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log - Copy.txt
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creating wrapper
Left motor
Right motor
Roller motor
IR module
Bump sensors
Connecting
Arduino not connected on ACM0
Arduino not connected on ACM1
Connected
Init IM
T S*DI !AI DO AO ;
init vision system
greenBall
starting vs
longshortwalltimer:
IR=IR=0.0210001468658 472
373
dist None
don't see balllong
set starting stateshortIR=
Running IR=477
TurnAndLook376
Running long
TurnLeftIR=
471looping in (stopfunction of) short
TurnAndLookIR=
long386
IR= 478
short
IR= long386see ball at
IR= 479short
IR= 389
longNone
IR=short
485IR=
381
long
shortIR=
IR=keep turning473
382looping
TurnLeft
looping in (stopfunction of) shortlongTurnAndLook
IR=IR= 389476
shortlong
IR=see ball at IR= 390479
None
longshort
IR=IR= 483393
long
IR=short
482IR=
397
long
IR=shortkeep turning
491IR=looping
409TurnLeft
looping in (stopfunction of) long short
TurnAndLook
IR=
IR= 483406
longshort
IR=see ball at IR= 504407
longNoneshort
IR=IR= 495410
long
IR=short
495IR=
412
longkeep turning
IR=looping short
495TurnLeftIR=
looping in (stopfunction of) 414
TurnAndLooklong
IR=short
501IR=see ball at
415
long
IR=short
495IR=
418None
long
IR=short
503IR=
422
long
IR= short506
IR= 423
long
IR=short
505IR=keep turning
422looping
longTurnLeft
IR=looping in (stopfunction of) short
511TurnAndLookIR=walltimer:
4221.05300021172
long
IR= short509see ball at
IR= 422
long
IR=short
511IR=
None429
long
IR= short509
IR= 435
long
IR=short
511IR=
435keep turning
looping longshort
TurnLeftIR=IR=
looping in (stopfunction of) 518434
TurnAndLook
longshort
IR=IR= 514434
longshort
IR=IR=see ball at 515437
longshort
IR=IR= None 519
438
long
IR=short
518IR=
437
keep turninglong
looping IR=short
TurnLeft521IR=
looping in (stopfunction of) 448
TurnAndLook
long
IR=short
520IR=
441
see ball at long
IR=short
519IR=
443
long
IR=shortNone
517IR=
439
long
IR= short516
IR= 437
long
IR=short keep turning
522
IR=
looping 444TurnLeft
looping in (stopfunction of) long
shortTurnAndLookIR=
IR=516
442
longsee ball at
IR=short
517IR=
442
long
NoneIR=short
517IR=
443
long
IR=short
518IR=
437
long
IR=shortkeep turning
519IR=looping
434TurnLeft
looping in (stopfunction of) long short
TurnAndLook
IR=
IR= 517434
longshort
IR=IR= see ball at 517434
long
IR= short519
IR=None
435
long
IR= short514walltimer:
IR=2.08100008965
448long
keep turningIR=
shortlooping 508
IR=TurnLeft
450looping in (stopfunction of) long
TurnAndLookIR=
short522
IR= 444
longsee ball at
IR=short
502IR=
442
long
IR=shortNone
510IR=
438
long
IR= short506
IR= 438
long
IR= short506
IR= 443long
IR=keep turning short
504
looping
IR= TurnLeft440
looping in (stopfunction of) long
TurnAndLookIR=short
498IR=
446
long
IR=short
500IR=see ball at
445
long
IR= short497
IR=None
446
long
IR= 502short
IR=long
437IR=
492
keep turningshort
looping IR=long
TurnLeft438IR=
looping in (stopfunction of) 494
TurnAndLook
short
IR=long see ball at
