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singleDegreeArmHoldtoMoveBlocks.blk
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singleDegreeArmHoldtoMoveBlocks.blk
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<xml xmlns="http://www.w3.org/1999/xhtml"><variables><variable type="" id="d+a+vl:GQ`cPa*WK!.gv">x</variable><variable type="" id="q*L/zxB]]n1/MDxifx?T">desiredPosition</variable><variable type="" id="$]t}4?q`){/wc^rj)WhT">powerCap</variable><variable type="" id="3nEqr!bRYcOZyK$r,j+5">arrayPos</variable><variable type="" id="+Qt-?egk,|5yO=V+I)hW">pidCount</variable><variable type="" id="|gmXxd,NbbFZ*XYt*e8r">notPressedCount</variable><variable type="" id="}:;T!QH[,#J0^;BpPf7S">error</variable><variable type="" id="9{sjM@Yy~7K}%{)U0684">integral</variable><variable type="" id="thEwK}xDTG#~,w6UyW=P">derivative</variable><variable type="" id="/,+pLl)TIfBe5Q@28S%1">output</variable><variable type="" id="A0pQ^{6K2@Ut(x/8^h0a">kp</variable><variable type="" id="N.mAI;k3hc`}gZ29bwob">ki</variable><variable type="" id="c_Cy`Yn-ftj?0youBUA(">kd</variable><variable type="" id="]k7I`Hu~1*,Y/MRine)1">runTime</variable><variable type="" id="tXu/hEPGY!w^}tWpC?%P">lastLoopTime1</variable><variable type="" id="6Cc3j|taI4bYEH$io=|4">changeInTime</variable><variable type="" id=".KWc,ITRS$!9[akCjPO-">desiredPosition1</variable><variable type="" id="3*7VxWSPY`GFLdOHcp)$">integralPrior1</variable><variable type="" id="1t=GP:FkGLSi[Mm:FO)W">errorPrior1</variable><variable type="" id="-l+$nbv:(av:pqqgyEiO">correctCount1</variable><variable type="" id="1U_[TKLc$%Gt~tY$6`hL">correctCount2</variable><variable type="" id="}0bmZmNj_ck$2m1OXI8d">correctCount3</variable><variable type="" id="rchBb~ITFSjNA](jkM1/">correctCount4</variable><variable type="" id="F8iT]Ks:LnoZ?m/Y}3eF">errorPrior2</variable><variable type="" id="%GoyBWTGzYWGgK7#i,MC">errorPrior3</variable><variable type="" id="ib=:+xalCjahz)9%~^m{">errorPrior4</variable><variable type="" id="~oF^#cWM|;=5?!sVRo6D">desiredPosition2</variable><variable type="" id="!jSz)86#|?S_@O;ug:cY">desiredPosition3</variable><variable type="" id="_kzBj=M;f72vv*r-#Rt;">desiredPosition4</variable><variable type="" id="~`uFIa~#fqilP!%Y=K-a">integralPrior2</variable><variable type="" id="mwzQv^U*VSXJ*2P#P=we">integralPrior3</variable><variable type="" id="_+9!]o12Nk{XuB7`E69)">integralPrior4</variable><variable type="" id="6(lbZC(hwv%L0jR~nQ}C">lastLoopTime2</variable><variable type="" id="sE4s%6oMY4kKBK:vqu4f">lastLoopTime3</variable><variable type="" id="4ASN0[K8]wxZ9d25/J}l">lastLoopTime4</variable></variables><block type="procedures_defnoreturn" id="w:/nD!y0!z/Lew|~C/Y3" deletable="false" editable="false" x="-433" y="1487"><field name="NAME">runOpMode</field><comment pinned="false" h="32" w="532">This function is executed when this Op Mode is selected from the Driver Station.</comment><statement name="STACK"><block type="variables_set" id="#Fbcz28DV/Q!y^5=7$5d"><field name="VAR" id="A0pQ^{6K2@Ut(x/8^h0a" variabletype="">kp</field><value name="VALUE"><block type="math_number" id="W[7+fQ#D88inN)P`w}-("><field name="NUM">1</field></block></value><next><block type="variables_set" id="YLvJ[yY8:3Rs4K}i2y4M"><field name="VAR" id="N.mAI;k3hc`}gZ29bwob" variabletype="">ki</field><value name="VALUE"><block type="math_number" id="As;SD)+_M;fj1%J%9d(`"><field name="NUM">0.3</field></block></value><next><block type="variables_set" id="RI=?A~Kl-]XHWZFuaZYx"><field name="VAR" id="c_Cy`Yn-ftj?0youBUA(" variabletype="">kd</field><value name="VALUE"><block type="math_number" id="1;;`cwsTMH^:@cY`3z^I"><field name="NUM">0.05</field></block></value><next><block type="variables_set" id="no$TS]hlAXITUzK_Yq%8"><field name="VAR" id=".KWc,ITRS$!9[akCjPO-" variabletype="">desiredPosition1</field><value name="VALUE"><block type="math_number" id="yl+/wh?.SCDA=R/.]fXO"><field name="NUM">0.3</field></block></value><next><block type="variables_set" id="Ymw]h!iEC77o_E_Q184?"><field name="VAR" id="-l+$nbv:(av:pqqgyEiO" variabletype="">correctCount1</field><value name="VALUE"><block type="math_number" id="2#n#A8g5U^x=`%{bcSP="><field name="NUM">0</field></block></value><next><block type="variables_set" id=":-Tek/)`s6Dh.wv#*bxk"><field name="VAR" id="1t=GP:FkGLSi[Mm:FO)W" variabletype="">errorPrior1</field><value name="VALUE"><block type="math_number" id="XzWKi;(E`^iO?q$j@o$z"><field name="NUM">0</field></block></value><next><block type="variables_set" id="=S9dTG;OjQsx=eX7,r(f"><field name="VAR" id="3*7VxWSPY`GFLdOHcp)$" variabletype="">integralPrior1</field><value name="VALUE"><block type="math_number" id="x:9O~2|fLd=p3:|dBc@m"><field name="NUM">0</field></block></value><next><block type="variables_set" id="?%/L#/NL/YvjljO@5IbZ"><field name="VAR" id="~oF^#cWM|;=5?!sVRo6D" variabletype="">desiredPosition2</field><value name="VALUE"><block type="math_number" id="q}$=kHhI1tz{gh~jmL1h"><field name="NUM">0.5</field></block></value><next><block type="variables_set" id="(aJ=rH9Tr1==-+SO#Pf4"><field name="VAR" id="1U_[TKLc$%Gt~tY$6`hL" variabletype="">correctCount2</field><value name="VALUE"><block type="math_number" id="a?6LZJ?~M|UxloJ}V~.u"><field name="NUM">0</field></block></value><next><block type="variables_set" id="QdZUV4BaURfv*o7j`7qp"><field name="VAR" id="F8iT]Ks:LnoZ?m/Y}3eF" variabletype="">errorPrior2</field><value name="VALUE"><block type="math_number" id="YQ^g$e:39Q]tyNQ$%zU4"><field name="NUM">0</field></block></value><next><block type="variables_set" id="YxpkLG3$;p.0W]j!N#rA"><field name="VAR" id="~`uFIa~#fqilP!%Y=K-a" variabletype="">integralPrior2</field><value name="VALUE"><block type="math_number" id="WljMdFh?(5:yL|VpHy*h"><field name="NUM">0</field></block></value><next><block type="variables_set" id="A72cS3#?6Un8i}$QFleJ"><field name="VAR" id="!jSz)86#|?S_@O;ug:cY" variabletype="">desiredPosition3</field><value name="VALUE"><block type="math_number" id="zJrzn%TD{ZeKp~G@5HKn"><field name="NUM">1</field></block></value><next><block type="variables_set" id="ammAGQ*D1P|[X7D19j:x"><field name="VAR" id="}0bmZmNj_ck$2m1OXI8d" variabletype="">correctCount3</field><value name="VALUE"><block type="math_number" id="9H,A80(^DYfrY/aLko|`"><field name="NUM">0</field></block></value><next><block type="variables_set" id="4Cssc(Gwd62^U7euFZd["><field name="VAR" id="%GoyBWTGzYWGgK7#i,MC" variabletype="">errorPrior3</field><value name="VALUE"><block type="math_number" id="3f*C!6oohj)4F86MfP31"><field name="NUM">0</field></block></value><next><block type="variables_set" id="WIU*pkBF(yj|)Dz}7QID"><field name="VAR" id="mwzQv^U*VSXJ*2P#P=we" variabletype="">integralPrior3</field><value name="VALUE"><block type="math_number" id="P3pTZOli!Rpl,^m-JF,o"><field name="NUM">0</field></block></value><next><block type="variables_set" id="}d@:u6|lWO#d{I^E8BKF"><field name="VAR" id="_kzBj=M;f72vv*r-#Rt;" variabletype="">desiredPosition4</field><value name="VALUE"><block type="math_number" id="XP3rRnLzWI4=u}%bd$Gz"><field name="NUM">1.2</field></block></value><next><block type="variables_set" id="o-,`}-39{#Slkzij^}R:"><field name="VAR" id="rchBb~ITFSjNA](jkM1/" variabletype="">correctCount4</field><value name="VALUE"><block type="math_number" id=").fWjG.vQ7#!PGD+!BPi"><field name="NUM">0</field></block></value><next><block type="variables_set" id="q6qwD=Wl)^/{LuBe@U@g"><field name="VAR" id="ib=:+xalCjahz)9%~^m{" variabletype="">errorPrior4</field><value name="VALUE"><block type="math_number" id="U#Wpf0mZ={-MgMzV-z#h"><field name="NUM">0</field></block></value><next><block type="variables_set" id="nZjW];x)(FO-g;1Ud@ry"><field name="VAR" id="_+9!]o12Nk{XuB7`E69)" variabletype="">integralPrior4</field><value name="VALUE"><block type="math_number" id="g*1=#31b@S!