<xml xmlns="https://developers.google.com/blockly/xml"><block type="procedures_defnoreturn" id="lpMuva],.)=RdekJyRW5" x="350" y="-490"><field name="NAME">เดินหน้า 1 บล็อค</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="PID_follow_line_timed" id="`@Ofv$/O~%v(-ZcVlk$b"><value name="SPEED"><shadow type="math_number" id="T?PP.0L8Z3al:/|n|?RS"><field name="NUM">30</field></shadow></value><value name="DUR"><shadow type="math_number" id="NoX|wliV[_i78C*4~}=["><field name="NUM">603</field></shadow></value><value name="KP"><shadow type="math_number" id="7v+5EM}Mq9loyYd_u8ft"><field name="NUM">0.05</field></shadow></value><value name="KD"><shadow type="math_number" id="s1}pPRTB$/=wrT?_avVn"><field name="NUM">1</field></shadow></value><next><block type="PuppyBot_Run_PID_until_frontSensor" id="[m!sHm5y(LlNBXGhK)4`"><value name="SUM"><shadow type="math_number" id="Fmvrk-l3j.^xA|{vcaP;"><field name="NUM">400</field></shadow></value><value name="SPEED"><shadow type="math_number" id="5,_lQPN6uhLX..@Lq/+w"><field name="NUM">30</field></shadow></value><value name="KP"><shadow type="math_number" id="2tNu/EI)DSvy[z#dG-f;"><field name="NUM">0.05</field></shadow></value><value name="KD"><shadow type="math_number" id="nD9yKSJ?-FS~OaHFB%vL"><field name="NUM">1</field></shadow></value><next><block type="pb_stop" id="X?eZ+t=(3nNv*xyH^ScI"></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="#J]b6T/K}8Dx%+C?-9VI" x="970" y="-410"><field name="NAME">เลี้ยวซ้าย</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="PuppyBot_Run_PID_until_frontSensor" id="@deslemLDvEWrrY7x{T0"><value name="SUM"><shadow type="math_number" id="9B0Zq.q20$~^Y~iMb)7*"><field name="NUM">400</field></shadow></value><value name="SPEED"><shadow type="math_number" id="?W4+RjS:!4v.m./Nh|d)"><field name="NUM">30</field></shadow></value><value name="KP"><shadow type="math_number" id="P@mjC]x9ji^_RKeB^sT{"><field name="NUM">0.5</field></shadow></value><value name="KD"><shadow type="math_number" id="4?s%chlIbXBmR2]FL=[v"><field name="NUM">0.1</field></shadow></value><next><block type="pb_forward" id="hh*8/4069YnPdbDO@cEZ"><value name="SPEED_L"><shadow type="math_number" id="zz@6W@T)]UbBTbK~3bfj"><field name="NUM">30</field></shadow></value><value name="SPEED_R"><shadow type="math_number" id="|O.?d6.:x|z.:6OlBh0b"><field name="NUM">29.3</field></shadow></value><next><block type="pb_wait_ms" id="i1!Ye(4Rl$-~r.C)7+[*"><value name="MS"><shadow type="math_number" id="uuFzx%Zyp1LDR#uPn/a1"><field name="NUM">200</field></shadow></value><next><block type="pb_stop" id="g_o}+2qYqoQ)n;}4znhu"><next><block type="pb_spin_left" id="2a;J|%~TXt4^1ptfDU6i"><value name="SPEED"><shadow type="math_number" id="|8^@jBwv!m3:fzXrSLO$"><field name="NUM">49.5</field></shadow></value><next><block type="pb_wait_ms" id="|E5Y5nfSaXjv+xTvVdwp"><value name="MS"><shadow type="math_number" id="FW%2BKs#t|nBK69CGu^Q"><field name="NUM">480</field></shadow></value><next><block type="pb_stop" id="sAJo%9BWsEwPl6+Z}9,~"></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="VNRVEuaWy1+BCm+ZA5fQ" x="1750" y="-410"><field name="NAME">กลับหลังหัน</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_spin_left" id="Vs:[q:?~`eOg[Rx:I=@P"><value name="SPEED"><shadow type="math_number" id="]4,nC8r/sAma-/^tnJ!