def left_forwards_until_lcliff_senses_black(
): # Left motor goes forwards until left cliff senses black
print "Starting left_forwards_until_lcliff_senses_black()"
m.av(c.LEFT_MOTOR, c.BASE_LM_POWER)
while NotBlackLeft():
pass
m.deactivate_motors()
def right_forwards_until_rcliff_senses_black(
): # Right motor goes forwards until left cliff senses black
print "Starting right_forwards_until_rcliff_senses_black()"
m.av(c.RIGHT_MOTOR, c.BASE_RM_POWER)
while NotBlackRight():
pass
m.deactivate_motors()
def left_backwards_until_lcliff_senses_white(
): # Left motor goes back until the left cliff senses white
print "Starting left_backwards_until_lcliff_senses_white()"
m.av(c.LEFT_MOTOR, -1 * c.BASE_LM_POWER)
while BlackLeft():
pass
m.deactivate_motors()
def right_backwards_until_rcliff_senses_white(
): # Right motor goes back until right cliff senses white
print "Starting right_backwards_until_rcliff_senses_white()"
m.av(c.RIGHT_MOTOR, -1 * c.BASE_RM_POWER)
while BlackRight():
pass
m.deactivate_motors()
def left_front_forwards_until_white(
): # Left motor goes forwards until the left front cliff senses white
print "Starting left_front_forwards_until_white()"
m.av(c.LEFT_MOTOR, c.BASE_LM_POWER)
while BlackFrontLeft():
pass
m.deactivate_motors()
def right_front_forwards_until_white(
): # Right motor goes forwards until right front cliff senses white
print "Starting right_front_forwards_until_white()"
m.av(c.RIGHT_MOTOR, c.BASE_RM_POWER)
while BlackFrontRight():
pass
m.deactivate_motors()
def left_front_backwards_until_black(
): # Left motor goes back until left front cliff senses black
print "Starting left_front_backwards_until_black()"
m.av(c.LEFT_MOTOR, -1 * c.BASE_LM_POWER)
while NotBlackFrontLeft():
pass
m.deactivate_motors()
def right_front_backwards_until_black(
): # Right motor goes back until right front cliff senses black
print "Starting right_front_backwards_until_black()"
m.av(c.RIGHT_MOTOR, -1 * c.BASE_RM_POWER)
while NotBlackFrontRight():
pass
m.deactivate_motors()
def lfollow_left_inside_line(time, refresh_rate=c.LFOLLOW_REFRESH_RATE):
sec = seconds() + time
while seconds() < sec:
if BlackLeft():
m.av(c.LEFT_MOTOR, c.BASE_LM_POWER)
else:
m.av(c.RIGHT_MOTOR, c.BASE_RM_POWER)
msleep(refresh_rate)
deactivate_motors()
def lfollow_choppy(self, time, mode=c.STANDARD, should_stop=True):
sec = seconds() + time / 1000
while seconds() < sec:
if self.senses_black():
m.av(c.RIGHT_MOTOR, c.BASE_RM_POWER * self.side * mode)
elif self.senses_white():
m.av(c.LEFT_MOTOR, c.BASE_LM_POWER * self.side * mode)
msleep(refresh_rate)
if should_stop:
m.deactivate_motors()
def lfollow_right(time,
refresh_rate=c.LFOLLOW_REFRESH_RATE
): # Line follow with the right cliff for time
print "Starting lfollow_right()\n"
sec = seconds() + time
while seconds() < sec:
if BlackRight():
m.av(c.RIGHT_MOTOR, -1 * c.BASE_RM_POWER)
elif not BlackRight():
m.av(c.LEFT_MOTOR, -1 * c.BASE_LM_POWER)
msleep(refresh_rate)
deactivate_motors()
def right_backwards_until(boolean_function, should_stop=True, *, time=c.SAFETY_TIME):
# Right motor goes back until right cliff senses black
m.av(c.RIGHT_MOTOR, -1 * c.BASE_RM_POWER)
wait_until(boolean_function, time=time)
if should_stop:
m.deactivate_motors()
def left_backwards_until(boolean_function, should_stop=True, *, time=c.SAFETY_TIME):
# Left motor goes backwards until left cliff senses black
m.av(c.LEFT_MOTOR, -1 * c.BASE_LM_POWER)
wait_until(boolean_function, time=time)
if should_stop:
m.deactivate_motors()