%m=;E)T1i"><field name="NUM">0</field></block></value><next><block type="variables_set" id="~$lg{Z*/$Nwe.6P+TV3H"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field><value name="VALUE"><block type="elapsedTime2_create" id="3ZT_TEgd7:YP9JZ7#S,D"></block></value><next><block type="linearOpMode_waitForStart" id="8R`^;3ks7G+8|@N@oMg`"><next><block type="elapsedTime2_reset" id="1h|`~S3H413TR%D=-J8e"><value name="ELAPSED_TIME"><block type="variables_get" id="XXKr;@10K$PSfn/vzW26"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value><next><block type="controls_whileUntil" id="EE9_^fC=@rLByyWKcOlJ"><field name="MODE">WHILE</field><value name="BOOL"><block type="linearOpMode_opModeIsActive" id="@giMGdPn4`JtQ~PKW3xu"></block></value><statement name="DO"><block type="controls_if" id="|suo$)W~+V/+0rx|Y-Nq"><mutation elseif="3" else="1"></mutation><value name="IF0"><block type="gamepad_getProperty_Boolean" id="ByfyedPH%i}egsDhRVMv"><field name="IDENTIFIER">gamepad1</field><field name="PROP">A</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value><statement name="DO0"><block type="variables_set" id="ExFaW,OM,z5Yv9UexJkQ"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field><value name="VALUE"><block type="math_arithmetic" id="[73HwiBs+afabO8#GIoF"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="jPDtbAGd2K5(ygxd)ryp"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="^Ujzc_/BRib_WO)XzAU+"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="e8F[a!xoJLrdkorlK=Ex"><field name="NUM">1</field></shadow><block type="elapsedTime2_getProperty_Number" id="zY~]v)EW|K.nd|F}4O3$"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="OO0k4o{:BUhD~!0~wdga"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><value name="B"><shadow type="math_number" id="O}ZN[zE/p~2JHu;mFHaU"><field name="NUM">1</field></shadow><block type="variables_get" id="[R%!=.m`qh|;*%Z2qVZ`"><field name="VAR" id="tXu/hEPGY!w^}tWpC?%P" variabletype="">lastLoopTime1</field></block></value></block></value><value name="B"><shadow type="math_number" id="OZhP$;e!G:@/Nu2Nh7ST"><field name="NUM">1000</field></shadow></value></block></value><next><block type="variables_set" id="(%4N%:H_~lj19N3j}$nL"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field><value name="VALUE"><block type="math_single" id="l]]{y=*):=Q5*Oq,YPKk"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id="0rN7Sv8l*{l^NYQen/9$"><field name="NUM">9</field></shadow><block type="math_arithmetic" id="7XGujTTA8S|+|*1f6mVq"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id=",K)i[aOOzo{1Z;alivhZ"><field name="NUM">1</field></shadow><block type="variables_get" id="#himIFZ{poD^m=hHA4B{"><field name="VAR" id=".KWc,ITRS$!9[akCjPO-" variabletype="">desiredPosition1</field></block></value><value name="B"><shadow type="math_number" id="9!1z1^M;vMpo-*7d2efI"><field name="NUM">1</field></shadow><block type="analogInput_getProperty_Number" id="iu=K.5Mk,G!UPliV?#@3"><field name="IDENTIFIER">potentiometerAsAnalogInput</field><field name="PROP">Voltage</field><data>{"IDENTIFIER":"potentiometer"}</data></block></value></block></value></block></value><next><block type="variables_set" id="SJX^InJK3J3fJ_dJXtcc"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field><value name="VALUE"><block type="math_arithmetic" id="DU_ZZIB-4*WII2@e7@k8"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="fkF.kh8_/5V^?ejh.eu_"><field name="NUM">1</field></shadow><block type="variables_get" id="]:)hAX1{YH%AsZd:;4m{"><field name="VAR" id="3*7VxWSPY`GFLdOHcp)$" variabletype="">integralPrior1</field></block></value><value name="B"><shadow type="math_number" id="~UBeE7?lr4yYe)-]Cz#0"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="T(^z1(y/j5hfadu4f+Cg"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="2)Ukq{S83gUxEi%H@Ps9"><field name="NUM">1</field></shadow><block type="variables_get" id="m3X}Kf5z,-w0@]`v7}GF"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="^y;Tl=G=bxfiTN6}M-8?"><field name="NUM">1</field></shadow><block type="variables_get" id="pF_7CgJ^4B^c0vQ5Ysu}"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value></block></value><next><block type="variables_set" id="}1cF]iB1qAmAbi.c;Ef{"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field><value name="VALUE"><block type="math_arithmetic" id="$hl]oHIU]t-/f{D-g1x="><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="2B8FQWteJawWj)bWJDzr"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="V25d*rU`v=w)geB^v0D5"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="hH^Lc~Ez-oht(w4(vd;p"><field name="NUM">1</field></shadow><block type="variables_get" id="ZDvRmlI3HR/wTBg]I#b9"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="}K%v86M838Rq-0eB*boi"><field name="NUM">1</field></shadow><block type="variables_get" id="`q5pZk9(.?:2bcevY,X1"><field name="VAR" id="1t=GP:FkGLSi[Mm:FO)W" variabletype="">errorPrior1</field></block></value></block></value><value name="B"><shadow type="math_number" id=")u?LmE]+[nl?QaF6H0#P"><field name="NUM">1</field></shadow><block type="variables_get" id="5KB`(09N?ySXkOgj5-4f"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value><next><block type="variables_set" id="sTPWSzI*:)@i?v#v|WR:"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_arithmetic" id="!Beip}^0otE1WZPAQBE)"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id=";_kRH%QMV#)j+yYmj,NC"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="+KarRMXo^y65,jH;Mzsm"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="%ja34pw.`C7t~58Y%~1v"><field name="NUM">1</field></shadow><block type="variables_get" id="FQtS48OT+j)B/y7(1x[f"><field name="VAR" id="A0pQ^{6K2@Ut(x/8^h0a" variabletype="">kp</field></block></value><value name="B"><shadow type="math_number" id="t7E$?j%LhN^5p}7_p+L$"><field name="NUM">1</field></shadow><block type="variables_get" id="xk2ykgmV)ra%TdSxk/lj"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><shadow type="math_number" id="QWx.r!JO1F!Fi:I*(=L{"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="/wqRdGn`*{=T%q:[g;|8"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="vfUmpN/,EBaERu)csA6#"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="j+y%=WI-c3,wbIXnij.w"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="!nl$){{I*2y8}6Tzf]/H"><field name="NUM">1</field></shadow><block type="variables_get" id="NJ=Sl{39O`V8(j9BSOet"><field name="VAR" id="N.mAI;k3hc`}gZ29bwob" variabletype="">ki</field></block></value><value name="B"><shadow type="math_number" id="KY]Mg)o*L}fSQ~l;irpW"><field name="NUM">1</field></shadow><block type="variables_get" id="9,=x1ie[Wl#BAKqt-e-Z"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value></block></value><value name="B"><shadow type="math_number" id="|(`U`v6MyXt`)sc~G[CK"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="gu3wuL+y#QFzi|BrInVl"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="nAFefAAB%0peA.NVxl%5"><field name="NUM">1</field></shadow><block type="variables_get" id="..sFQJLi(?=G1h]I*l`O"><field name="VAR" id="c_Cy`Yn-ftj?0youBUA(" variabletype="">kd</field></block></value><value name="B"><shadow type="math_number" id="|oo4[4YGzWbfSV2h0rm%"><field name="NUM">1</field></shadow><block type="variables_get" id="z5g+1DR*;j(;mFKKv|.E"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field></block></value></block></value></block></value></block></value><next><block type="variables_set" id="*[.