150" w="325">Get the FocusControl object, to allow adjusting the camera's focus length.</comment>
<value name="VISION_PORTAL">
<block type="variables_get" id="}IjMt`.:RIoaTG4pa?@*">
<field name="VAR" id="Xk!_{IPng0#/P|7dx?3N">myVisionPortal</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="Ble-eeK?xz|ISYOzRYwo">
<field name="VAR" id="{:J2/]@pdXLv)Y`5k(EG">isFocusSupportedBoolean</field>
<value name="VALUE">
<block type="focusControl_isFocusLengthSupported" id="6]%n!pBfWKn=jR)./:3E">
<comment pinned="false" h="150" w="325">Get whether focus is supported.</comment>
<data>{"commentPositionLeft":-355,"commentPositionTop":-37}</data>
<value name="FOCUS_CONTROL">
<block type="variables_get" id=")cyTF5kH3h+{Ds5~eo{8">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="9c@{a`;6a7FBlHbA|z8,">
<field name="VAR" id="~Efc:M9yLHyGN=ny;eT.">isFixedModeSupportedBoolean</field>
<value name="VALUE">
<block type="focusControl_isModeSupported" id="DSZ;QwJg7gB(NUl(^znw">
<comment pinned="false" h="150" w="325">Get whether the given FocusControl.Mode is supported.</comment>
<data>{"commentPositionLeft":-355,"commentPositionTop":-25}</data>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="P{c)PvyY6ldpZyEgzH.!">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
<value name="MODE">
<shadow type="focusControl_typedEnum_mode" id="[)vA*2B##szvo#Z0J|mu">
<field name="MODE">Fixed</field>
</shadow>
</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">setFocusModeBoolean</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=">setFocusBoolean</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="focusControl_setMode" id="|(y`?Gc@LPO6EY~aH~tP">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the focus mode value.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="3tT6qcnpf`4uFvp6Q2ib">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
<value name="MODE">
<shadow type="focusControl_typedEnum_mode" id="XEtQ`%lo2#lNSee)mw+5">
<field name="MODE">Fixed</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">setFocusModeBoolean</field>
<value name="VALUE">
<block type="focusControl_setMode" id="%;ghc5@wm+D0f|7ETL5o">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the focus mode value.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="8bpyYp$t.DeK}t-l/OZq">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
<value name="MODE">
<shadow type="focusControl_typedEnum_mode" id="E1%+1V}6GzHs-lPHl,:@">
<field name="MODE">Fixed</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="comment" id="gtB/9[[72Y7un}@1c[Uq">
<field name="COMMENT">If focus length (or min or max) is not supported by this webcam, return value will be negative.</field>
<next>
<block type="variables_set" id="N0I;MY}X2B%sr+-srwxp">
<field name="VAR" id="TH^`wXe*;d{FEY#vBAtF">minFocalLength</field>
<value name="VALUE">
<block type="focusControl_getFocusLength" id="sf}95M7/M]y/fE{J`!43">
<field name="FUNC">getMinFocusLength</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) focus length.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":50}</data>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="5`),$CW3wnaSNJ6!oe2b">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="F$kPup9*q@74HeiGguF}">
<field name="VAR" id="cf*^ww67t7IG$zoNx7I@">maxFocalLength</field>
<value name="VALUE">
<block type="focusControl_getFocusLength" id="pxuwFbF0#%9(Y`)f7@BE">
<field name="FUNC">getMaxFocusLength</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) focus length.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="v:RMC3J|m4~w8Bv5eM|{">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
</block>
</value>
<next>
<block type="variables_set" id="khE)ay;ssG?Nq7ducezI">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
<value name="VALUE">
<block type="focusControl_getFocusLength" id="Ub=V5;@~8qyV=G^x]{lU">
<field name="FUNC">getFocusLength</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) focus length.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="l=^-sZOSLKBhUy93d51h">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</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>
</statement>
</block>
<block type="procedures_defnoreturn" id="6(R9{]~cvOn[(#xb8M6P" x="1399" y="-162">
<field name="NAME">set Focus</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">Focal Length: increase with right bumper, decrease with left bumper</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">RightBumper</field>
<data>{"IDENTIFIER":"gamepad1"}</data>
</block>
</value>
<statement name="DO0">
<block type="math_change" id="=EfWUUz(T#YV5zQF[@xd">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
