def lineFollowRightFrontTilLeftFrontBlack(speed):
while onBlackFrontLeft():
if not onBlackFrontRight():
create_drive_direct(speed/2, speed)
else:
create_drive_direct(speed, speed/2)
cpp.drive(0,0)
def lineFollowRightFrontTilRightBlack():
while onBlackRight():
if not onBlackFrontRight():
create_drive_direct(200, 100)
else:
create_drive_direct(100, 200)
cpp.drive(0,0)
def driveTillBump(lspeed, rspeed):
temp = -lspeed
lspeed = -rspeed
rspeed = temp
create_drive_direct(rspeed, lspeed)
while not cpp.left_bump() and not cpp.right_bump():
pass
cpp.drive(0,0)
def timedLineFollowFrontTophat(time):
sec = seconds()
while(seconds() - sec<time):
if analog(c.FRONT_TOPHAT) < 1500:
create_drive_direct(-100, -50)
else:
create_drive_direct(-50, -100)
cpp.drive(0,0)
def timedLineFollowLeftFront(speed, time):
sec = seconds()
while(seconds() - sec<time):
if not onBlackFrontLeft():
create_drive_direct(speed, speed/2)
else:
create_drive_direct(speed/2, speed)
cpp.drive(0,0)
def driveTilFrontTophatBlack(lspeed, rspeed):
temp = -lspeed
lspeed = -rspeed
rspeed = temp
create_drive_direct(rspeed, lspeed)
while (analog(c.FRONT_TOPHAT) < 2000):
pass
cpp.drive(0,0)
def timedLineFollowRightFront(speed, time):
sec = seconds()
while(seconds() - sec<time):
if not onBlackFrontRight():
create_drive_direct(speed, (int)(speed/1.8))
else:
create_drive_direct((int)(speed/1.8), speed)
msleep(10)
cpp.drive(0,0)
def driveTilBlackLRCliffAndSquareUp(lspeedInit, rspeedInit):
lspeed = -rspeedInit
rspeed = -lspeedInit
#print(cpp.TEMP_GET_ROBOT().cliff_right_signal)
cpp.drive(lspeed, rspeed)
while not onBlackLeft() or not onBlackRight():
if onBlackLeft():
cpp.drive(abs(lspeed)/lspeed * 5, 0)
print('black on left')
elif onBlackRight():
cpp.drive(0, abs(rspeed)/rspeed * 5)
print('black on right')
else:
print('on white')
def turnTilRightFrontBlack(left, right):
create_drive_direct(left, right)
while onBlackFrontRight():
pass
cpp.drive(0,0)
def create_drive_direct(left, right):
cpp.drive(int(left/5), int(right/5))