^,R;t/={pCygW8.ZM"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field><value name="VALUE"><block type="math_number" id="%,XvNUc1*@${n~o~bC)}"><field name="NUM">0.5</field></block></value><next><block type="controls_if" id="q+Xr866`_F5pwVOYC_gs"><value name="IF0"><block type="logic_compare" id="$jMlh2LkQ_W?~7T-qvbF"><field name="OP">GT</field><value name="A"><block type="math_single" id="0,+Ed-vo0*G2|*qlJEV="><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="LVdMO]_]S).JV,fpZB$%"><field name="NUM">9</field></shadow><block type="variables_get" id="0Q7Ano,$YC;Dr;jLTX3K"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></value><value name="B"><block type="variables_get" id="J]PBQFg_J=FFQs[e+Nu*"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value><statement name="DO0"><block type="controls_if" id="VN9W5(1.Q/{}@2gM,#%E"><mutation elseif="1"></mutation><value name="IF0"><block type="logic_compare" id="ya[OD(~W89k8i?%P$/iQ"><field name="OP">GT</field><value name="A"><block type="variables_get" id="n=.LfIYy_.,}dtxj(^i6"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="engm4$s^o=w*5I;`=$D="><field name="NUM">0</field></block></value></block></value><statement name="DO0"><block type="variables_set" id=")c|$*40,0weOy~1QjNgS"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="variables_get" id="$hL_xvE3[)KJ9et{#Bdd"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></statement><value name="IF1"><block type="logic_compare" id="^L3`n$fOKUwaRNu`Mx/f"><field name="OP">LT</field><value name="A"><block type="variables_get" id=".NAx-tN%=B/yNn.[O!f~"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="vwIPLx$s%*tZ4uXmPN?%"><field name="NUM">0</field></block></value></block></value><statement name="DO1"><block type="variables_set" id="b8M(U-zj}#3xT.?FFqCr"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_single" id="=2k%?G{~yTeS|lAl2C6K"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id=")Dk-~y+g~o}$d1wKVS}]"><field name="NUM">9</field></shadow><block type="variables_get" id="gzw1:R#ED4%iLH~g+2N$"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value></block></statement></block></statement><next><block type="variables_set" id="?x!{vG/eT^??5Oj5O_qe"><field name="VAR" id="1t=GP:FkGLSi[Mm:FO)W" variabletype="">errorPrior1</field><value name="VALUE"><block type="variables_get" id="!6Agk39g%u~`38}bYVMv"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><next><block type="variables_set" id="Gp85@QWBs|zM9{s6iG!t"><field name="VAR" id="3*7VxWSPY`GFLdOHcp)$" variabletype="">integralPrior1</field><value name="VALUE"><block type="variables_get" id="!fVS7v$f9~`XIU+3|/}a"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value><next><block type="variables_set" id="8WDZy|lo8.R/H@})804T"><field name="VAR" id="tXu/hEPGY!w^}tWpC?%P" variabletype="">lastLoopTime1</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="5?H4g|V=T%;Yn+Qcir|y"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="zXm621n.p0AJpIy6bp2n"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><next><block type="controls_if" id="nspS+^:L[N}htE@P_H$S"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id=")k[j5OE7VB%uB/3i?g!u"><field name="OP">LTE</field><value name="A"><block type="math_single" id="xYA}.y-a+Z35w:xMLVbi"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="h)icm,kk6/gc|!Zu.?*s"><field name="NUM">9</field></shadow><block type="variables_get" id="-z`E:q0+mPU0W3^=SqgQ"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><block type="math_number" id="t)2N2fU11APD/n!28HQH"><field name="NUM">0.02</field></block></value></block></value><statement name="DO0"><block type="math_change" id="%qwF|6J:tl}tJ9J-e2vy"><field name="VAR" id="-l+$nbv:(av:pqqgyEiO" variabletype="">correctCount1</field><value name="DELTA"><shadow type="math_number" id="G%^bQ$.m{YHnUpSV;%}e"><field name="NUM">1</field></shadow><block type="math_number" id="*FyCFNwG1?`{6HXZ@FX-"><field name="NUM">1</field></block></value></block></statement><statement name="ELSE"><block type="variables_set" id="?=pY*=m|bU`]-5,-`gsi"><field name="VAR" id="-l+$nbv:(av:pqqgyEiO" variabletype="">correctCount1</field><value name="VALUE"><block type="math_number" id="G*1d6.IHcx{:b@?d5iFz"><field name="NUM">0</field></block></value></block></statement><next><block type="controls_if" id="tN0Al[,(,o+^=cBU7PWP"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="ty!G}Z-SQ1M$Vfo0VO5["><field name="OP">LTE</field><value name="A"><block type="variables_get" id="Vy0`-]5%q{,X8j740Og8"><field name="VAR" id="-l+$nbv:(av:pqqgyEiO" variabletype="">correctCount1</field></block></value><value name="B"><block type="math_number" id="2LS#Q}2S+Twnw3O,m[Z|"><field name="NUM">50</field></block></value></block></value><statement name="DO0"><block type="dcMotor_setProperty_Number" id="3V#/cG.h7%C-t#l_*xi^"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="Jz@/B^vsJs4ej-Sif0Cz"><field name="NUM">1</field></shadow><block type="variables_get" id="Q$QjM}}9?!S)6yD%V9R1"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></statement><statement name="ELSE"><block type="dcMotor_setProperty_Number" id="c,K8:ULu.81RN(3u5v,x"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="n_Cd_+0z!:B)XX_]K[DL"><field name="NUM">0</field></shadow><block type="math_number" id="?K`vh7JYRg+tQ!Z~_GQX"><field name="NUM">0</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement><value name="IF1"><block type="gamepad_getProperty_Boolean" id="Z=e;@uhQ.$I+W=U)_OIg"><field name="IDENTIFIER">gamepad1</field><field name="PROP">B</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value><statement name="DO1"><block type="variables_set" id="oSwj@9J?Ay1^~vnUveNF"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field><value name="VALUE"><block type="math_arithmetic" id="u;In[1,$WkJ0pl%4.Ut$"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="jPDtbAGd2K5(ygxd)ryp"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="I-i$}9qz4pwitai_f~4#"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="e8F[a!xoJLrdkorlK=Ex"><field name="NUM">1</field></shadow><block type="elapsedTime2_getProperty_Number" id="r6|:$zf:EJY{fZkLYf@v"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="y7V$WY?[se)7}7:?-SBE"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><value name="B"><shadow type="math_number" id="O}ZN[zE/p~2JHu;mFHaU"><field name="NUM">1</field></shadow><block type="variables_get" id="V[}x#s;#)u#2XVd^pq)M"><field name="VAR" id="6(lbZC(hwv%L0jR~nQ}C" variabletype="">lastLoopTime2</field></block></value></block></value><value name="B"><shadow type="math_number" id="qFV8AN[EE9uWg/QOzE(A"><field name="NUM">1000</field></shadow></value></block></value><next><block type="variables_set" id="ZL:*:$_reZL6FfLlw+X#"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field><value name="VALUE"><block type="math_single" id="_fuy!)4g3DZ$N=rq);p@"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id="0rN7Sv8l*{l^NYQen/9$"><field name="NUM">9</field></shadow><block type="math_arithmetic" id="^*]Ers|+5xbXyhafXv8H"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id=",K)i[aOOzo{1Z;alivhZ"><field name="NUM">1</field></shadow><block type="variables_get" id="w#M7uU9d+79naa%F6IZ^"><field name="VAR" id="~oF^#cWM|;=5?!sVRo6D" variabletype="">desiredPosition2</field></block></value><value name="B"><shadow type="math_number" id="9!1z1^M;vMpo-*7d2efI"><field name="NUM">1</field></shadow><block type="analogInput_getProperty_Number" id="0=U^atpO])9!50sUK_S!"