def turn_left_until_rfcliff_senses_white(multiplier=1):
print "Starting turn_left_until_rfcliff_senses_white"
m.base_turn_left(multiplier)
while BlackFrontRight():
pass
m.base_turn_left(multiplier)
m.deactivate_motors()
def turn_left_until(boolean_function, should_stop=True, *, time=c.SAFETY_TIME):
m.base_turn_left()
sec = seconds() + time / 1000
while seconds() < sec and not(boolean_function()):
msleep(1)
if should_stop:
m.deactivate_motors()
def turn_left_until(boolean_function, time=c.SAFETY_TIME, should_stop=True):
m.base_turn_left()
if time == 0:
should_stop = False
time = c.SAFETY_TIME
wait_until(boolean_function, time)
if should_stop:
m.deactivate_motors()
def turn_gyro(target_degrees=90, speed_multiplier=1):
c.ROBOT_ANGLE = 0
if target_degrees < 0: # Left turn code is different than right turn. Positive degrees are left.
m.base_turn_left(speed_multiplier)
while c.ROBOT_ANGLE * c.WALLAGREES_TO_DEGREES_RATE > target_degrees:
get_change_in_angle()
else:
m.base_turn_right(speed_multiplier)
while c.ROBOT_ANGLE * c.WALLAGREES_TO_DEGREES_RATE < target_degrees:
get_change_in_angle()
m.deactivate_motors()
def align_on_wall_right():
m.base_veer_right(0.5)
wait_until(isRoombaBumped)
m.deactivate_motors()
u.halve_speeds()
m.base_turn_left()
wait_until(isRoombaNotBumped)
m.deactivate_motors()
msleep(100)
g.turn_right_gyro(4)
msleep(100)
def turn_gyro(degrees, time=c.SAFETY_TIME):
angle = 0
target_angle = degrees * c.DEGREE_CONVERSION_RATE
if target_angle > 0:
m.base_turn_left()
sec = seconds() + time
while angle < target_angle and seconds() < sec:
msleep(10)
angle += (gyro_z() - bias) * 10
else:
m.base_turn_right()
sec = seconds() + time
while angle > target_angle and seconds() < sec:
msleep(10)
angle += (gyro_z() - bias) * 10
m.deactivate_motors()
def turn_gyro(degrees, should_stop=True):
angle = 0
target_angle = degrees * c.DEGREE_CONVERSION_RATE
if target_angle > 0:
m.base_turn_left()
sec = seconds().time + c.SAFETY_TIME
while angle < target_angle and seconds.time() < sec:
msleep(10)
angle += (get_change_in_angle() - u.gyro_bias) * 10
else:
m.base_turn_right()
sec = seconds().time + c.SAFETY_TIME
while angle > target_angle and seconds.time() < sec:
msleep(10)
angle += (get_change_in_angle() - u.gyro_bias) * 10
if should_stop:
m.deactivate_motors()
def wfollow_right_choppy_until(boolean_function, *, time=c.SAFETY_TIME):
sec = seconds() + time / 1000
while seconds() < sec and not(boolean_function()):
if isRoombaBumped():
if isLeftBumped():
m.backwards(100)
m.turn_left()
else:
if c.FIRST_BUMP == True:
m.deactivate_motors()
u.halve_speeds()
m.base_turn_left()
c.FIRST_BUMP = False
else:
m.base_veer_right(0.6)
c.FIRST_BUMP = True
u.normalize_speeds()
msleep(c.LFOLLOW_REFRESH_RATE)
u.normalize_speeds()
if should_stop:
m.deactivate_motors()
def wfollow_right_choppy(time):
sec = seconds() + time / 1000
while seconds() < sec:
if isRoombaBumped():
if isLeftBumped():
m.backwards(100)
m.turn_left()
else:
if c.FIRST_BUMP == True:
m.deactivate_motors()
u.halve_speeds()
m.base_turn_left()
c.FIRST_BUMP = False
else:
m.base_veer_right(0.6)
c.FIRST_BUMP = True
u.normalize_speeds()
msleep(c.LFOLLOW_REFRESH_RATE)
u.normalize_speeds()
if should_stop:
m.deactivate_motors()
def calibrate_gyro_degrees():
print "Starting calibrate_gyro_degrees()"
c.ROBOT_ANGLE = 0
#s.drive_until_black()
#s.align_close()
sec = seconds()
m.base_turn_left()
while s.NotBlackFrontLeft():
get_change_in_angle()
while s.BlackFrontLeft():
get_change_in_angle()
while s.NotBlackFrontLeft():
get_change_in_angle()
while s.BlackFrontLeft():
get_change_in_angle()
while s.NotBlackFrontLeft():
get_change_in_angle()
c.RIGHT_TURN_TIME = int((seconds() - sec) * 1000 / 4.0) - 30
c.LEFT_TURN_TIME = int((seconds() - sec) * 1000 / 4.0) - 30
m.deactivate_motors()
c.WALLAGREES_TO_DEGREES_RATE = (360.0 / c.ROBOT_ANGLE * -1) / 2
print "Finished calibrating.\nWallagree-Degree conversion rate: " + str(
c.WALLAGREES_TO_DEGREES_RATE)
print "Right turn time: " + str(c.RIGHT_TURN_TIME)
def turn_left_until_rcliff_senses_white(multiplier=1):
m.base_turn_left(multiplier)
while BlackRight():
pass
m.deactivate_motors()
def turn_left_until_lcliff_senses_white(multiplier=1):
print "Starting turn_left_until_lcliff_senses_white()"
m.base_turn_left(multiplier)
while BlackLeft():
pass
m.deactivate_motors()
def turn_left_until_lfcliff_senses_black(multiplier=1):
print "Starting turn_left_until_lfcliff_senses_black"
m.base_turn_left(multiplier)
while NotBlackFrontLeft():
pass
m.deactivate_motors()