443IR=
492
short
IR= long435
IR=None
491
short
IR=long
434IR=
480
short
IR=long
443IR=
491
shortkeep turning
IR=looping long
438TurnLeftIR=
looping in (stopfunction of) 485
TurnAndLook
short
IR=long
434 IR=
see ball at 483
short
IR= long435
IR= None478
short
IR=long
430IR=
477
short
IR=long
435IR=
keep turning478
looping short
TurnLeftIR=long
looping in (stopfunction of) 430IR=
TurnAndLook461
short
IR=long
426walltimer: IR=see ball at
3.10900020599467
Noneshort
longIR=
IR=415
456
short
IR=long
411IR=
463
short
IR=long
401IR=keep turning
437looping
shortTurnLeft
IR=looping in (stopfunction of) long
393TurnAndLookIR=
438
short
longIR=see ball at
IR=388
303
short
IR=Nonelong
389IR=
297
short
IR=long
391IR=
311
short
IR=longkeep turning
385IR=looping
325TurnLeft
shortlooping in (stopfunction of)
longIR=TurnAndLook
IR=373
332
see ball at short
IR=long
363IR=
None346
short
IR=long
IR=342
324
short
IR=long
315IR=
319
shortkeep turning
IR=looping long
322TurnLeftIR=
looping in (stopfunction of) 300
TurnAndLookshort
IR=long
303IR=
264
short
IR=longsee ball at
304IR=
273
short
IR=long
300 IR=
None
264
short
IR=long
299IR=
274
short
IR=long
304IR=
269keep turning
looping short
TurnLeft IR=
long looping in (stopfunction of)
304 IR=
TurnAndLook
270
short
IR=longsee ball at
337IR=
271
short
IR=long
305IR=
None267
short
IR=long
328IR=
279
short
IR= long288
IR=keep turning
263 looping
short
TurnLeftIR=walltimer: long
looping in (stopfunction of) 3194.14500021935IR=
TurnAndLook270
short
IR=long
366IR=
272
see ball at short
IR=long
361IR=
271None
short
IR=long
362IR=
400
short
IR= long367
IR= keep turning421
looping short
TurnLeft IR=
long looping in (stopfunction of)
392 IR=
TurnAndLook
406short
IR= longsee ball at 370
IR= 408
short
longIR=None
IR=364
406
short
IR=long
365IR=
404
short
IR=keep turninglong
366looping IR=
TurnLeft413
looping in (stopfunction of) short long
TurnAndLook
IR=
IR= 373410
short
IR= long366see ball at
IR= 408
short
IR= long None
363
IR=
415
short
IR=long
342IR=
414
short
IR=longkeep turning
332IR=looping
430TurnLeft
shortlooping in (stopfunction of)
IR=longTurnAndLook
333IR=
414
short
IR=long
332IR=
410see ball at
short
IR= long332
IR= 416
shortNone
IR=long
333IR=
416
short
IR=long
336IR=
415
shortkeep turning
IR=looping long
337TurnLeftIR=
looping in (stopfunction of) short417
TurnAndLookIR=
339
long
IR=see ball at short419
IR= 326long
NoneIR=short
418IR=
324
long
IR=short
415IR=
walltimer: 316
5.18600010872keep turninglong
looping IR=short
TurnLeft421IR=
looping in (stopfunction of) 316
TurnAndLook
long
IR=short
415IR=see ball at
326
long
IR=(-234.0, 87.0)short
418IR=
332
long
IR=keep turningshort
406looping IR=
TurnLeft321
looping in (stopfunction of) long
TurnAndLook IR=
short
411IR=
see ball at 320
long
IR= short410
IR=(-212.0, 89.0)
316
long
IR= short418
IR=keep turning
324 looping
long
TurnLeftIR=
shortlooping in (stopfunction of) 409
IR=TurnAndLook
320
long
IR= short416
IR=centered ball, approach!