><field name="IDENTIFIER">potentiometerAsAnalogInput</field><field name="PROP">Voltage</field><data>{"IDENTIFIER":"potentiometer"}</data></block></value></block></value></block></value><next><block type="variables_set" id="[x-ky8cMVC}QP:KVA{vh"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field><value name="VALUE"><block type="math_arithmetic" id="U!uZUB}8-m(.L/5W$hzS"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="fkF.kh8_/5V^?ejh.eu_"><field name="NUM">1</field></shadow><block type="variables_get" id="|^u-sOyxL0u=SpX.r)fH"><field name="VAR" id="~`uFIa~#fqilP!%Y=K-a" variabletype="">integralPrior2</field></block></value><value name="B"><shadow type="math_number" id="~UBeE7?lr4yYe)-]Cz#0"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="9jsoGUEk*_bgmJ,]6/hH"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="2)Ukq{S83gUxEi%H@Ps9"><field name="NUM">1</field></shadow><block type="variables_get" id="qXRAf5us~|l*[$N/xvzM"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="^y;Tl=G=bxfiTN6}M-8?"><field name="NUM">1</field></shadow><block type="variables_get" id="qA4+[/MaFSQ+/e%?~[Ce"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value></block></value><next><block type="variables_set" id="x|.B2$y%Wm.aO#)4!IrL"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field><value name="VALUE"><block type="math_arithmetic" id="OwmwRP!P0;Y1t@)9ml|]"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="2B8FQWteJawWj)bWJDzr"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="jJG`AYUu4sTJPKB}$w_B"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="hH^Lc~Ez-oht(w4(vd;p"><field name="NUM">1</field></shadow><block type="variables_get" id="X5wy@rO(=]3~T8;.M0/D"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="}K%v86M838Rq-0eB*boi"><field name="NUM">1</field></shadow><block type="variables_get" id="u|5Ba62o[3=[Pf$%#}+s"><field name="VAR" id="F8iT]Ks:LnoZ?m/Y}3eF" variabletype="">errorPrior2</field></block></value></block></value><value name="B"><shadow type="math_number" id=")u?LmE]+[nl?QaF6H0#P"><field name="NUM">1</field></shadow><block type="variables_get" id="MX7S2V3~}$N)YxQd)TXe"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value><next><block type="variables_set" id="pKw/j~X~6c8$a|OTY},/"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_arithmetic" id="prTjUJtguwB^smB:P^U9"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id=";_kRH%QMV#)j+yYmj,NC"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="f0Uojs;cvf(_hyIlo?I4"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="%ja34pw.`C7t~58Y%~1v"><field name="NUM">1</field></shadow><block type="variables_get" id="lr7Wlyo$f1G*[kkJ:g!Y"><field name="VAR" id="A0pQ^{6K2@Ut(x/8^h0a" variabletype="">kp</field></block></value><value name="B"><shadow type="math_number" id="t7E$?j%LhN^5p}7_p+L$"><field name="NUM">1</field></shadow><block type="variables_get" id="vHSTdoZxF%[-j)0JbikH"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><shadow type="math_number" id="QWx.r!JO1F!Fi:I*(=L{"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="sX*#/}(=+:b4+uY{=Fe7"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="vfUmpN/,EBaERu)csA6#"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="T#Busc/D,Nta:fN1:7gN"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="!nl$){{I*2y8}6Tzf]/H"><field name="NUM">1</field></shadow><block type="variables_get" id="ZAEW(q0HB}j?=gfT_-^t"><field name="VAR" id="N.mAI;k3hc`}gZ29bwob" variabletype="">ki</field></block></value><value name="B"><shadow type="math_number" id="KY]Mg)o*L}fSQ~l;irpW"><field name="NUM">1</field></shadow><block type="variables_get" id="Dr=LchPjk)yAy_bZeOtY"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value></block></value><value name="B"><shadow type="math_number" id="|(`U`v6MyXt`)sc~G[CK"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="mXC#[|Ld@+u;k4XnW2FN"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="nAFefAAB%0peA.NVxl%5"><field name="NUM">1</field></shadow><block type="variables_get" id="hc6f2=XEr?fwW.(y+1vl"><field name="VAR" id="c_Cy`Yn-ftj?0youBUA(" variabletype="">kd</field></block></value><value name="B"><shadow type="math_number" id="|oo4[4YGzWbfSV2h0rm%"><field name="NUM">1</field></shadow><block type="variables_get" id="@;/75,z#Q8Nab_lliFS]"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field></block></value></block></value></block></value></block></value><next><block type="variables_set" id="#q_iS[:/BqErLk~9*d/T"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field><value name="VALUE"><block type="math_number" id="z#^ar{jN+$$iBR0lqkAW"><field name="NUM">0.5</field></block></value><next><block type="controls_if" id="|CSHnJ7#ytk,O?Wo}m1W"><value name="IF0"><block type="logic_compare" id="KZ1IRB*[c;U6?2-gBnZ,"><field name="OP">GT</field><value name="A"><block type="math_single" id="rW|`Hq()L!@qiMuDbq`)"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="LVdMO]_]S).JV,fpZB$%"><field name="NUM">9</field></shadow><block type="variables_get" id="IoBWK#vTrrqG+901pXD)"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></value><value name="B"><block type="variables_get" id="pW2^pdOdQu+UyHIJqMD*"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value><statement name="DO0"><block type="controls_if" id="-fil;c}dH+Z-FJJg`3x1"><mutation elseif="1"></mutation><value name="IF0"><block type="logic_compare" id="AYYkZ+UNn.YNqvU8z:,v"><field name="OP">GT</field><value name="A"><block type="variables_get" id="u=Z1Nv4KVF#sx,E.7E=1"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="yu!L]7*8^v!0=^M=:nSr"><field name="NUM">0</field></block></value></block></value><statement name="DO0"><block type="variables_set" id="2AARvah1J6-dGs-zBJD2"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="variables_get" id="!o$T:,/6S)idA*/kE?:W"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></statement><value name="IF1"><block type="logic_compare" id="{U}_aW=/ku01#4Fay;(e"><field name="OP">LT</field><value name="A"><block type="variables_get" id="q?xwHWhTE-5Ij[U%fhQ~"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="YBjWl{CxKq.(A*^l!Fai"><field name="NUM">0</field></block></value></block></value><statement name="DO1"><block type="variables_set" id="KF+f~MqO[D#;,D}tR5)$"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_single" id="`4Zn3bpUy!,gL7il@vL#"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id=")Dk-~y+g~o}$d1wKVS}]"><field name="NUM">9</field></shadow><block type="variables_get" id=":Hdo.SP.T|eEREj~2])+"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value></block></statement></block></statement><next><block type="variables_set" id="i.nn3Z9(gO.X=-hEI(?y"><field name="VAR" id="F8iT]Ks:LnoZ?m/Y}3eF" variabletype="">errorPrior2</field><value name="VALUE"><block type="variables_get" id="4_(Cy+$@~ZWfkJiSzd+8"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><next><block type="variables_set" id="HYuj2.whR#LN,k`c^;k7"><field name="VAR" id="~`uFIa~#fqilP!%Y=K-a" variabletype="">integralPrior2</field><value name="VALUE"><block type="variables_get" id="N3v0vF1O3q.BM;yo=(N#"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value><next><block type="variables_set" id="9a306G%LwXrgj4[O/Ahm"><field name="VAR" id="6(lbZC(hwv%L0jR~nQ}C" variabletype="">lastLoopTime2</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="aP#qj5^!AlVc^$P7wWkK"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="uL]ftj^J+bD~w^HfgV]{"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><next><block type="controls_if" id="m0Xwo[tOye#Ynq(`G.MZ"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="69nC|sF?dv$[VIVOq-T2"><field name="OP">LTE</field><value name="A"><block type="math_single" id="CY8n@g#4a8wQ5yw*{|ES"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="h)icm,kk6/gc|!Zu.?