def calibrate(port):
print "Press A button with light on"
while not a_button_clicked():
if digital(13):
DEBUG()
lightOn = analog(port)
print "On value =", lightOn
if lightOn > 200:
print "Bad calibration"
return False
print "Press B button with light off"
while not b_button_clicked():
if digital(13):
DEBUG()
lightOff = analog(port)
print "Off value =", lightOff
if lightOff < 3000:
print "Bad calibration"
return False
if (lightOff - lightOn) < 2000:
print "Bad calibration"
return False
c.startLightThresh = (lightOff - lightOn) / 2
print "Good calibration! ", c.startLightThresh
return True
def wait_for_button():
display("Press Button...")
while not digital(c.RIGHT_BUTTON):
pass
msleep(1)
display("Pressed")
msleep(1000)
def waitForButton():
print("Press Right Button...")
while not digital(c.RIGHT_BUTTON):
pass
msleep(1)
print("Pressed")
msleep(1000)
def waitForButton():
print "Press Button..."
while not digital(c.RIGHT_BUTTON):
pass
msleep(1)
print "Pressed"
msleep(1000)
def waitForButton():
print "Press Button..."
while not digital(c.RIGHT_BUTTON):
pass
msleep(1)
print "Pressed"
msleep(1000)
def calibrate6():
global lAdjust
lAdjust = 1
while True:
drive_speed(3, 50)
if analog(0) > 1500:
lAdjust = lAdjust + 0.05
while not digital(13):
pass
msleep(500)
elif analog(0) < 1000:
lAdjust = lAdjust - 0.05
while not digital(13):
pass
msleep(500)
print lAdjust
def calibrate5():
_clear_ticks()
while not digital(13):
try:
print str(_left_ticks()) + " " + str(_right_ticks()) + " " + str(
_right_ticks() / _left_ticks())
except Exception:
pass
msleep(100)
x = _right_ticks() / _left_ticks()
global lAdjust
lAdjust = x
print(x)
from wallaby import digital # Misc ALLOW_BUTTON_WAIT = False START_TIME = 0 CLONE_SWITCH = 9 IS_CLONE = digital(CLONE_SWITCH) IS_PRIME = not IS_CLONE STARTLIGHT = 2 FRONT_BUMPED = 0 # Tophats LEFT_TOPHAT = 0 RIGHT_TOPHAT = 5 THRESHOLD = 1500 # Servos SERVO_CLAW = 3 SERVO_ARM = 1 SERVO_HAY_SPIN = 2 SERVO_HAY_ARM = 0 #2 1569 #3 170 #1 Same for now # Motors Y_ARM = 0 HAY_MOTOR = 1 # Servo Values
from wallaby import digital
FRONT_BUMPED = 0
ALLOW_BUTTON_WAIT = True
START_TIME = 0
ROBOT_ID_CLONE = 0
IS_CLONE = digital(ROBOT_ID_CLONE)
IS_PRIME = not IS_CLONE
STARTLIGHT = 0
#Servo Ports
sky_claw = 1
electric_arm_base = 2
sky_arm = 3
#Sensor ports
left_tophat = 5
right_tophat = 4
pipe_switch = 9
#motor
electric_line_motor = 3
if IS_PRIME:
# Servo Positions
arm_offset = -180
arm_vertical = 1430 + arm_offset
arm_low_sky = 815 + arm_offset
arm_low_grab = 850 + arm_offset
mayor_arm = 1150 + arm_offset
startTime = -1 # Motor ports LMOTOR = 0 RMOTOR = 3 # Digital ports CLONE_SWITCH = 9 RIGHT_BUTTON = 13 # Analog ports TOPHAT = 0 ET = 5 STARTLIGHT = 4 isClone = w.digital(CLONE_SWITCH) # Servos servoArm = 0 servoClaw = 1 armUp = 1500 armMid = 500 armFurrow = 200 armDownMid = 100 armDown = 25 clawOpen = 0 clawClosed = 1980 #1550 if isClone:
# Time
startTime = -1
# Motor ports
LMOTOR = 2
RMOTOR = 0
# Digital ports
ROBOT_ID_YELLOW = 0
ROBOT_ID_BLUE = 1
RIGHT_BUTTON = 13
# Analog ports
IS_YELLOW_BOT = w.digital(ROBOT_ID_YELLOW)
IS_BLUE_BOT = w.digital(ROBOT_ID_BLUE)
IS_ORANGE_BOT = not IS_YELLOW_BOT and not IS_BLUE_BOT
# Drive Constants
WHEEL_DISTANCE = 5.50 #205 - 4.25 # Distance between the two wheels
if IS_ORANGE_BOT:
INCHES_TO_TICKS = 222 #192 #larger numbers = longer drive
lAdjust = 1.02 #.86 #.875 # 1.12 # .99 # adjust left wheel counter to fix drift; Larger number makes the robot drive left...?
