<export xmlns="http://de.fhg.iais.roberta.blockly"><program><block_set xmlns="http://de.fhg.iais.roberta.blockly" robottype="ev3" xmlversion="3.1" description="" tags=""><instance x="92" y="73"><block type="robControls_start" id="gV[C^iUb7}m/7srBP`s." intask="true" deletable="false"><mutation declare="true"></mutation><field name="DEBUG">FALSE</field><statement name="ST"><block type="robGlobalVariables_declare" id="2R(]IQXPYu]4pf|-ULS(" intask="true" deletable="false" movable="false"><mutation next="true" declaration_type="Number"></mutation><field name="VAR">predchadzajuci</field><field name="TYPE">Number</field><value name="VALUE"><block type="math_number" id="WqKs]KG~s4#bd0-*YWpJ" intask="true"><field name="NUM">0</field></block></value></block><block type="robGlobalVariables_declare" id="36P]BCW4m}MgL)6co?+B" intask="true" deletable="false" movable="false"><mutation next="true" declaration_type="Number"></mutation><field name="VAR">povodny</field><field name="TYPE">Number</field><value name="VALUE"><block type="math_number" id="B_P[o:p]J2m}POD*IK%w" intask="true"><field name="NUM">0</field></block></value></block><block type="robGlobalVariables_declare" id="s.bC]250r85pYH6xZ*]." intask="true" deletable="false" movable="false"><mutation next="true" declaration_type="Number"></mutation><field name="VAR">vrcholy</field><field name="TYPE">Number</field><value name="VALUE"><block type="math_number" id="gCJuU/@^vWqD1bMLDIg|" intask="true"><field name="NUM">0</field></block></value></block><block type="robGlobalVariables_declare" id="ARLo]*h[@fDxSe11P+a(" intask="true" deletable="false" movable="false"><mutation next="true" declaration_type="Number"></mutation><field name="VAR">skryse</field><field name="TYPE">Number</field><value name="VALUE"><block type="math_number" id="#p(Tp@JmhqostiJ}L/^F" intask="true"><field name="NUM">0</field></block></value></block><block type="robGlobalVariables_declare" id="=F8wQJh*9;h`-Cs]/L7Y" intask="true" deletable="false" movable="false"><mutation next="false" declaration_type="Number"></mutation><field name="VAR">zapor</field><field name="TYPE">Number</field><value name="VALUE"><block type="math_number" id="9%~%WP:3N-jpgoxm8=%p" intask="true"><field name="NUM">0</field></block></value></block></statement></block><block type="variables_set" id="QsAo=VXV6mMS)4vP!U5b" intask="true"><mutation datatype="Number"></mutation><field name="VAR">predchadzajuci</field><value name="VALUE"><block type="robSensors_gyro_getSample" id="%6n9]bI2V+UTjlWHov/7" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value></block><block type="variables_set" id="5X~gXsEnB6;Eg4WNjNJE" intask="true"><mutation datatype="Number"></mutation><field name="VAR">povodny</field><value name="VALUE"><block type="robSensors_gyro_getSample" id="v4~{QT,:`/ijGpFDO;Q]" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value></block><block type="controls_whileUntil" id="YD?!9;U3{mzVgpCGQ4f_" intask="true"><field name="MODE">UNTIL</field><value name="BOOL"><block type="logic_operation" id="k,)^V{_Ui/xyJ[Al:|YK" intask="true"><field name="OP">AND</field><value name="A"><block type="logic_operation" id="^;;mRw3,)^]J*J^Cc5{q" intask="true"><field name="OP">AND</field><value name="A"><block type="logic_compare" id="f8wJF2uS7;ws@([L^@~Y" intask="true"><field name="OP">GT</field><value name="A"><block type="robSensors_timer_getSample" id="n#g=|jNrb0K=WyO!XK2J" intask="true"><mutation mode="VALUE"></mutation><field name="MODE">VALUE</field><field name="SENSORPORT">1</field><field name="SLOT"></field></block></value><value name="B"><block type="math_number" id="YPz4vQ8D2ugsB:??1%-r" intask="true"><field name="NUM">2000</field></block></value></block></value><value name="B"><block type="logic_compare" id="MhSN)~jf]LB1;tc|nFur" intask="true"><field name="OP">EQ</field><value