="><field name="NUM">49.5</field></shadow></value><next><block type="pb_wait_ms" id="]09l6C*VpN0PLJ#vObq?"><value name="MS"><shadow type="math_number" id=";|Ecn#:sGL+n==RMu,PY"><field name="NUM">960</field></shadow></value><next><block type="pb_stop" id="If_MJ.}nH,ji1mZ3L4C`"></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id=",Tf~.,H]A3z}%Ca1u@,@" x="350" y="-330"><field name="NAME">เลี้ยวขวา</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="PuppyBot_Run_PID_until_frontSensor" id="R}s$~)4cs`!!S!UunnAB"><value name="SUM"><shadow type="math_number" id="{dj_Biq2ekZ8ZU,e=U8x"><field name="NUM">400</field></shadow></value><value name="SPEED"><shadow type="math_number" id="g|dG!jZ*.2~HN]^p${qN"><field name="NUM">30</field></shadow></value><value name="KP"><shadow type="math_number" id="Dt(NUf_2AR!2d]L]*%d`"><field name="NUM">0.5</field></shadow></value><value name="KD"><shadow type="math_number" id="3knK6u-;^%mCSome4?#Y"><field name="NUM">0.1</field></shadow></value><next><block type="pb_forward" id="lRF^_^i$tlgf],wJD`!L"><value name="SPEED_L"><shadow type="math_number" id="0^J][6p@djg:..UPQJXD"><field name="NUM">30</field></shadow></value><value name="SPEED_R"><shadow type="math_number" id="VArKmWnk;!j]z}+%1kva"><field name="NUM">29.3</field></shadow></value><next><block type="pb_wait_ms" id="iI[4ZLom,3b0:h_gA:hx"><value name="MS"><shadow type="math_number" id="niVnTN7L1uxm88BKW-dq"><field name="NUM">200</field></shadow></value><next><block type="pb_stop" id=":tOny-pE(nvRnFeb6Ebl"><next><block type="pb_spin_right" id="-z{O+7h#Z://);a-T%W|"><value name="SPEED"><shadow type="math_number" id="Bj#O$REKiF+2U_)UJdxU"><field name="NUM">49.5</field></shadow></value><next><block type="pb_wait_ms" id="XfFvnbK$!Jgsknbp6^r_"><value name="MS"><shadow type="math_number" id="Yy~BgjT0~6Qb=V%5s~v,"><field name="NUM">480</field></shadow></value><next><block type="pb_stop" id="xbZNRlHRWdNh3tj:@aAh"></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="Pd0ZxFpv=L/FXZ)M+F7?" x="1430" y="-250"><field name="NAME">เริ่มต้นถึงจบการทำงาน</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="procedures_callnoreturn" id="m=c%@9mJ1#OHuOzgH)4]"><mutation name="เริ่มต้นออกจากจุดสตาท"></mutation><next><block type="procedures_callnoreturn" id="]o_rGXYa=]k}(zw2ilK6"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id="0*~-,T^_[w^X-uU.5x3*"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="b}Y0RbopI3/sH8Zz.k|B"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="%,+%u,/:;mzg?#kr$Vlt"><mutation name="เลี้ยวซ้าย"></mutation><next><block type="procedures_callnoreturn" id="3PE[q*3y1Unu}(n9*QZW"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="wlBP4ngRPO`0f:s{t)I@"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="^9c(c|)j1i]Q33PQm91h"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id="7X*pN12];}|E4M,5j6S."><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id=")[69aG@Wd^`j[A!]Ae+y"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="UDV5$2*kc;bi-YC[OUXD"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id=")?9l2M|M,[^w.ewC0H{X"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id="{EaQ80${C1eV*$;3WP-`"><mutation name="เดินหน้าเพื่อจับลูกบาศก์"></mutation><next><block type="procedures_callnoreturn" id="M1xxfM!ak?0UyE}FrD*m"><mutation name="กลับหลังหัน"></mutation><next><block type="procedures_callnoreturn" id="!GHV8on0))~,Ly%q)=%l"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="$jnl!