else: # Blue Bot
INCHES_TO_TICKS = 204
lAdjust = 1.125 # adjust left wheel counter to fix drift #1.083
# Servos
outriggerTurn = 450
outriggerOut = 1650
outriggerFront = 1900
outriggerSpin = 416
outriggerFindLine = 1200
outriggerBaseReturn = 340
outriggerBin = 1080
outriggerApproach = 1500
# PRIME analog sensors values
topHatMidValue = 2000 # value between black and white top hat values
armLength = 1000 # robot 1 claw length from bin
ceilingHeight = 700 # value of ET beneath crater rim
isClone = w.digital(CLONE_SWITCH)
isPrime = not isClone
if isPrime:
print("running PRIME")
else:
print("running CLONE!")
armFront = 80
armMid = 500 # Arm to score at bin
armUp = 1000 # Arm at 90 degrees up
armBack = 1500# Arm backwards
armBump = 400
clawOpen = 850 #Claw open (525)
clawMid = 900
clawWiggle = 1400
import wallaby as w # Time start_time = -1 # motor values LEFT_MOTOR = 0 RIGHT_MOTOR = 3 # Digital ports CLONE_SWITCH = 9 RIGHT_BUTTON = 13 BUTTON = 0 is_clone = w.digital(CLONE_SWITCH) is_prime = not is_clone #Analog ports FRONT_TOPHAT_RIGHT = 0 # analog FRONT_TOPHAT_LEFT = 1 #sensor values on_black = 1800 #servo ports servo_arm = 0 servo_wrist = 1 servo_claw = 3 #switched from 2 due to broken port if is_clone: # Yellow Lego
import wallaby as w
# Time
startTime = -1
# Digital ports
GREEN_CLONE_SWITCH = 9
YELLOW_CLONE_SWITCH = 8
RIGHT_BUTTON = 13
ALLOW_BUTTON_WAIT = True
isGreen = w.digital(GREEN_CLONE_SWITCH)
isYellow = False
'''w.digital(YELLOW_CLONE_SWITCH)'''
isBlue = not isGreen and not isYellow
# Motor ports
LMOTOR = 3
RMOTOR = 0
if isBlue:
DATEMOTOR1 = 1
DATEMOTOR2 = 2
elif isGreen:
DATEMOTOR1 = 2 #was 1
DATEMOTOR2 = 1
elif isYellow:
DATEMOTOR1 = 1
DATEMOTOR2 = 2
#Analog Ports
ET = 0
STARTLIGHT = 5
def getRBUTTON():
return digital (c.RBUTTON)
startTime = -1 # Motor ports LMOTOR = 3 RMOTOR = 0 DATEMOTOR = 1 # Digital ports GREEN_CLONE_SWITCH = 9 YELLOW_CLONE_SWITCH = 8 RIGHT_BUTTON = 13 #Analog Ports ET = 0 isGreen = w.digital(GREEN_CLONE_SWITCH) isYellow = w.digital(YELLOW_CLONE_SWITCH) isBlue = not isGreen and not isYellow # Servos servoArmBin = 0 servoPipeWheel = 2 # camera channels ORANGE = 0 RED = 1 GREEN = 2 YELLOW = 3 # color tolerances COLOR_PROXIMITY = 20
TURN_TIME = 0
LOGFILE = "" # Leave empty
ROBOT_NAME = "Create-17"
# Digital ports
ROBOT_ID_YELLOW = 0
ROBOT_ID_BLUE = 1
ROBOT_ID_GREEN = 2
IGUS_BUTTON = 9
#Analog Ports
STARTLIGHT = 0
FRONT_TOPHAT = 5
IS_YELLOW_BOT = digital(ROBOT_ID_YELLOW)
IS_BLUE_BOT = digital(ROBOT_ID_BLUE)
IS_GREEN_BOT = digital(ROBOT_ID_GREEN)
IS_ORANGE_BOT = not IS_BLUE_BOT and not IS_YELLOW_BOT and not IS_GREEN_BOT
FIRST_RGY_AREA = 40
if IS_ORANGE_BOT:
INCHES_TO_TICKS = 600
#Claw Servo Values
clawClosed = 0
clawFrisbeeTight = 397
clawMid = 517
clawBotguy = 620 #630
