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wheelstest.plx
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wheelstest.plx
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<?xml version="1.0" encoding="UTF-8"?><PlexilPlan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:tr="extended-plexil-translator" FileName="wheelstest.ple"><GlobalDeclarations LineNo="2" ColNo="5"><StateDeclaration LineNo="2" ColNo="5"><Name>time</Name><Return><Name>_return_0</Name><Type>Date</Type></Return></StateDeclaration><CommandDeclaration LineNo="5" ColNo="0"><Name>TurnFrontWheels</Name><Parameter><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="8" ColNo="0"><Name>TurnRearWheels</Name><Parameter><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="11" ColNo="0"><Name>MoveForward</Name><Parameter><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="14" ColNo="0"><Name>MoveBackward</Name><Parameter><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="17" ColNo="0"><Name>OpenSprinkler</Name></CommandDeclaration><CommandDeclaration LineNo="20" ColNo="0"><Name>Stop</Name></CommandDeclaration><CommandDeclaration LineNo="22" ColNo="0"><Name>pprint</Name></CommandDeclaration></GlobalDeclarations><Node NodeType="NodeList" epx="Sequence" LineNo="35" ColNo="4"><NodeId>EmptyPlan</NodeId><VariableDeclarations><DeclareVariable LineNo="34" ColNo="4"><Name>delay2</Name><Type>Real</Type><InitialValue><RealValue>5</RealValue></InitialValue></DeclareVariable><DeclareVariable LineNo="35" ColNo="4"><Name>tolerance</Name><Type>Real</Type><InitialValue><RealValue>0.1</RealValue></InitialValue></DeclareVariable></VariableDeclarations><InvariantCondition><NOT><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Sequence__0</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Sequence__0</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="NodeList" epx="Sequence" LineNo="38" ColNo="4"><NodeId>Sequence__0</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__1</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__2</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__2</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__3</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__3</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__4</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__4</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__5</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__5</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__6</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__6</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__7</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__7</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__8</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__8</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__9</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__9</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__10</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__10</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__11</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__11</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__12</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__12</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__13</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__13</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__14</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__14</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__15</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__15</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__16</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__16</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__17</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__17</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__18</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__18</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__19</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__19</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__20</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__20</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">Wait__21</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">Wait__21</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__22</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__22</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="38" ColNo="8"><NodeId>COMMAND__1</NodeId><NodeBody><Command><Name><StringValue>TurnFrontWheels</StringValue></Name><Arguments LineNo="39" ColNo="25"><IntegerValue>-30</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="40" ColNo="8"><NodeId>Wait__2</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__1</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__2</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="40" ColNo="8"><NodeId>COMMAND__3</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__2</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnFrontWheels</StringValue></Name><Arguments LineNo="41" ColNo="25"><IntegerValue>-15</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="42" ColNo="8"><NodeId>Wait__4</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__3</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__4</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="42" ColNo="8"><NodeId>COMMAND__5</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__4</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnFrontWheels</StringValue></Name><Arguments LineNo="43" ColNo="24"><IntegerValue>0</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="44" ColNo="8"><NodeId>Wait__6</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__5</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__6</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="44" ColNo="8"><NodeId>COMMAND__7</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__6</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnFrontWheels</StringValue></Name><Arguments LineNo="45" ColNo="24"><IntegerValue>15</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="46" ColNo="8"><NodeId>Wait__8</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__7</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__8</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="46" ColNo="8"><NodeId>COMMAND__9</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__8</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnFrontWheels</StringValue></Name><Arguments LineNo="47" ColNo="24"><IntegerValue>30</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="48" ColNo="8"><NodeId>Wait__10</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__9</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__10</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="48" ColNo="8"><NodeId>COMMAND__11</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__10</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnFrontWheels</StringValue></Name><Arguments LineNo="49" ColNo="24"><IntegerValue>0</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="50" ColNo="8"><NodeId>COMMAND__12</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__11</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnRearWheels</StringValue></Name><Arguments LineNo="51" ColNo="24"><IntegerValue>-30</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="52" ColNo="8"><NodeId>Wait__13</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__12</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__13</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="52" ColNo="8"><NodeId>COMMAND__14</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__13</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnRearWheels</StringValue></Name><Arguments LineNo="53" ColNo="24"><IntegerValue>-15</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="54" ColNo="8"><NodeId>Wait__15</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__14</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__15</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="54" ColNo="8"><NodeId>COMMAND__16</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__15</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnRearWheels</StringValue></Name><Arguments LineNo="55" ColNo="23"><IntegerValue>0</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="56" ColNo="8"><NodeId>Wait__17</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__16</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__17</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="56" ColNo="8"><NodeId>COMMAND__18</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">Wait__17</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>TurnRearWheels</StringValue></Name><Arguments LineNo="57" ColNo="23"><IntegerValue>15</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Empty" epx="Wait" LineNo="58" ColNo="8"><NodeId>Wait__19</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__18</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><GE><LookupOnChange><Name><StringValue>time</StringValue></Name><Tolerance><RealVariable>tolerance</RealVariable></Tolerance></LookupOnChange><ADD><RealVariable>delay2</RealVariable><NodeTimepointValue><NodeId>Wait__19</NodeId><NodeStateValue>EXECUTING</NodeStateValue><Timepoint>START</Timepoint></NodeTimepointValue></ADD></GE></EndCondition></Node><Node NodeType="Command" LineNo="58" 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