~5e0v9A$xvgY~g!"><mutation name="เลี้ยวซ้าย"></mutation><next><block type="procedures_callnoreturn" id="JUiV$Vs5DN=_LKak0F3H"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="zMU6[5/Mr||viElSa=L!"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="T^W;3E6{e1OQ|.YL2.TN"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="PquMCaAl8.!U6I87j05g"><mutation name="เลี้ยวซ้าย"></mutation><next><block type="procedures_callnoreturn" id="_0coyY[(`NM%kPX/d0{8"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="LHaKa4UJ1AL*H!5*`-I`"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id="tKTTJiGP3:~:OHrwM9v8"><mutation name="เดินหน้าเพื่อปล่อยลูกบาศก์"></mutation><next><block type="procedures_callnoreturn" id="[vXkL($ozNpiy*OPH=^_"><mutation name="กลับหลังหัน"></mutation><next><block type="procedures_callnoreturn" id="_iefbOd632X99c|e]en["><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="773FWFMC!+N@P}C?GW26"><mutation name="เดินหน้าเพื่อจับลูกบาศก์"></mutation><next><block type="procedures_callnoreturn" id="-}=uS6[s!vuesz.3.z-;"><mutation name="กลับหลังหัน"></mutation><next><block type="procedures_callnoreturn" id="Nvt,N0O[%:h-g%:0]#rt"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="^eP_jTd*yKA#PhBkbd4y"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id=".sKJ7mll/vv-PyT.Afxi"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="JA*?X(y@HMz7H*tJ)XBI"><mutation name="เลี้ยวซ้าย"></mutation><next><block type="procedures_callnoreturn" id="u9miPCH!KA#kSR~Ek#e4"><mutation name="เดินหน้าเพื่อปล่อยลูกบาศก์"></mutation><next><block type="procedures_callnoreturn" id="{bswBkHZm9pJ3V(C1iC0"><mutation name="กลับหลังหัน"></mutation><next><block type="procedures_callnoreturn" id="R*63.=#avDe*}Avssxf`"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id="6)NV6m}o,2Sad;t({nD9"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="opDdT=VHm!ih6.6-fm]Z"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="eYlsZTM8~l5}{G7T:gG~"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="{95l/~q2D8k^W:Xzq#0L"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="b~2lA9Imr@;0:=BvC|S%"><mutation name="เลี้ยวขวา"></mutation><next><block type="procedures_callnoreturn" id="yN-2wB3,j^h!L!(Tq|Wn"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="giGCUK#}_bmT^`ty,{jQ"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="Bj:6qx)h2J2#R?%J|k=F"><mutation name="เดินหน้า 1 บล็อค"></mutation><next><block type="procedures_callnoreturn" id="u+u~n2WH|BnTPRs4;QBX"><mutation name="เลี้ยวซ้าย"></mutation><next><block type="procedures_callnoreturn" id="aejhg^=[Z4IOVAcf,@H4"><mutation name="สิ้นสุด"></mutation></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="*24B*AFWJeS|A,OTt$3*" x="1750" y="-250"><field name="NAME">เดินหน้าเพื่อจับลูกบาศก์</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="PID_follow_line_timed" id="_u/eOmXKbVx~c1TDFU44"><value name="SPEED"><shadow type="math_number" id="u!8a4-a;?