def go_up_ramp():
display("\nFunction: go_up_ramp\n")
u.move_bin(c.ARM_SWING)
x.drive_speed(12, 100)
start_time = seconds()
x.drive_speed(5, 100)
while gyro_y() < 100 or seconds() < start_time + 2:
if u.on_black_front():
x.drive_forever(50, 100)
else:
x.drive_forever(100, 50)
msleep(10)
x.drive_speed(8, 100)
u.move_servo(c.SERVO_JOINT, c.JOINT_GROUND)
# u.wait_for_button()
print("1")
x.pivot_left_condition(30, u.on_black_front, False)
# u.wait_for_button()
print("2")
# if u.on_black_back():
x.pivot_right_condition(30, u.on_black_back)
# x.pivot_right(35, 30)
# u.wait_for_button()
print("3")
x.pivot_right_condition(30, u.on_black_back, False)
# u.wait_for_button()
print("4")
x.pivot_left_condition(30, u.on_black_front, False)
# u.wait_for_button()
print("5")
u.move_bin(c.ARM_ALL_UP)
msleep(500)
def self_test():
display("\nFunction: self_test\n")
display("Click left button to use botguy hitter else hit right")
while not right_button() and not left_button():
pass
if right_button():
c.HIT_BOTGUY = False
display("wont hit botguy")
elif left_button():
c.HIT_BOTGUY = True
display("will hit botguy")
display("DONE SETTING")
if u.on_black_front() or u.on_black_back():
display("Something is wrong with the tophats!")
display("LTOPHAT: {}\tRTOPHAT: {}".format(u.on_black_front(),
u.on_black_back()))
exit(1)
while not u.found_bump():
pass
display("Good gyro")
u.wait_for_button()
enable_servos()
x.drive_forever(80, 80)
x.drive_condition(80, 80, u.on_black_front, False)
msleep(500)
x.drive_condition(80, 80, u.on_black_back, False)
x.freeze_motors()
u.move_servo(c.SERVO_JOINT, c.JOINT_MID)
u.move_servo(c.SERVO_BIN_ARM, c.ARM_SPINNER_TEST)
x.wait_for_someone_to_rotate()
u.wait_for_button()
x.rotate_until_stalled(20)
msleep(500)
x.rotate_spinner(.06, -30)
msleep(500)
x.set_spinner_safe()
u.move_servo(c.SERVO_JOINT, c.JOINT_TUCKED)
u.move_servo(c.SERVO_BIN_ARM, c.ARM_TUCKED)
u.move_servo(c.SERVO_BOT_GUY_HITTER, c.HITTER_OUT)
u.move_servo(c.SERVO_BOT_GUY_HITTER, c.HITTER_IN)
msleep(500)
x.rotate(15, 60)
msleep(1000)
x.rotate(-15, 60)
display("DONE")
def test_ramp():
x.drive_speed(100, 100)
u.DEBUG()
enable_servos()
u.move_servo(c.DEPLOYABLE_WHEELS, c.WHEELS_DEPLOYED)
u.move_bin(c.ARM_SWING)
x.drive_speed(12, 100)
start_time = seconds()
x.drive_speed(5, 100)
while gyro_y() < 100 or seconds() < start_time + 2:
if u.on_black_front():
x.drive_forever(70, 100)
else:
x.drive_forever(100, 70)
msleep(10)
x.drive_speed(4, 100)
x.pivot_left_condition(30, u.on_black_front, False)
def go_up_ramp2():
display("\nFunction: go_up_ramp\n")
u.move_bin(c.ARM_SWING)
x.drive_speed(12, 100)
start_time = seconds()
x.drive_speed(5, 100)
while gyro_y() < 100 or seconds() < start_time + 2:
if u.on_black_front():
x.drive_forever(70, 100)
else:
x.drive_forever(100, 70)
msleep(10)
x.freeze_motors()
u.move_servo(c.SERVO_JOINT, c.JOINT_GROUND)
if c.IS_CLONE:
x.drive_speed(5, 100)
u.move_servo(c.SERVO_BOT_GUY_HITTER, c.HITTER_ET)
x.pivot_right_condition(-30, u.lost_ramp, False)
x.pivot_left_condition(-30, u.on_black_back, False)
x.linefollow_distance(9)
if not c.IS_CLONE:
x.drive_speed(8, 100)
# u.wait_for_button()
print("1")
x.pivot_left_condition(30, u.on_black_front, False)
# u.wait_for_button()
print("2")
# if u.on_black_back():
x.pivot_right_condition(30, u.on_black_back)
# x.pivot_right(35, 30)
# u.wait_for_button()
print("3")
x.pivot_right_condition(30, u.on_black_back, False)
# u.wait_for_button()
print("4")
x.pivot_left_condition(30, u.on_black_front, False)
# u.wait_for_button()
print("5")
u.move_bin(c.ARM_ALL_UP)
msleep(500)
def go_to_ramp():
display("\nFunction: go_to_ramp\n")
u.move_servo(c.SERVO_JOINT, c.JOINT_RAMP_ON)
u.move_servo(c.SERVO_JOINT, c.JOINT_ARM_TILT)
if c.IS_CLONE:
x.rotate(-5, 50)
else:
x.rotate(-5, 50)
x.drive_forever(-50, -50)
u.move_bin(c.ARM_TILT, 5)
x.drive_speed(-10, 100)
x.rotate(5, 65)
u.move_servo(c.SERVO_JOINT, c.JOINT_HOLD, 5)
u.move_bin(c.ARM_TUCKED, 5)
msleep(100)
x.drive_speed(-7, 100)
x.drive_speed(-6, 75)
x.drive_speed(2, 75)
x.pivot_right(-90, 60)
u.move_servo(c.SERVO_JOINT, c.JOINT_MID)