335 SM next state
long
Running shortIR=
PauseIR=418
Running 346
DoNothinglong
looping shortIR=
DoNothingIR=414
1359069487.79364
looping long
DoNothingIR= short 1359069487.82
407
IR=
looping 357DoNothing
long1359069487.85
IR=shortlooping
411IR=DoNothing
3511359069487.89
longlooping
IR=shortDoNothing
413IR=1359069487.93
366looping
longDoNothing
shortIR=1359069487.97
IR=402looping
360DoNothing
1359069488.01long
looping IR=short
DoNothing414IR=
1359069488.05370
looping long
DoNothing IR= short 1359069488.08
408
IR=
looping 365DoNothing
long1359069488.12
IR=looping short
411DoNothingIR=
1359069488.16365
looping long
DoNothingIR=short
1359069488.19410IR=
looping 364
DoNothing long1359069488.24short
IR=transition to...IR= 425ApproachBall361walltimer:
SM next statelong6.21100020409
Running IR=short
ApproachBall407IR=
Running 365
ForwardToTargetlong
IR=short
411IR=
358
longcharging b/c ball close
IR=SM next stateshort
408Running IR=
Charge378
Running long
GoForward IR=
short looping
407 IR=
GoForward
368looping
longGoForward
IR=looping short
409GoForwardIR=
looping 365
GoForwardlong
looping shortIR=
GoForwardIR=415
looping 364
GoForwardlong
looping shortIR=
GoForwardIR=394
looping 348
GoForward
looping longshort
GoForwardIR=IR=
looping 406354
GoForwardlong
looping shortIR=
GoForwardIR=402
looping 355
GoForward
longlooping
IR=shortGoForward
416IR=looping
371GoForward
longlooping short
IR=GoForwardIR=
429looping 362
GoForward
looping long short
GoForward
IR=
IR= looping 391 361
GoForward
longlooping
shortIR=GoForward
IR=343looping
366GoForward
longlooping
shortIR=GoForward
IR=290looping
370GoForward
longlooping
shortIR=GoForward
IR=289looping
371GoForward
longlooping
IR=shortGoForward
268IR=looping
378GoForward
longlooping
shortIR=GoForward
IR=271looping
378GoForward
longlooping
shortIR=GoForward
IR=273looping
377GoForward
looping long
GoForwardIR=short
looping 271IR=
walltimer: GoForward390
7.24700021744 looping
long short
GoForward
IR=
IR= looping 283 387
GoForward
looping long
GoForward IR=
short looping
270 IR=
GoForward
387looping long
GoForwardIR=short
looping 273IR=
GoForward386
looping long
GoForward IR=
short looping
264 IR=
GoForward
390 looping
long
GoForwardIR=
shortlooping 272
IR=GoForward
390looping long
GoForwardIR=
looping short277
GoForwardIR=
looping 394long
GoForwardIR=
looping short273
GoForwardIR=
looping 398long
GoForwardIR=
shortlooping 272
IR=GoForward
402 looping
long
GoForwardIR=
shortlooping 264
IR=GoForward
406looping long
GoForwardIR=
shortlooping 276
IR=GoForward
407looping long
GoForwardIR=
looping 272short
GoForwardIR=
looping long412
GoForwardIR=
shortlooping 273
IR=GoForward
415looping long
GoForwardIR=short
looping 267IR=
GoForward413
looping long
GoForwardIR=short
looping 271IR=
GoForward422
looping long
GoForward IR=
short looping
269 IR=
GoForward
430looping long
GoForward
IR=shortlooping
273IR=GoForward
438looping
longGoForward
IR=shortlooping
288IR=GoForward
439looping
longGoForward
IR= looping short 272
GoForward
IR=
looping 443long
GoForwardIR=
shortlooping 272
IR=GoForward
441looping long
GoForwardIR=walltimer:
looping short2738.27800011635
GoForwardIR=
long looping
447 IR=
GoForward
272looping
shortGoForward
IR=longlooping
455IR=GoForward
264looping
shortGoForward
IR=long
467IR=
271
shortdist
longIR=(-210.0, -5.0)
IR=481dist
286(-210.0, -5.0)
see ball to leftshort
SM next statelongIR=
Running IR=486
TurnAndLook272
Running shortTurnLeft
IR=looping in (stopfunction of) long
498TurnAndLookIR=
267
short
IR=long
516IR=see ball at
271
short
IR= long522
IR=(-229.0, -29.0)
271short
IR= 541
long
IR=short
272IR=keep turning
551looping
longTurnLeft
IR=shortlooping in (stopfunction of)
269IR=TurnAndLook
552
long
IR=short
289IR=
560
see ball at long
IR=short
330IR=
573
long
IR=short (-224.0, -32.0)