(|zG3`cz+?1"><field name="NUM">30</field></shadow></value><value name="DUR"><shadow type="math_number" id=";JIdEBuXubdEJ?UrLx%)"><field name="NUM">400</field></shadow></value><value name="KP"><shadow type="math_number" id="lY+0HVlsj2p(NZaIbaoT"><field name="NUM">0.05</field></shadow></value><value name="KD"><shadow type="math_number" id="G|OQm:@4ZKegWMAb#%w["><field name="NUM">1</field></shadow></value><next><block type="pb_stop" id="GI[M}hq@]XKUir9j,F!p"><next><block type="procedures_callnoreturn" id="[o|~d|bql$kW@`kJB%9j"><mutation name="คีบเตรียมพร้อมใช้งาน"></mutation><next><block type="procedures_callnoreturn" id=".;71]?7(q)Bu;=rBM?s?"><mutation name="คีบกระป๋องยก"></mutation></block></next></block></next></block></next></block></statement></block><block type="pb_program_setup" id="j$#X+he29b6hIHPG,nZ3" deletable="false" x="890" y="-130"><statement name="DO"><block type="PuppyBot_PID_setup_front" id="q4BwH3}!tgQ)Ik2@`b~%"><field name="numSensor">8</field><field name="line_color">1</field><field name="S0_Pin">0</field><field name="MIN0">11</field><field name="MAX0">1023</field><field name="S1_Pin">1</field><field name="MIN1">18</field><field name="MAX1">1023</field><field name="S2_Pin">2</field><field name="MIN2">24</field><field name="MAX2">1023</field><field name="S3_Pin">3</field><field name="MIN3">12</field><field name="MAX3">1023</field><field name="S4_Pin">4</field><field name="MIN4">15</field><field name="MAX4">1023</field><field name="S5_Pin">5</field><field name="MIN5">13</field><field name="MAX5">1023</field><field name="S6_Pin">6</field><field name="MIN6">21</field><field name="MAX6">1023</field><field name="S7_Pin">7</field><field name="MIN7">1</field><field name="MAX7">1023</field><field name="USE_SENSITIVE">FALSE</field><field name="SENSITIVE">20</field><field name="USE_CALIBRATE">FALSE</field><field name="CALIBRATE_ROUND">100</field><next><block type="PuppyBot_PID_setup_back" id="pl|2`T{ISQJkf;%XNiS*"><field name="numSensor">8</field><field name="line_color">1</field><field name="S0_Pin">0</field><field name="MIN0">198</field><field name="MAX0">1023</field><field name="S1_Pin">1</field><field name="MIN1">206</field><field name="MAX1">1023</field><field name="S2_Pin">2</field><field name="MIN2">221</field><field name="MAX2">1023</field><field name="S3_Pin">3</field><field name="MIN3">212</field><field name="MAX3">1023</field><field name="S4_Pin">4</field><field name="MIN4">187</field><field name="MAX4">1023</field><field name="S5_Pin">5</field><field name="MIN5">216</field><field name="MAX5">1023</field><field name="S6_Pin">6</field><field name="MIN6">186</field><field name="MAX6">1023</field><field name="S7_Pin">7</field><field name="MIN7">218</field><field name="MAX7">1023</field><field name="USE_SENSITIVE">FALSE</field><field name="SENSITIVE">20</field><field name="USE_CALIBRATE">FALSE</field><field name="CALIBRATE_ROUND">100</field><next><block type="pb_sw1_wait" id="d2d,L=SZMP){a{.E,-4V"><next><block type="procedures_callnoreturn" id="tD[FN_7Fj4v[yM#*)vyj"><mutation name="เริ่มต้นถึงจบการทำงาน"></mutation></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="K==*dkJzkV:-{d=v_s/Y" x="350" y="-30"><field name="NAME">คีบกระป๋องยก</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_servo" id="G9{^bx`|uUGbn9Y;CJDX"><field name="CH">2</field><value name="ANGLE"><shadow type="math_number" id="6rXKhBU+sXXyLB$DH#@m"><field