<value name="DELTA">
<shadow type="math_number" id="[bAY*OWXjPmG%?!TQ+{]">
<field name="NUM">10</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">LeftBumper</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="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
<value name="DELTA">
<shadow type="math_number" id="y:Wg~h@iYPLGLc_n*r0V">
<field name="NUM">-10</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="variables_set" id="N*xOW=cYtxm{9tKdb+fi">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</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="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
</block>
</value>
<value name="LOW">
<shadow type="math_number" id="4tauSa5%#VKF3l4|wC|t">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="xlKSrkC*um(SG+8+|}!;">
<field name="VAR" id="TH^`wXe*;d{FEY#vBAtF">minFocalLength</field>
</block>
</value>
<value name="HIGH">
<shadow type="math_number" id="XXPz=s`Qn%0~GJ_p|_iq">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="#-8g8m:Mg-l(D4c*L%NI">
<field name="VAR" id="cf*^ww67t7IG$zoNx7I@">maxFocalLength</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="focusControl_setFocusLength" id="%77!fb@fp0L*S#.5M/Yf">
<mutation has_output="false"/>
<comment pinned="false" h="150" w="325">Set the focus length.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="bB~HiWO?ZuLRXl]XsKl]">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
<value name="FOCUS_LENGTH">
<shadow type="math_number" id=".z/uK/K5SQ@SDqTS[L^a">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="QTPQU4JHn~M[p;(RV+dm">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
</block>
</value>
<next>
<block type="variables_set" id="WezcDHjYxcdg6am!su6w" disabled="true">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setFocusBoolean</field>
<value name="VALUE">
<block type="focusControl_setFocusLength" id="uP}^.W8JiJ^l?#.g/Fqj">
<mutation has_output="true"/>
<comment pinned="false" h="150" w="325">Set the focus length.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="-GwQe@{$MRuO{c:hE-_H">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
<value name="FOCUS_LENGTH">
<shadow type="math_number" id="Y0;AM1+jg}ZBj~jIqHk(">
<field name="NUM">100</field>
</shadow>
<block type="variables_get" id="v74@)9E~-Eb?`J:bI4IZ">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
</block>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="r%W^[FolWZWs7@n$r1uU">
<value name="KEY">
<shadow type="text" id="YS:M:)XfPs2GB/fP/1ia">
<field name="TEXT">isFocusSupportedBoolean</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="Bedbv%Rcy%Utup-*.LGz">
<field name="VAR" id="{:J2/]@pdXLv)Y`5k(EG">isFocusSupportedBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="-:nD_vP#HD=WYG?LhqJ0">
<value name="KEY">
<shadow type="text" id="|Ww}Y%Q{4oLi{0((/tJ8">
<field name="TEXT">isFixedModeSupportedBoolean</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="WMqNEr!V3ov%UN_YNXK_">
<field name="VAR" id="~Efc:M9yLHyGN=ny;eT.">isFixedModeSupportedBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="X3^P#?4J^8A*uHtj.TC@">
<value name="KEY">
<shadow type="text" id=":ff}-Ywga[:iov@z4[tf">
<field name="TEXT">FocusControl.getMode</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="TM,[XtIUou;fC?9~z-YN">
<field name="TEXT">text</field>
</shadow>
<block type="focusControl_getMode" id="8MT)Eoz08L{Q:2esB6;s">
<comment pinned="false" h="150" w="325">Get the current focus mode value.</comment>
<data>{"commentPositionLeft":-81,"commentPositionTop":-175}</data>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="ic.:w@Cew]in9}.Kc|]/">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</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">setFocusModeBoolean, 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">setFocusModeBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="r}aJJeUB/EAVd*d[gJgl">
<value name="KEY">
<shadow type="text" id="$GySn4JP-Tc0)@^Saqj;">
<field name="TEXT">setFocusBoolean, if used</field>
</shadow>
</value>
<value name="TEXT">
<shadow type="text" id="T}@S|=^/5F7yDq11MIqT">
<field name="TEXT">text</field>
</shadow>
<block type="variables_get" id="^#%8`w72kETF}L{S*6F~">
<field name="VAR" id="!;}U%XlE[1kRUxXb?;0=">setFocusBoolean</field>
</block>
</value>
<next>
<block type="telemetry_addLine" id="Y)#%wBSWMdRw/`Qp`p]m">
<value name="TEXT">
<shadow type="text" id="r46%+2LD6dDY`T|@Up+,">
<field name="TEXT"/>
</shadow>
</value>
<next>
<block type="telemetry_addLine" id="eXP?rX@-SkWVk[UcU[Ui">
<value name="TEXT">
