def topStopBack(leftSpeed, rightSpeed):
while 1:
backHat = sensor.backHat()
if backHat:
print "***backYes"
break
else:
print "backNo"
link.motor(c.mLeft, leftSpeed)
link.motor(c.mRight, rightSpeed)
def holdGateClosed(gateNumber):
link.motor(gateNumber, -10)
def holdGateOpen(gateNumber):
link.motor(gateNumber, 10)
def closeGate(gateNumber):
link.motor(gateNumber, -50)
time.sleep(0.4)
link.motor(gateNumber, 0)
def openGate(gateNumber):
link.motor(gateNumber, 50)
time.sleep(0.4)
link.motor(gateNumber, 0)
def testCloseGate(gateNumber):
link.motor(gateNumber, -50)
time.sleep(0.1)
link.motor(gateNumber, 0)
def testOpenGate(gateNumber):
link.motor(gateNumber, 50)
time.sleep(0.1)
link.motor(gateNumber, 0)
def topStopFront(leftSpeed, rightSpeed):
print "frontNo"
link.motor(c.mLeft, leftSpeed)
link.motor(c.mRight, rightSpeed)
while not sensor.frontHat():
pass
def withStop(leftSpeed, rightSpeed, driveTime):
link.motor(c.mLeft, leftSpeed)
link.motor(c.mRight, rightSpeed)
time.sleep(driveTime)
link.motor(c.mLeft, 0)
link.motor(c.mRight, 0)
def noStop(leftSpeed, rightSpeed, driveTime):
# this method does not stop,
# to allow smooth transitions to the next drive command
link.motor(c.mLeft, leftSpeed)
link.motor(c.mRight, rightSpeed)
time.sleep(driveTime)
def gripCubes():
link.motor(c.cubeGrabber, 10)
def closecubeHolder(secs):
link.motor(c.cubeGrabber, 30)
t.sleep(secs)
link.motor(c.cubeGrabber, 0)
def opencubeHolder(secs):
link.motor(c.cubeGrabber, -30)
t.sleep(secs)
link.motor(c.cubeGrabber, 0)