*s"><field name="NUM">9</field></shadow><block type="variables_get" id="l#S(+lX.t}4(IvMJCRdG"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><block type="math_number" id="GkWi%HvQ}^x3qQP)$izn"><field name="NUM">0.02</field></block></value></block></value><statement name="DO0"><block type="math_change" id="WhK,eVq*sHO.}`GnQ{1U"><field name="VAR" id="1U_[TKLc$%Gt~tY$6`hL" variabletype="">correctCount2</field><value name="DELTA"><shadow type="math_number" id="G%^bQ$.m{YHnUpSV;%}e"><field name="NUM">1</field></shadow><block type="math_number" id="YSqx^Zw%sy3l6,XsoDYD"><field name="NUM">1</field></block></value></block></statement><statement name="ELSE"><block type="variables_set" id="apuO7NHqR+qc@?^,SMsc"><field name="VAR" id="1U_[TKLc$%Gt~tY$6`hL" variabletype="">correctCount2</field><value name="VALUE"><block type="math_number" id="Bf-ZtFHk[27CrPNsCv!a"><field name="NUM">0</field></block></value></block></statement><next><block type="controls_if" id="$)$3Xoy1L#m]7T@=/fFF"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="wUAMkUuhd|Ef;s5ujo64"><field name="OP">LTE</field><value name="A"><block type="variables_get" id="/7GvZj9glzpI|qpg}.7;"><field name="VAR" id="1U_[TKLc$%Gt~tY$6`hL" variabletype="">correctCount2</field></block></value><value name="B"><block type="math_number" id="_j^=*k=h5hMC+9t?6CkY"><field name="NUM">50</field></block></value></block></value><statement name="DO0"><block type="dcMotor_setProperty_Number" id="[_{:6Tr?f4SXHr]QOj1("><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="Jz@/B^vsJs4ej-Sif0Cz"><field name="NUM">1</field></shadow><block type="variables_get" id="XCRFc7jv#d)8js}Z7%I{"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></statement><statement name="ELSE"><block type="dcMotor_setProperty_Number" id="]!Ak:u11{M@dG)DR#^@e"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="n_Cd_+0z!:B)XX_]K[DL"><field name="NUM">0</field></shadow><block type="math_number" id=":w998VBK}%W$zFVPfEOQ"><field name="NUM">0</field></block></value></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><value name="IF2"><block type="gamepad_getProperty_Boolean" id="NsSRn%P2W[;SX%(qHg:g"><field name="IDENTIFIER">gamepad1</field><field name="PROP">X</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value><statement name="DO2"><block type="variables_set" id="2FrJv{o%xs=:LZ|gg?Sh"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field><value name="VALUE"><block type="math_arithmetic" id="8iczO8Z0+C4tJ2?PW.({"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="jPDtbAGd2K5(ygxd)ryp"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="+G}p+N{145RQK-MH0_*z"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="e8F[a!xoJLrdkorlK=Ex"><field name="NUM">1</field></shadow><block type="elapsedTime2_getProperty_Number" id="IC9HxGHSJ)^HcEo|.wEz"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="H+Z2D*eAi]#qALA47lfw"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><value name="B"><shadow type="math_number" id="O}ZN[zE/p~2JHu;mFHaU"><field name="NUM">1</field></shadow><block type="variables_get" id="Y!9M?9]l{-F?K#K.%dkA"><field name="VAR" id="sE4s%6oMY4kKBK:vqu4f" variabletype="">lastLoopTime3</field></block></value></block></value><value name="B"><shadow type="math_number" id="UES:m%7BFNg+r}k1MN-("><field name="NUM">1000</field></shadow></value></block></value><next><block type="variables_set" id="s4]c!ez?z^)5,r6LsqR)"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field><value name="VALUE"><block type="math_single" id="_!kD`xRfHvYU/0@xaS0i"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id="0rN7Sv8l*{l^NYQen/9$"><field name="NUM">9</field></shadow><block type="math_arithmetic" id="nQ[FuYfP^9~Q2.bo#bn("><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id=",K)i[aOOzo{1Z;alivhZ"><field name="NUM">1</field></shadow><block type="variables_get" id="(!)sK1Es%7yE6aTo%}Km"><field name="VAR" id="!jSz)86#|?S_@O;ug:cY" variabletype="">desiredPosition3</field></block></value><value name="B"><shadow type="math_number" id="9!1z1^M;vMpo-*7d2efI"><field name="NUM">1</field></shadow><block type="analogInput_getProperty_Number" id="QX(A{G]=nf`U;E5QeM6-"><field name="IDENTIFIER">potentiometerAsAnalogInput</field><field name="PROP">Voltage</field><data>{"IDENTIFIER":"potentiometer"}</data></block></value></block></value></block></value><next><block type="variables_set" id="wsv]LP|p}:pZ!#6/-BK}"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field><value name="VALUE"><block type="math_arithmetic" id="(R9y;Yz40gA}u*8k49.X"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="fkF.kh8_/5V^?ejh.eu_"><field name="NUM">1</field></shadow><block type="variables_get" id="@[)*HdQ5PmOcYiuL;`Vo"><field name="VAR" id="mwzQv^U*VSXJ*2P#P=we" variabletype="">integralPrior3</field></block></value><value name="B"><shadow type="math_number" id="~UBeE7?lr4yYe)-]Cz#0"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="$,w7g{oB13zg{?=E0raD"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="2)Ukq{S83gUxEi%H@Ps9"><field name="NUM">1</field></shadow><block type="variables_get" id="cXA_ts6-HX/18)r]Ym8e"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="^y;Tl=G=bxfiTN6}M-8?"><field name="NUM">1</field></shadow><block type="variables_get" id="2=WL*KoPx6j!oUzQaImY"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value></block></value><next><block type="variables_set" id="e1)lBFYb#16K(idB[EGw"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field><value name="VALUE"><block type="math_arithmetic" id=".w,Ikq:bG^-ewYs)^nJC"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="2B8FQWteJawWj)bWJDzr"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="8N9(}(#+QMATnyepzPU2"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="hH^Lc~Ez-oht(w4(vd;p"><field name="NUM">1</field></shadow><block type="variables_get" id="Ybf+to/X2=dOn~,`+G5s"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="}K%v86M838Rq-0eB*boi"><field name="NUM">1</field></shadow><block type="variables_get" id="KtS`A[r+ke-7TRox^j|R"><field name="VAR" id="%GoyBWTGzYWGgK7#i,MC" variabletype="">errorPrior3</field></block></value></block></value><value name="B"><shadow type="math_number" id=")u?LmE]+[nl?QaF6H0#P"><field name="NUM">1</field></shadow><block type="variables_get" id="3bT5FyQi=bkO^xZA)lHp"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value><next><block type="variables_set" id="0fN_*N[^%gkX5y]EkAVU"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_arithmetic" id="i#jNA?grTR|}O2bZ{OWY"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id=";_kRH%QMV#)j+yYmj,NC"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="@ly!:J%uK~FcJZ=%._NJ"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="%ja34pw.