<shadow type="text" id="SDx/().;d??{1YwYstV~">
<field name="TEXT">Focal Length:   Right bumper +    Left bumper -</field>
</shadow>
</value>
<next>
<block type="telemetry_addTextData_All" id="xp$?PrT:T=LUF3M[t]5z">
<value name="KEY">
<shadow type="text" id="23iL7X_4/Whq*5HAZ;op">
<field name="TEXT">myFocalLength</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="ug%qz^px3:2d3HA4l{Kl">
<value name="NUMBER">
<shadow type="math_number" id="l~[DuPw0E.Oo@6;cSB;n">
<field name="NUM">3.14159265</field>
</shadow>
<block type="variables_get" id="Bsg2:+JmgavqH,r_Txz~">
<field name="VAR" id="?$5B~Px*.0/^b(+=;!)C">myFocalLength</field>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="97d]7tx1hgv?-GfADawR">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="telemetry_addTextData_All" id="ldzK5Rd=DtV2Uhf(6EYQ">
<value name="KEY">
<shadow type="text" id="(f`j,w$k9%MP|1U;M0fU">
<field name="TEXT">actual Focal Length from webcam</field>
</shadow>
</value>
<value name="TEXT">
<block type="misc_formatNumber" id="D|VykaBvoZ?8On*85i/m">
<value name="NUMBER">
<shadow type="math_number" id="VzU8hG+,SbYp#SBu81BW">
<field name="NUM">3.14159265</field>
</shadow>
<block type="focusControl_getFocusLength" id="1|h4th7dRYdQp8JR0lIt">
<field name="FUNC">getFocusLength</field>
<comment pinned="false" h="150" w="325">Get the current (or minimum or maximum) focus length.</comment>
<value name="FOCUS_CONTROL">
<block type="variables_get" id="p6+)|ljS9io+l@K0?kHR">
<field name="VAR" id="Uk.x:kMQ`*:AMeO-hl5I">myFocusControl</field>
</block>
</value>
</block>
</value>
<value name="PRECISION">
<shadow type="math_number" id="K^OLi+8aW|)?8NVvl;KL">
<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>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id=":Un!nS!LS%^tq]:g4^?Z" x="511" y="486">
<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$~x">
<field name="VISION_PORTAL_BUILDER" id="wx@xgbnS_]b0DQL.08Qg" variabletype="VisionPortal.Builder">myVisionPortalBuilder</field>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="Eg%7GTPuhcoA]FCw9:]O" collapsed="true" x="-216" y="697">
<field name="NAME">telemetryAprilTag</field>
<comment pinned="false" h="80" w="160">Display info (using telemetry) for a recognized AprilTag.</comment>
<statement name="STACK">
<block type="variables_set" id="c8~R@@~J_)0dhTTP,GP@">
<field name="VAR" id="l)/,LjA`jR!1Nc@Z:`l!">myAprilTagDetections</field>
<comment pinned="false" h="80" w="160">Get a list of AprilTag detections.</comment>
<value name="VALUE">
<block type="aprilTagProcessor_getLatestDetections" id="^Sth`xX=n79Q8`P*Z#qt">
<value name="APRIL_TAG_PROCESSOR">
<block type="variables_get" id="Icn).;@XjTI7SR.j$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]$h@YO_G">
<field name="TEXT">text</field>
</shadow>
<block type="text_join" id="7AAW16ak[E;pRyJ50_pV">
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<field name="NUM">3.14159265</field>
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<field name="PROP">ftcPose.range</field>
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<value name="WIDTH">
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<field name="NUM">1</field>
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<field name="NUM">3.14159265</field>
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<field name="PROP">ftcPose.bearing</field>
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<field name="VAR" id="vP~n9zf$lW%hYD/C.j_-">myAprilTagDetection</field>
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<value name="WIDTH">
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<field name="NUM">6</field>
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<block type="text" id="Q|e}m1um|X;(#X^F`wb(">
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<field name="NUM">3.14159265</field>
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<field name="PROP">ftcPose.elevation</field>
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<field name="TEXT">==== (ID </field>
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<field name="PROP">id</field>
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<field name="TEXT">Center </field>
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<field name="NUM">3.14159265</field>
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<field name="PROP">center.x</field>
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<value name="WIDTH">
<shadow type="math_number" id="ZZ080[{./+Y}t=(P1DCR">
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<field name="NUM">3.14159265</field>
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