name="A"><block type="variables_get" id="3at_tsI5xFnuUa*ofX{o" intask="true"><mutation datatype="Number"></mutation><field name="VAR">zapor</field></block></value><value name="B"><block type="math_number" id="m=g:Nq|=M/B;/-N9PRu-" intask="true"><field name="NUM">0</field></block></value></block></value></block></value><value name="B"><block type="logic_operation" id="7[F1K]qg*D3,t0-7ysVv" intask="true"><field name="OP">AND</field><value name="A"><block type="logic_compare" id="Gb`^so^o6IRda1B#yQb^" intask="true"><field name="OP">LT</field><value name="A"><block type="math_number" id="1MIXlJ?6eWfn{U@s]^US" intask="true"><field name="NUM">1</field></block></value><value name="B"><block type="variables_get" id="IR0%YUP2D0#-~D}4=St_" intask="true"><mutation datatype="Number"></mutation><field name="VAR">vrcholy</field></block></value></block></value><value name="B"><block type="logic_operation" id="!w(u;PXlwXQW!JXX_Dw9" intask="true"><field name="OP">OR</field><value name="A"><block type="logic_compare" id="IpgL[guOZB/#khx]~sB." intask="true"><field name="OP">LT</field><value name="A"><block type="math_single" id="Fnt)J)DU1XkuJQsHp:4-" intask="true"><field name="OP">ABS</field><value name="NUM"><block type="robSensors_gyro_getSample" id="ul,nbeg025N`U%OqJ28[" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value></block></value><value name="B"><block type="math_number" id="rOp2LnDixBwSY:|1Ci8!" intask="true"><field name="NUM">20</field></block></value></block></value><value name="B"><block type="logic_operation" id="?jmRjj+r]qt=q02x(}@x" intask="true"><field name="OP">AND</field><value name="A"><block type="logic_compare" id=";44?!k_c#p3EPg_D28WU" intask="true"><field name="OP">LT</field><value name="A"><block type="math_number" id="t/gqUM|?QBtMvMp@hgKZ" intask="true"><field name="NUM">345</field></block></value><value name="B"><block type="math_single" id="Pz}NE#vmqBinhdQTQ4F*" intask="true"><field name="OP">ABS</field><value name="NUM"><block type="robSensors_gyro_getSample" id=";U_|4ViONE8PtDHT@SDk" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value></block></value></block></value><value name="B"><block type="logic_compare" id="((Avn_F9HGZOW2(63O,C" intask="true"><field name="OP">LT</field><value name="A"><block type="math_single" id=".?}[u4]=],i!v|-7?@=*" intask="true"><field name="OP">ABS</field><value name="NUM"><block type="robSensors_gyro_getSample" id="cLX?TkKmQ/dR^9EF8M!-" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value></block></value><value name="B"><block type="math_number" id="vW?))KHzEC+r|cLGhVeR" intask="true"><field name="NUM">370</field></block></value></block></value></block></value></block></value></block></value></block></value><statement name="DO"><block type="robActions_motorDiff_curve" id="9u/0of=0.wq=Q)_pOA2#" intask="true"><field name="DIRECTION">FOREWARD</field><value name="POWER_LEFT"><block type="math_arithmetic" id=")V^/(L@ZinQQM,utat.[" intask="true"><field name="OP">MULTIPLY</field><value name="A"><block type="math_number" id="=So*z@Sl6dOQARXGi`T@" intask="true"><field name="NUM">2</field></block></value><value name="B"><block type="math_arithmetic" id="4mnLuV)|xFY*];N;sI*L" intask="true"><field name="OP">ADD</field><value name="A"><block type="math_arithmetic" id="Wo^g,zkRdE1x@zGspLJ)" intask="true"><field name="OP">MINUS</field><value name="A"><block type="robSensors_colour_getSample" id="1NWpD@ZbSUJB^A3`}Koq" intask="true"><mutation mode="LIGHT"></mutation><field name="MODE">LIGHT</field><field name="SENSORPORT">3</field><field name="SLOT"></field></block></value><value name="B"><block type="math_number" id="8NGf6MDH.hy/+p#Ojdcl" intask="true"><field name="NUM">50</field></block></value></block></value><value name="B"><block type="math_number" id="(c7S@zru0|6F7%#w5IKA" intask="true"><field name="NUM">10</field></block></value></block></value></block></value><value name="POWER_RIGHT"><block type="math_arithmetic" id="pbD.KH3)!N{pK.