`C7t~58Y%~1v"><field name="NUM">1</field></shadow><block type="variables_get" id="ZQkizK!R[x!A$nC9y1^k"><field name="VAR" id="A0pQ^{6K2@Ut(x/8^h0a" variabletype="">kp</field></block></value><value name="B"><shadow type="math_number" id="t7E$?j%LhN^5p}7_p+L$"><field name="NUM">1</field></shadow><block type="variables_get" id="|vKy96jno#%}92F;eyB-"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><shadow type="math_number" id="QWx.r!JO1F!Fi:I*(=L{"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="eOv%2.BqQ?zv3wwPUt=p"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="vfUmpN/,EBaERu)csA6#"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="gWYdl~6Q7([k_pukGEXp"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="!nl$){{I*2y8}6Tzf]/H"><field name="NUM">1</field></shadow><block type="variables_get" id="]jC[+p%I)Or=1DXv-vWS"><field name="VAR" id="N.mAI;k3hc`}gZ29bwob" variabletype="">ki</field></block></value><value name="B"><shadow type="math_number" id="KY]Mg)o*L}fSQ~l;irpW"><field name="NUM">1</field></shadow><block type="variables_get" id="=EEnnY+|[x2nAQF9[U-B"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value></block></value><value name="B"><shadow type="math_number" id="|(`U`v6MyXt`)sc~G[CK"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="sjI`_b@~K]T*z?Qv7FA-"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="nAFefAAB%0peA.NVxl%5"><field name="NUM">1</field></shadow><block type="variables_get" id=":HWiBH%^DfIC~zkSOFQP"><field name="VAR" id="c_Cy`Yn-ftj?0youBUA(" variabletype="">kd</field></block></value><value name="B"><shadow type="math_number" id="|oo4[4YGzWbfSV2h0rm%"><field name="NUM">1</field></shadow><block type="variables_get" id="A5$A%*|nv:P;q:(a-!eZ"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field></block></value></block></value></block></value></block></value><next><block type="variables_set" id="Gim;%JBe[a-hP+NSO@~S"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field><value name="VALUE"><block type="math_number" id="+bAL(6FCEene2F6-,PYy"><field name="NUM">0.8</field></block></value><next><block type="controls_if" id="7t)PGnaN|CZdD)(omseq"><value name="IF0"><block type="logic_compare" id="$ztQ8:.)Y%XV+Bts(-4M"><field name="OP">GT</field><value name="A"><block type="math_single" id="uPG`dzAGwMzUwt}VM^8T"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="LVdMO]_]S).JV,fpZB$%"><field name="NUM">9</field></shadow><block type="variables_get" id="Ah@B4zSeMW54WG:7@59#"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></value><value name="B"><block type="variables_get" id="0ew2DH:D0t:7[hqm/[vq"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value><statement name="DO0"><block type="controls_if" id=",=JWysnfIjWCB=o~D#4."><mutation elseif="1"></mutation><value name="IF0"><block type="logic_compare" id="6|8I51cR5`B-jrrVU.=Y"><field name="OP">GT</field><value name="A"><block type="variables_get" id=":!79UY*AM1^1n9yNHiGc"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="xHvB8g*UO1w|odT28RwS"><field name="NUM">0</field></block></value></block></value><statement name="DO0"><block type="variables_set" id="|_i:Qnz(BE?^GTW|yESr"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="variables_get" id="!(jwN81!LrlxJZ!JBAxh"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></statement><value name="IF1"><block type="logic_compare" id="ACq6il.lqw?P9sS84eY4"><field name="OP">LT</field><value name="A"><block type="variables_get" id=")G+1jzt`7`VlZI,aNda="><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="WC1(Juu{+d?`RK2.p/_["><field name="NUM">0</field></block></value></block></value><statement name="DO1"><block type="variables_set" id="W)okkvvw]*%U^_3ZWo(H"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_single" id="K$V,;[email protected]$bT-^a"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id=")Dk-~y+g~o}$d1wKVS}]"><field name="NUM">9</field></shadow><block type="variables_get" id="NOhVi!o$)jLMHQ}{4(pz"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value></block></statement></block></statement><next><block type="variables_set" id="4tC9=6CEk:H6]]fPfhxq"><field name="VAR" id="%GoyBWTGzYWGgK7#i,MC" variabletype="">errorPrior3</field><value name="VALUE"><block type="variables_get" id="F0GUF/}(Ddp?kUZe7*Q,"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><next><block type="variables_set" id="J5K:DL|UZEA?2+7dmk)K"><field name="VAR" id="mwzQv^U*VSXJ*2P#P=we" variabletype="">integralPrior3</field><value name="VALUE"><block type="variables_get" id="]$UVyDmMXrdaNfxW?,mi"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value><next><block type="variables_set" id="sbfsR1F?xHQ~yvtY+#3)"><field name="VAR" id="sE4s%6oMY4kKBK:vqu4f" variabletype="">lastLoopTime3</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="jF/O+eL/Y[SFrq*AMDxN"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="{(kiwZNpd/k%e,qW%bTr"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><next><block type="controls_if" id="{F(9i}fH49D3}|7E7pL("><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="yD_~$Oo)ED[EZSMmQ[wu"><field name="OP">LTE</field><value name="A"><block type="math_single" id="E?M~Yq%Rf(9!YlElZuBu"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="h)icm,kk6/gc|!Zu.?*s"><field name="NUM">9</field></shadow><block type="variables_get" id="-RWVH5/.$*IVbLv$%eh-"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><block type="math_number" id="O$3ZB87/9|Zl5gZAB!;w"><field name="NUM">0.02</field></block></value></block></value><statement name="DO0"><block type="math_change" id="=NAgSEl[OyOQu{(Y|Y}1"><field name="VAR" id="}0bmZmNj_ck$2m1OXI8d" variabletype="">correctCount3</field><value name="DELTA"><shadow type="math_number" id="G%^bQ$.m{YHnUpSV;%}e"><field name="NUM">1</field></shadow><block type="math_number" id="G1DVf;`h_34PVrh-nr%,"><field name="NUM">1</field></block></value></block></statement><statement name="ELSE"><block type="variables_set" id="Mu}V40GX1Bon^50s62YL"><field name="VAR" id="}0bmZmNj_ck$2m1OXI8d" variabletype="">correctCount3</field><value name="VALUE"><block type="math_number" id="?r]`1YlCHQx|!]#4tjm5"><field name="NUM">0</field></block></value></block></statement><next><block type="controls_if" id="nz]flQR8FF}cqI@JB8DN"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="Sh46U(I[JmC3GgztvVwK"><field name="OP">LTE</field><value name="A"><block type="variables_get" id="V_y9h$/C3Q5I?jD`[gT+"><field name="VAR" id="}0bmZmNj_ck$2m1OXI8d" variabletype="">correctCount3</field></block></value><value name="B"><block type="math_number" id="wZi]v3S(PoYwt`XJq!L:"><field name="NUM">50</field></block></value></block></value><statement name="DO0"><block type="dcMotor_setProperty_Number" id="KmJi:;|nNIiAm[ttj{l)"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="Jz@/B^vsJs4ej-Sif0Cz"><field name="NUM">1</field></shadow><block type="variables_get" id="7VKmhCScG(F)`^hE(uXx"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></statement><statement name="ELSE"><block type="dcMotor_setProperty_Number" id="urT4ij:_HU)!tH0K`|`%"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="n_Cd_+0z!:B)XX_]K[DL"><field name="NUM">0</field></shadow><block type="math_number" id="R_J0A:J|4Wop}3RRCqT#"><field name="NUM">0</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement><value name="IF3"><block type="gamepad_getProperty_Boolean" id="kH1=@osbkG_x#e~A+u)2"><field name="IDENTIFIER">gamepad1</field><field name="PROP">Y</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value><statement name="DO3"><block type="variables_set" id="zmy^c:UtoJ^[DNHKoN,j"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field><value name="VALUE"><block type="math_arithmetic" id="0d:`mdkGJ``63e_cvjg8"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="jPDtbAGd2K5(ygxd)ryp"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="v~/a#tA{t0kk~`nk!]RX"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="e8F[a!xoJLrdkorlK=Ex"><field name="NUM">1</field></shadow><block type="elapsedTime2_getProperty_Number" id="E^^MT%:iDrw:Xjc,X%`*"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="$2F*gZwh|t$ZQLP];IQc"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><value name="B"><shadow type="math_number" id="O}ZN[zE/p~2JHu;mFHaU"><field name="NUM">1</field></shadow><block type="variables_get" id="i]ll8z4V@Bs,$5dXH9YF"><field name="VAR" id="4ASN0[K8]wxZ9d25/J}l" variabletype="">lastLoopTime4</field></block></value></block></value><value name="B"><shadow type="math_number" id="KIJcsA8;_4PG#eZ~CHX!"