name="NUM">180</field></shadow></value><next><block type="pb_wait_ms" id="x9Sw|HF-Qj]1#Y%G9a5("><value name="MS"><shadow type="math_number" id="OJXhQOcTjGr2{W7vu-xD"><field name="NUM">200</field></shadow></value><next><block type="pb_servo" id="6D4W[`}E+3oZuxu}knXz"><field name="CH">2</field><value name="ANGLE"><shadow type="math_number" id="%D1HqjNCkocSlA-@`rg~"><field name="NUM">0</field></shadow></value><next><block type="pb_wait_ms" id="zJtDkCEgo/g+c`#!q@+z"><value name="MS"><shadow type="math_number" id="+8ibqW!]!hdoj,ssftVw"><field name="NUM">200</field></shadow></value><next><block type="pb_servo" id="sFA1Nm74jNIZMOm=.qog"><field name="CH">1</field><value name="ANGLE"><shadow type="math_number" id="sPcy}54[bHA}#T-A$+aU"><field name="NUM">180</field></shadow></value><next><block type="pb_wait_ms" id="U;LBbp}=cXXA~G}$W{n["><value name="MS"><shadow type="math_number" id="KQ:XvkCFG`Oet+(gN-TI"><field name="NUM">200</field></shadow></value></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="XwBwiY}O?*ImJHcT(vX[" x="610" y="-30"><field name="NAME">วางกระป๋องปล่อย</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_servo" id=":5bQu`?}[cW;B^kf+RI="><field name="CH">1</field><value name="ANGLE"><shadow type="math_number" id="Anfu]msMLYXKx}EB)*dr"><field name="NUM">0</field></shadow></value><next><block type="pb_wait_ms" id="nWK:gMuwdGo^lSMf=`*s"><value name="MS"><shadow type="math_number" id="[W3WGOvg]M-t`4j,?mNO"><field name="NUM">200</field></shadow></value><next><block type="pb_servo" id="tvLWzuTtVJ.N,$SGAbO?"><field name="CH">2</field><value name="ANGLE"><shadow type="math_number" id="T[a|}15:19FIFtyZfzK!"><field name="NUM">180</field></shadow></value><next><block type="pb_wait_ms" id="ydS/~8=!hO2eo~f,r0l*"><value name="MS"><shadow type="math_number" id="1c1N$o.5dO4N7rxJy!nw"><field name="NUM">200</field></shadow></value></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="q}+K^VG~;9X}YX.+_JJS" x="1750" y="-70"><field name="NAME">เดินหน้าเพื่อปล่อยลูกบาศก์</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_forward" id=".h0T.j!Yv_aq!6!3MY/e"><value name="SPEED_L"><shadow type="math_number" id="4REBb~ayLo-sXdp+.R}E"><field name="NUM">30</field></shadow></value><value name="SPEED_R"><shadow type="math_number" id="E{MBr}ctCZTgrm$X1dFj"><field name="NUM">29.3</field></shadow></value><next><block type="pb_wait_ms" id="Xj_rRg2?m8w0jRzXTz^/"><value name="MS"><shadow type="math_number" id="M8sH[c#SGn)3Jnh9B9i2"><field name="NUM">645</field></shadow></value><next><block type="pb_stop" id="UY~l8RZB$lh{ae%f;Uvg"><next><block type="pb_wait_ms" id="s0hoLy+!m]REN,-PCXA2"><value name="MS"><shadow type="math_number" id="q%EG_l0vE,A/svj=+XI3"><field name="NUM">300</field></shadow></value><next><block type="procedures_callnoreturn" id="RYPCiek36}CPe*GkSV0e"><mutation name="วางกระป๋องปล่อย"></mutation><next><block type="pb_backward" id="VNb~$|o$Wfqv0mF2IB$P"><value name="SPEED_L"><shadow type="math_number" id="Ha(RT1gPu|BWW9LaTDdc"><field name="NUM">30</field></shadow></value><value name="SPEED_R"><shadow type="math_number" id="_XY4(E*G{=N~~ktu3KNs"><field name="NUM">29.3</field></shadow></value><next><block type="pb_wait_ms" id="9Y|tEK]/^3w:pZEk^O#f"><value name="MS"><shadow type="math_number" id="6b1v`fj/,}:EmJ{6quMy"><field name="NUM">645</field></shadow></value><next><block type="pb_stop" id="$:HJ|Z;!CHbE^I`45Fv!"