(5|_#r" intask="true"><field name="OP">MULTIPLY</field><value name="A"><block type="math_number" id="HTFONhK;zD/BlTW,cJ?x" intask="true"><field name="NUM">2</field></block></value><value name="B"><block type="math_arithmetic" id="EqW@Zq;^?+t6_Ka:^Kl!" intask="true"><field name="OP">ADD</field><value name="A"><block type="math_arithmetic" id=")SYfLFRb4P1xbs8wLJ`0" intask="true"><field name="OP">MINUS</field><value name="A"><block type="math_number" id="NHMrq}o1!zA%NJVowjlr" intask="true"><field name="NUM">50</field></block></value><value name="B"><block type="robSensors_colour_getSample" id="f|){pTOPz;f;q[K@pmAh" intask="true"><mutation mode="LIGHT"></mutation><field name="MODE">LIGHT</field><field name="SENSORPORT">3</field><field name="SLOT"></field></block></value></block></value><value name="B"><block type="math_number" id="~{r0tcD~5thMdfZKEVUW" intask="true"><field name="NUM">10</field></block></value></block></value></block></value></block><block type="robControls_if" id="EgwrZE,;7L88m?dLw#RA" intask="true"><value name="IF0"><block type="logic_operation" id="pB~GRJy*WL%Y)QRrS}n_" intask="true"><field name="OP">AND</field><value name="A"><block type="logic_operation" id="j0E2F)ge;hdRKjj9t3ot" intask="true"><field name="OP">OR</field><value name="A"><block type="logic_compare" id="D@;qAG/KqmJnc:lDQ#8f" intask="true"><field name="OP">GT</field><value name="A"><block type="robSensors_gyro_getSample" id="=g73cacZ#%f_c7%_cN94" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value><value name="B"><block type="math_arithmetic" id="a8SH!kmnb8=heOb?Fh]q" intask="true"><field name="OP">ADD</field><value name="A"><block type="variables_get" id="Cplvf5hrFB=q+r]EJp)^" intask="true"><mutation datatype="Number"></mutation><field name="VAR">predchadzajuci</field></block></value><value name="B"><block type="math_number" id="Z}YI!fz8J+k1=M_W79M)" intask="true"><field name="NUM">20</field></block></value></block></value></block></value><value name="B"><block type="logic_compare" id="QIWRfw-D9a~Y~FRw^hF7" intask="true"><field name="OP">LT</field><value name="A"><block type="robSensors_gyro_getSample" id="h+3HWGok*E6WOKw?4)~3" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value><value name="B"><block type="math_arithmetic" id="p)k5z[s9g[Om2lel;A=4" intask="true"><field name="OP">MINUS</field><value name="A"><block type="variables_get" id="mH,E-}p#+4feZOvlTbWj" intask="true"><mutation datatype="Number"></mutation><field name="VAR">predchadzajuci</field></block></value><value name="B"><block type="math_number" id="j}71*]|A0jRq25N?8nd)" intask="true"><field name="NUM">20</field></block></value></block></value></block></value></block></value><value name="B"><block type="logic_operation" id="WC-mS]dd^TSEyjoG*yIc" intask="true"><field name="OP">OR</field><value name="A"><block type="logic_compare" id="uEL9T3{Qef:pbt1hT=Tv" intask="true"><field name="OP">GT</field><value name="A"><block type="robSensors_timer_getSample" id="-60s-jwkM`I1(Va#GYut" intask="true"><mutation mode="VALUE"></mutation><field name="MODE">VALUE</field><field name="SENSORPORT">1</field><field name="SLOT"></field></block></value><value name="B"><block type="math_number" id=")k2T)hY3pCu;G^0Kc^R_" intask="true"><field name="NUM">2000</field></block></value></block></value><value name="B"><block type="logic_compare" id="z.wj:nr~_n^*s~mXD@YY" intask="true"><field name="OP">EQ</field><value name="A"><block type="variables_get" id="d^`VN3=e6csxP6ro-mM^" intask="true"><mutation datatype="Number"></mutation><field name="VAR">vrcholy</field></block></value><value name="B"><block type="math_number" id="kOp}5I?