><field name="NUM">1000</field></shadow></value></block></value><next><block type="variables_set" id="z/D7_JVV4u1,H.timR+d"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field><value name="VALUE"><block type="math_single" id="QpU*(qWtIo=hC6JRl]Ra"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id="0rN7Sv8l*{l^NYQen/9$"><field name="NUM">9</field></shadow><block type="math_arithmetic" id="uV+j,r]z3#1xarYJ;%5:"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id=",K)i[aOOzo{1Z;alivhZ"><field name="NUM">1</field></shadow><block type="variables_get" id="9@ybxcEjQPQYeRCxG6{*"><field name="VAR" id="_kzBj=M;f72vv*r-#Rt;" variabletype="">desiredPosition4</field></block></value><value name="B"><shadow type="math_number" id="9!1z1^M;vMpo-*7d2efI"><field name="NUM">1</field></shadow><block type="analogInput_getProperty_Number" id="eN#bBT^G7WD]r]]VL)(j"><field name="IDENTIFIER">potentiometerAsAnalogInput</field><field name="PROP">Voltage</field><data>{"IDENTIFIER":"potentiometer"}</data></block></value></block></value></block></value><next><block type="variables_set" id="/?|:r+?iYv/@X)5!|(N#"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field><value name="VALUE"><block type="math_arithmetic" id="b]Z5UfMA6Se|LGY1*mnH"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="fkF.kh8_/5V^?ejh.eu_"><field name="NUM">1</field></shadow><block type="variables_get" id="M0DlO-J@7UGR1bff3/yu"><field name="VAR" id="_+9!]o12Nk{XuB7`E69)" variabletype="">integralPrior4</field></block></value><value name="B"><shadow type="math_number" id="~UBeE7?lr4yYe)-]Cz#0"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="S7X5|6R?G#D$KRp%!xmi"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="2)Ukq{S83gUxEi%H@Ps9"><field name="NUM">1</field></shadow><block type="variables_get" id="]PALMcDie|KZj)B3rUTt"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="^y;Tl=G=bxfiTN6}M-8?"><field name="NUM">1</field></shadow><block type="variables_get" id="2:/qq`Ea:HxEdqnq*|PH"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value></block></value><next><block type="variables_set" id="0OL@fPhIfUES#$OH0hZ8"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field><value name="VALUE"><block type="math_arithmetic" id="-!#)TK0LLgpQ78@+kDcF"><field name="OP">DIVIDE</field><value name="A"><shadow type="math_number" id="2B8FQWteJawWj)bWJDzr"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="ek[INFg2W0;q?2-5~ap5"><field name="OP">MINUS</field><value name="A"><shadow type="math_number" id="hH^Lc~Ez-oht(w4(vd;p"><field name="NUM">1</field></shadow><block type="variables_get" id=",1}dL:FooIK)MV[+z6}("><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><value name="B"><shadow type="math_number" id="}K%v86M838Rq-0eB*boi"><field name="NUM">1</field></shadow><block type="variables_get" id="D;+n[1jKG-ny-MJ*-(`$"><field name="VAR" id="ib=:+xalCjahz)9%~^m{" variabletype="">errorPrior4</field></block></value></block></value><value name="B"><shadow type="math_number" id=")u?LmE]+[nl?QaF6H0#P"><field name="NUM">1</field></shadow><block type="variables_get" id="9d|/L;n*J`WcMdN3pC=~"><field name="VAR" id="6Cc3j|taI4bYEH$io=|4" variabletype="">changeInTime</field></block></value></block></value><next><block type="variables_set" id="wVh*oyZjg/EcMMR/7Cc,"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_arithmetic" id="QSWqCrTPi4S,-tJ]9;gn"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id=";_kRH%QMV#)j+yYmj,NC"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="sGQB,V)b3?_e(.C%-7~l"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="%ja34pw.`C7t~58Y%~1v"><field name="NUM">1</field></shadow><block type="variables_get" id="HhQLO|@RZNqfMOOv1vf}"><field name="VAR" id="A0pQ^{6K2@Ut(x/8^h0a" variabletype="">kp</field></block></value><value name="B"><shadow type="math_number" id="t7E$?j%LhN^5p}7_p+L$"><field name="NUM">1</field></shadow><block type="variables_get" id="NC%m_+H~CNt~F*uRR{v@"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><shadow type="math_number" id="QWx.r!JO1F!Fi:I*(=L{"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="n3%4V-wrfv)A_kjScYY1"><field name="OP">ADD</field><value name="A"><shadow type="math_number" id="vfUmpN/,EBaERu)csA6#"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="T|Fu!y/yab@sX7;(b|=r"><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="!nl$){{I*2y8}6Tzf]/H"><field name="NUM">1</field></shadow><block type="variables_get" id="%PB|r%r0)^dQc,CANF/q"><field name="VAR" id="N.mAI;k3hc`}gZ29bwob" variabletype="">ki</field></block></value><value name="B"><shadow type="math_number" id="KY]Mg)o*L}fSQ~l;irpW"><field name="NUM">1</field></shadow><block type="variables_get" id="y8sk#XH#SXnr+v|H?+ne"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value></block></value><value name="B"><shadow type="math_number" id="|(`U`v6MyXt`)sc~G[CK"><field name="NUM">1</field></shadow><block type="math_arithmetic" id="hj@7._T|[VDAeuE3UQq="><field name="OP">MULTIPLY</field><value name="A"><shadow type="math_number" id="nAFefAAB%0peA.NVxl%5"><field name="NUM">1</field></shadow><block type="variables_get" id="h`({E3O]H%*y(Yz=~5Vs"><field name="VAR" id="c_Cy`Yn-ftj?0youBUA(" variabletype="">kd</field></block></value><value name="B"><shadow type="math_number" id="|oo4[4YGzWbfSV2h0rm%"><field name="NUM">1</field></shadow><block type="variables_get" id="D5Z$2fWiN?Hc1Sg/E=2c"><field name="VAR" id="thEwK}xDTG#~,w6UyW=P" variabletype="">derivative</field></block></value></block></value></block></value></block></value><next><block type="variables_set" id="^mj@SQ`edF!2)|0TF/!M"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field><value name="VALUE"><block type="math_number" id=",klOh@D$sHGDB9`45T.y"><field name="NUM">0.5</field></block></value><next><block type="controls_if" id="82?FX,9,Cn-SX#OLW$IU"><value name="IF0"><block type="logic_compare" id="qh}^7dqz/(Z#L^c.[moQ"><field name="OP">GT</field><value name="A"><block type="math_single" id="UUMz0#COIoNXDvFgV:h_"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="LVdMO]_]S).JV,fpZB$%"><field name="NUM">9</field></shadow><block type="variables_get" id="QH2{OSjkPU1{`pk*?%6:"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></value><value name="B"><block type="variables_get" id="ANxOy%weDMS$#8?9b8=H"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value><statement name="DO0"><block type="controls_if" id="m*KnKJsO26E;dt_=]?Pw"><mutation elseif="1"></mutation><value name="IF0"><block type="logic_compare" id="EnG}BaEel(cOkiCrpPr9"><field name="OP">GT</field><value name="A"><block type="variables_get" id="l(8m,[)UWWOB{u?nEYx0"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="=yNGH*HPAzI1Mh[EFO;3"><field name="NUM">0</field></block></value></block></value><statement name="DO0"><block type="variables_set" id="p!7u|1x/]t0@2]?aS/Eb"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="variables_get" id="8-eV}usXnJ*|N{]Qsi;x"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></statement><value name="IF1"><block type="logic_compare" id="]5zGZ)F(LI^SzM@@o/oI"><field name="OP">LT</field><value name="A"><block type="variables_get" id="Co^sSM?]AFnm,UkZ9UiL"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value><value name="B"><block type="math_number" id="?7Ffwv}sz+Frmkiyyh]R"><field name="NUM">0</field></block></value></block></value><statement name="DO1"><block type="variables_set" id="$0X~P$A$Ql}C1!