l2.backward() s1pressed = False s2pressed = False while not (s1pressed and s2pressed): if (s1.isPressed()): s1pressed = True l1.stop() if (s2.isPressed()): s2pressed = True l2.stop() motor_forward(l1, desync_offset) # add desired desync sync_legs(motor1, motor2, ts1, ts2, 400) # 400 desync makes it non-butterfly while True: if (us.getDistance() < 40): motor1.stop() motor2.stop() Tools.delay(1500) move_forward(motor1, motor2, 3000) # due to motor setup, forward is actually backward sync_legs(motor1, motor2, ts1, ts2, 0) # make it stand up snap_jaw(jaw, 3) if (randint(0,1) == 0): turn(motor1, motor2, 4000) sync_legs(motor1, motor2, ts1, ts2, 0) Tools.delay(1500) sync_legs(motor1, motor2, ts1, ts2, 400) # make it non butterfly else: turn(motor2, motor1, 4000) sync_legs(motor1, motor2, ts1, ts2, 0) Tools.delay(1500) sync_legs(motor1, motor2, ts1, ts2, 400) # make it non butterfly
gunmotor = Motor(MotorPort.A)
motor1 = Motor(MotorPort.B)
motor2 = Motor(MotorPort.C)
us = UltrasonicSensor(SensorPort.S4)
robot.addPart(gunmotor)
robot.addPart(motor1)
robot.addPart(motor2)
robot.addPart(us)
def start_turn(m1, m2):
m1.stop()
m2.stop()
m1.backward()
m2.forward()
def stop(m1, m2, t):
m1.stop()
m2.stop()
Tools.delay(t)
start_turn(motor1, motor2)
while true:
if (us.getDistance() < 80):
stop(motor1, motor2, 500)
gunmotor.forward()
Tools.delay(1000)
gunmotor.stop()
start_turn(motor1, motor2)
Tools.delay(400) # don't shoot again for awhile
Tools.delay(20)