+1s2c@%6,HKEd" intask="true"><field name="NUM">0</field></block></value></block></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="%FpZT*sb.y@Z`:6;cfau" intask="true"><mutation datatype="Number"></mutation><field name="VAR">vrcholy</field><value name="VALUE"><block type="math_arithmetic" id="Pgn:];PCMGGI*1ENiVuf" intask="true"><field name="OP">ADD</field><value name="A"><block type="variables_get" id="TIja;?l@JIOs%Qaf/St*" intask="true"><mutation datatype="Number"></mutation><field name="VAR">vrcholy</field></block></value><value name="B"><block type="math_number" id="@afL[[7b)iXh)6.woK5/" intask="true"><field name="NUM">1</field></block></value></block></value></block><block type="robSensors_timer_reset" id="T~-KI(D{(NrYVy}Cewk]" intask="true"><field name="SENSORPORT">1</field></block><block type="robControls_ifElse" id="~.o|g//L{hL*%D/XEnF/" intask="true"><mutation else="1"></mutation><repetitions><value name="IF0"><block type="logic_compare" id="i)wW^f,ScOIqxc;hK67E" intask="true"><field name="OP">LT</field><value name="A"><block type="robSensors_gyro_getSample" id="9+H]*@?jlb1B6Ve}vfxv" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value><value name="B"><block type="variables_get" id=":IACvcA/HxoMPj~wn~tQ" intask="true"><mutation datatype="Number"></mutation><field name="VAR">predchadzajuci</field></block></value></block></value><statement name="DO0"><block type="variables_set" id="0m9-Jl~A77t[*cJzSr!I" intask="true"><mutation datatype="Number"></mutation><field name="VAR">skryse</field><value name="VALUE"><block type="math_arithmetic" id="ABYLTy8eKV}SB_o`dfBf" intask="true"><field name="OP">ADD</field><value name="A"><block type="variables_get" id="{d-!8Qv67zKbmUy~*?W." intask="true"><mutation datatype="Number"></mutation><field name="VAR">skryse</field></block></value><value name="B"><block type="math_number" id="8ad?u[0HwXeS92I*Awbx" intask="true"><field name="NUM">1</field></block></value></block></value></block><block type="variables_set" id="O3Zw@f)rd70Zxoq0Y:wD" intask="true"><mutation datatype="Number"></mutation><field name="VAR">zapor</field><value name="VALUE"><block type="math_number" id="H4RT~OGpUV?V15Z2:)~F" intask="true"><field name="NUM">1</field></block></value></block></statement><statement name="ELSE"><block type="variables_set" id="O1Ex81rFN_aW_df(9CoF" intask="true"><mutation datatype="Number"></mutation><field name="VAR">zapor</field><value name="VALUE"><block type="math_number" id="29LN7NT2}U7a)/-.frQC" intask="true"><field name="NUM">0</field></block></value></block></statement></repetitions></block></statement></block><block type="robControls_if" id="rEX:pQmpS=WL6T9lC0X)" intask="true"><value name="IF0"><block type="logic_operation" id="`5@.FgX;kl`c`,|*rh|T" intask="true"><field name="OP">AND</field><value name="A"><block type="logic_compare" id="#;m;EqfI7K!b*C`n929b" intask="true"><field name="OP">LT</field><value name="A"><block type="robSensors_timer_getSample" id="*]gkY(k-}3cUy}SEQ*|`" intask="true"><mutation mode="VALUE"></mutation><field name="MODE">VALUE</field><field name="SENSORPORT">1</field><field name="SLOT"></field></block></value><value name="B"><block type="math_number" id="8Y/,sKX]%#|@ua],K_=6" intask="true"><field name="NUM">2000</field></block></value></block></value><value name="B"><block type="logic_compare" id="sqOW=RHWGVRl=jXJ`Sf0" intask="true"><field name="OP">NEQ</field><value name="A"><block type="variables_get" id="tb}~mQ/0]*Yt@JQky4;t" intask="true"><mutation datatype="Number"></mutation><field name="VAR">vrcholy</field></block></value><value name="B"><block type="math_number" id="hoYc?FBjz.