></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="HSzq1%xZ:2XX`;]fs?Lk" x="610" y="170"><field name="NAME">คีบเตรียมพร้อมใช้งาน</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_servo" id="Aj~vaEOR-SrUpIhMq6A1"><field name="CH">2</field><value name="ANGLE"><shadow type="math_number" id="(k+W/bRq,u=A`Nw*4jbQ"><field name="NUM">180</field></shadow></value><next><block type="pb_wait_ms" id="hB9@Qx|*OqX.pXf4]T9,"><value name="MS"><shadow type="math_number" id="VE({modCqq[P0Fsx1.18"><field name="NUM">200</field></shadow></value><next><block type="pb_servo" id="QC=(^]E:S$JNR(5O3[hY"><field name="CH">1</field><value name="ANGLE"><shadow type="math_number" id="Cwm%KH[{1.a^~5;DZlpA"><field name="NUM">90</field></shadow></value><next><block type="pb_wait_ms" id="-tv{1`bglcx){,Z3?-w$"><value name="MS"><shadow type="math_number" id="-^Ce[@E(E4kudH^GsN_%"><field name="NUM">200</field></shadow></value></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="LgIOxQ3O*Z~jW9zTnylH" x="270" y="270"><field name="NAME">เริ่มต้นออกจากจุดสตาท</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_forward" id="RNH40{7jX;m/A1p{{m}["><value name="SPEED_L"><shadow type="math_number" id="AL_pd,ZW;[VE1HBEBBd9"><field name="NUM">30</field></shadow></value><value name="SPEED_R"><shadow type="math_number" id="E-D3LT)OII+2ma[$C_ic"><field name="NUM">29.3</field></shadow></value><next><block type="pb_wait_ms" id="y0Ay[ymn%eh=UPsN~/EV"><value name="MS"><shadow type="math_number" id="zy[vsGN,Y+.n[u0q;NgT"><field name="NUM">365</field></shadow></value><next><block type="pb_stop" id="_.IAJ2Yx+Gy=5d,3+($z"><next><block type="PID_follow_line_timed" id="D?=YS_cg$^|6ds%3KV3-"><value name="SPEED"><shadow type="math_number" id="trtNdCw9NB.V}z5vE@l8"><field name="NUM">30</field></shadow></value><value name="DUR"><shadow type="math_number" id="O3U)6dzQkZS7@eO4_~[?"><field name="NUM">500</field></shadow></value><value name="KP"><shadow type="math_number" id="td,20a3TeRuJ[(EXD*CR"><field name="NUM">0.03</field></shadow></value><value name="KD"><shadow type="math_number" id="Jz%)`i?.T9EY?aPH8ndY"><field name="NUM">1</field></shadow></value><next><block type="PuppyBot_Run_PID_until_frontSensor" id="X)oOjq8l~C`zd4]%gMmk"><value name="SUM"><shadow type="math_number" id="9|])L)Fc^=bUOjg.KZi,"><field name="NUM">400</field></shadow></value><value name="SPEED"><shadow type="math_number" id="0@1XO0?3J:SGcfV3wGEq"><field name="NUM">30</field></shadow></value><value name="KP"><shadow type="math_number" id="d/ZZ?A!#iq5Ir)vzobYC"><field name="NUM">0.03</field></shadow></value><value name="KD"><shadow type="math_number" id="E2DN@_3CJ{DiFtd:}jEJ"><field name="NUM">1</field></shadow></value><next><block type="pb_stop" id=":EWb:W%C*@/_4GyJhpsq"></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="c#6IYjVNzX=~8z21Hju*" x="250" y="550"><field name="NAME">สิ้นสุด</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="PID_follow_line_timed" id="HFg|LA-jE+w,GSy1BYhd"><value name="SPEED"><shadow type="math_number" id="j;NX9`O64|Z3eSl]Et-9"><field name="NUM">30</field></shadow></value><value name="DUR"><shadow type="math_number" id="mNR{;w:z@`fG=KQWP+f`"><field