=]0=ii"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field><value name="VALUE"><block type="math_single" id="IW1(ufpsMlE$XR|F;)%3"><field name="OP">NEG</field><value name="NUM"><shadow type="math_number" id=")Dk-~y+g~o}$d1wKVS}]"><field name="NUM">9</field></shadow><block type="variables_get" id=":=o1L!hSI6qSyJR4c:Qi"><field name="VAR" id="$]t}4?q`){/wc^rj)WhT" variabletype="">powerCap</field></block></value></block></value></block></statement></block></statement><next><block type="variables_set" id="j:+.*NiA2;l?P?1Q=|Ft"><field name="VAR" id="ib=:+xalCjahz)9%~^m{" variabletype="">errorPrior4</field><value name="VALUE"><block type="variables_get" id="ZT!8UUTZuEGQ;%Q:a@y8"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value><next><block type="variables_set" id="SPrE:JMLdr~:`jvhN%[2"><field name="VAR" id="_+9!]o12Nk{XuB7`E69)" variabletype="">integralPrior4</field><value name="VALUE"><block type="variables_get" id="AWH/%{(M^$3vU=XC.YRQ"><field name="VAR" id="9{sjM@Yy~7K}%{)U0684" variabletype="">integral</field></block></value><next><block type="variables_set" id="Ek:MM060+$FGFaN60!Kj"><field name="VAR" id="4ASN0[K8]wxZ9d25/J}l" variabletype="">lastLoopTime4</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="U:Rj!J,{)EDiC]VH*$jW"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="tiFB.E+I?K1)ifQqNiA)"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value><next><block type="controls_if" id="jFGzyOJB6J(6mM]PM=d8"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="+23ur)i~f2-}f*]1)DiQ"><field name="OP">LTE</field><value name="A"><block type="math_single" id="?%`bfk!z}sAw^,;#:Qhv"><field name="OP">ABS</field><value name="NUM"><shadow type="math_number" id="h)icm,kk6/gc|!Zu.?*s"><field name="NUM">9</field></shadow><block type="variables_get" id="5IT%|u@1MyMZZs,#z#4l"><field name="VAR" id="}:;T!QH[,#J0^;BpPf7S" variabletype="">error</field></block></value></block></value><value name="B"><block type="math_number" id="fYM*Nt(tN6Alavd3xU;4"><field name="NUM">0.02</field></block></value></block></value><statement name="DO0"><block type="math_change" id="0Aj=1d9v;jl,{t$qc;11"><field name="VAR" id="rchBb~ITFSjNA](jkM1/" variabletype="">correctCount4</field><value name="DELTA"><shadow type="math_number" id="G%^bQ$.m{YHnUpSV;%}e"><field name="NUM">1</field></shadow><block type="math_number" id="dHP[RU046++7(2l0:bGH"><field name="NUM">1</field></block></value></block></statement><statement name="ELSE"><block type="variables_set" id="AX:[m,rfph]?S8.RX[D*"><field name="VAR" id="rchBb~ITFSjNA](jkM1/" variabletype="">correctCount4</field><value name="VALUE"><block type="math_number" id="o(:YBkgf$Hjgt/J9@=|5"><field name="NUM">0</field></block></value></block></statement><next><block type="controls_if" id="TE|pb#!)jnn#!Yy#-@%Y"><mutation else="1"></mutation><value name="IF0"><block type="logic_compare" id="bOx#ug!yU5=6pMF5)Y8x"><field name="OP">LTE</field><value name="A"><block type="variables_get" id=";@r]dn7P,tSByPih3c1d"><field name="VAR" id="rchBb~ITFSjNA](jkM1/" variabletype="">correctCount4</field></block></value><value name="B"><block type="math_number" id="8@LkIE)Jq(MynsvvClY-"><field name="NUM">50</field></block></value></block></value><statement name="DO0"><block type="dcMotor_setProperty_Number" id="?C|d[.XGHN-to23*s+Ai"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="Jz@/B^vsJs4ej-Sif0Cz"><field name="NUM">1</field></shadow><block type="variables_get" id="jDzL,ouOE@;wP=^V^o{C"><field name="VAR" id="/,+pLl)TIfBe5Q@28S%1" variabletype="">output</field></block></value></block></statement><statement name="ELSE"><block type="dcMotor_setProperty_Number" id="]+XCv+pP-s}pW)e;Z]s0"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="n_Cd_+0z!:B)XX_]K[DL"><field name="NUM">0</field></shadow><block type="math_number" id="%6#@(Q3HVE[w$=?aMZjD"><field name="NUM">0</field></block></value></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement><statement name="ELSE"><block type="dcMotor_setProperty_Number" id="QNdN6[jUu[6nId)8Nrx,"><field name="IDENTIFIER">arm</field><field name="PROP">Power</field><data>{"IDENTIFIER":"arm"}</data><value name="VALUE"><shadow type="math_number" id="t@Y;1?{7xX2.0@MX;Y~t"><field name="NUM">0</field></shadow><block type="math_number" id="^}e.`+*py9(P_]-Rv}Sr"><field name="NUM">0</field></block></value></block></statement><next><block type="controls_if" id="8KECB@[j@[wUC{Xg),Fe"><value name="IF0"><block type="logic_negate" id="z|}SSZHFy7GIxFz[cjls"><value name="BOOL"><block type="gamepad_getProperty_Boolean" id="8!(*;-$G6;b;x_:#bsK,"><field name="IDENTIFIER">gamepad1</field><field name="PROP">A</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value></block></value><statement name="DO0"><block type="variables_set" id="`,6*vTuvqw*elrF?XoD="><field name="VAR" id="tXu/hEPGY!w^}tWpC?%P" variabletype="">lastLoopTime1</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="t?N)w)IvvZBhwzIY7j=k"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="X52KeOY%!kstjBN#T%5T"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value></block></statement><next><block type="controls_if" id="+6aaA}YCjyr0TOo.aVTI"><value name="IF0"><block type="logic_negate" id="Ukd3fvgjdH{Ij!IXJRa:"><value name="BOOL"><block type="gamepad_getProperty_Boolean" id=",0q@+Am+#0I2T-Ta`yt/"><field name="IDENTIFIER">gamepad1</field><field name="PROP">B</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value></block></value><statement name="DO0"><block type="variables_set" id="M#S_V]2gB3dB@6i1z+`C"><field name="VAR" id="6(lbZC(hwv%L0jR~nQ}C" variabletype="">lastLoopTime2</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="A*UuJ#Ob6=(S4$fsk=(x"><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="{3wS~=i)~k2wmte!(|K1"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value></block></statement><next><block type="controls_if" id="qO2yS#j]Re,W:8rpdoHg"><value name="IF0"><block type="logic_negate" id="jZ501~10S5h@:P`zFk/m"><value name="BOOL"><block type="gamepad_getProperty_Boolean" id="ZPPg}~5Qf*E@Z{U(bKmL"><field name="IDENTIFIER">gamepad1</field><field name="PROP">X</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value></block></value><statement name="DO0"><block type="variables_set" id="4N,M9KCVoHr6(eY6o/{R"><field name="VAR" id="sE4s%6oMY4kKBK:vqu4f" variabletype="">lastLoopTime3</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="+W=sQBFM3E[Ag{WI4t}["><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="g6kJ/b-8G19b@:C8?T*O"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value></block></statement><next><block type="controls_if" id="@sOKJlI_x}q-40Eth]@A"><value name="IF0"><block type="logic_negate" id="xqK@GlPqc(|9?`!xSR.U"><value name="BOOL"><block type="gamepad_getProperty_Boolean" id="cSdRHxO[a^8e{(xgl%K$"><field name="IDENTIFIER">gamepad1</field><field name="PROP">Y</field><data>{"IDENTIFIER":"gamepad1"}</data></block></value></block></value><statement name="DO0"><block type="variables_set" id="!V@STYvZGzabOLF%3|5T"><field name="VAR" id="4ASN0[K8]wxZ9d25/J}l" variabletype="">lastLoopTime4</field><value name="VALUE"><block type="elapsedTime2_getProperty_Number" id="W!vl|U@}]qy7_o)X+(h("><field name="PROP">Milliseconds</field><value name="ELAPSED_TIME"><block type="variables_get" id="2t)f`CW5dq7!}j,5z%Mx"><field name="VAR" id="]k7I`Hu~1*,Y/MRine)1" variabletype="">runTime</field></block></value></block></value></block></statement><next><block type="telemetry_addNumericData_Number" id="nywK?^-eE)Ge}S7ufKy%"><value name="KEY"><shadow type="text" id="j/EF6l]2p9XYXU-~x_Qb"><field name="TEXT">key</field></shadow><block type="text" id="sl4Hc}fn=$*,=E1XR7R]"><field name="TEXT">Potentiometer</field></block></value><value name="NUMBER"><shadow type="math_number" 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