%.wzglXEok" intask="true"><field name="NUM">0</field></block></value></block></value></block></value><statement name="DO0"><block type="variables_set" id="X|B4KTqWQ_EP_`wTkPoh" intask="true"><mutation datatype="Number"></mutation><field name="VAR">predchadzajuci</field><value name="VALUE"><block type="robSensors_gyro_getSample" id="`?y{b%pYy.etPS5zhvwX" intask="true"><mutation mode="ANGLE"></mutation><field name="MODE">ANGLE</field><field name="SENSORPORT">2</field><field name="SLOT"></field></block></value></block></statement></block><block type="robActions_motorDiff_stop" id="^=%gjAcLH(1dHCIYOMaJ" intask="true"></block></statement></block><block type="robControls_ifElse" id="hq8GtUE9GyuZ2am(#9u4" intask="true"><mutation else="1"></mutation><repetitions><value name="IF0"><block type="logic_compare" id="uv`Lk/Vb-={3tt0/]2q~" intask="true"><field name="OP">GTE</field><value name="A"><block type="variables_get" id="7M:e3MtTPFUu4pPDaidm" intask="true"><mutation datatype="Number"></mutation><field name="VAR">skryse</field></block></value><value name="B"><block type="math_number" id="Rk=i6u?1P09?T/+7D=nT" intask="true"><field name="NUM">2</field></block></value></block></value><statement name="DO0"><block type="robActions_display_text" id="K/Iw=49K^!o-ccEUxD1(" intask="true"><value name="OUT"><block type="text" id="t^6JMolF:yY[.27V=M*g" intask="true"><field name="TEXT">existuju</field></block></value><value name="COL"><block type="math_number" id="xTN)/ZjY^Qg*DGjj4t#p" intask="true"><field name="NUM">0</field></block></value><value name="ROW"><block type="math_number" id=":eU:lvNd}1GD7lz}9;C1" intask="true"><field name="NUM">0</field></block></value></block></statement><statement name="ELSE"><block type="robActions_display_text" id="BT,cE*0mB7{{BV}y7b:Q" intask="true"><value name="OUT"><block type="text" id="HwN(_r8X=^kwl|1G_1us" intask="true"><field name="TEXT">nexistuju</field></block></value><value name="COL"><block type="math_number" id="8BE4oj{rtVtT]a{4Zwsk" intask="true"><field name="NUM">0</field></block></value><value name="ROW"><block type="math_number" id="CNd!|XR4!S37_cl@3EB_" intask="true"><field name="NUM">0</field></block></value></block></statement></repetitions></block><block type="robActions_display_text" id="W5zcP-IJqkl11yM@GPND" intask="true"><value name="OUT"><block type="variables_get" id="B%j{!uoQ#HS(4cI1mf%J" intask="true"><mutation datatype="Number"></mutation><field name="VAR">vrcholy</field></block></value><value name="COL"><block type="math_number" id="j2c)sshElYw_AJw.^7@t" intask="true"><field name="NUM">2</field></block></value><value name="ROW"><block type="math_number" id="@(j]`!SU^sdz2x%U0T+{" intask="true"><field name="NUM">2</field></block></value></block><block type="robControls_wait_time" id=":`S-c.QEb7(f4KK8X3@H" intask="true"><value name="WAIT"><block type="math_number" id="gQ,+9J^pI/2u].Dp)a6U" intask="true"><field name="NUM">3000</field></block></value></block></instance></block_set></program><config><block_set xmlns="http://de.fhg.iais.roberta.blockly" robottype="ev3" xmlversion="3.1" description="" tags=""><instance x="213" y="213"><block type="robBrick_EV3-Brick" id="1" intask="true" deletable="false"><field name="WHEEL_DIAMETER">5.6</field><field name="TRACK_WIDTH">18</field><value name="S1"><block type="robBrick_touch" id="2" intask="true"></block></value><value name="S2"><block type="robBrick_gyro" id="3" intask="true"></block></value><value name="S3"><block type="robBrick_colour" id="4" intask="true"></block></value><value name="S4"><block type="robBrick_ultrasonic" id="5" intask="true"></block></value><value name="MB"><block type="robBrick_motor_big" id="6" intask="true"><field name="MOTOR_REGULATION">TRUE</field><field name="MOTOR_REVERSE">OFF</field><field name="MOTOR_DRIVE">RIGHT</field></block></value><value name="MC"><block type="robBrick_motor_big" id="7" intask="true"><field name="MOTOR_REGULATION">TRUE</field><field name="MOTOR_REVERSE">OFF</field><field name="MOTOR_DRIVE">LEFT</field></block></value></block></instance></block_set></config></export>