name="NUM">300</field></shadow></value><value name="KP"><shadow type="math_number" id="RPzkKvGMrK,jp3fgbd{0"><field name="NUM">0.03</field></shadow></value><value name="KD"><shadow type="math_number" id="Nj(.m@A-);P_+#J20/rb"><field name="NUM">1</field></shadow></value><next><block type="PuppyBot_Run_PID_until_frontSensor" id="GnUwUYAi[,9+l(QRfG#-"><value name="SUM"><shadow type="math_number" id="RAhB0,1kW?wiUv()vwtJ"><field name="NUM">400</field></shadow></value><value name="SPEED"><shadow type="math_number" id="A[?(q^On)wYGLlJ5{)p5"><field name="NUM">30</field></shadow></value><value name="KP"><shadow type="math_number" id="qc2zi]=tL+X)q9P+A/P:"><field name="NUM">0.03</field></shadow></value><value name="KD"><shadow type="math_number" id="g(vsXR4c7iM+DDYiz3JK"><field name="NUM">1</field></shadow></value><next><block type="pb_stop" id="u^_|`|s08@XNA8b7o0uE"><next><block type="pb_forward" id="K=[B7sftd}c^2bYgRArK"><value name="SPEED_L"><shadow type="math_number" id="[]l0q:VC0`;6*mj?zSFj"><field name="NUM">30</field></shadow></value><value name="SPEED_R"><shadow type="math_number" id="W1QfDiRy|WP$F{f$vYMO"><field name="NUM">29.3</field></shadow></value><next><block type="pb_wait_ms" id=":gZ(V*J1uvms3yaMQ6o|"><value name="MS"><shadow type="math_number" id=";:bn(.srs#iAWM[Z!kM0"><field name="NUM">600</field></shadow></value><next><block type="pb_stop" id="Y:i@(Er!#mQd{}?!QDyX"><next><block type="procedures_callnoreturn" id="bGxTR@[gX$w6s()9~7?3"><mutation name="กลับหลังหัน"></mutation></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type="pb_program_loop" id="-grHO{SY8,O]YVBwphFZ" deletable="false" x="890" y="530"></block><block type="procedures_defnoreturn" id=")-dJXc2:DI:5=L@VL0hy" x="610" y="670"><field name="NAME">จิ้มลูกโป่งด้านขวา</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_servo" id="09CCZCY{n[gtK/m9~IiP"><field name="CH">5</field><value name="ANGLE"><shadow type="math_number" id="h?/.r@N1bM^`M:!MNTTF"><field name="NUM">90</field></shadow></value><next><block type="pb_wait_ms" id="P8+9T9i$BY9w|HNg-H6)"><value name="MS"><shadow type="math_number" id="CKTzFQLhxiBtXTfci7C}"><field name="NUM">300</field></shadow></value><next><block type="pb_servo" id="|pKYm?s3{15Zk_1s{2o{"><field name="CH">5</field><value name="ANGLE"><shadow type="math_number" id=")~CLHulC[x2@-|7?%ErI"><field name="NUM">150</field></shadow></value></block></next></block></next></block></statement></block><block type="procedures_defnoreturn" id="(3dJJ[shC,7:K;}q!|DD" x="610" y="830"><field name="NAME">จิ้มลูกโป่งด้านซ้าย</field><comment pinned="false" h="80" w="160">Describe this function...</comment><statement name="STACK"><block type="pb_servo" id="Rx[@L/US|frzKZ?^p~0!"><field name="CH">5</field><value name="ANGLE"><shadow type="math_number" id="UES%OGMdN[K^9Fgh*%x:"><field name="NUM">90</field></shadow></value><next><block type="pb_wait_ms" id="F#sdLV#XAt]{scJS4ij-"><value name="MS"><shadow type="math_number" id="/@x4A1YJ/IAw3_2:?LU_"><field name="NUM">300</field></shadow></value><next><block type="pb_servo" id="zt{tPsHll0h.^e_ZTg[C"><field name="CH">5</field><value name="ANGLE"><shadow type="math_number" id="Mboym$-%pr{J;I38gTbE"><field name="NUM">30</field></shadow></value></block></next></block></next></block></statement></block></xml>