def get_blue_cube():
print "Starting get_blue_cube()"
if c.SAFE_HOSPITAL == c.NEAR_ZONE:
s.turn_right_until_black(0)
s.turn_right_until_white(0)
s.turn_right_until_black(0)
s.turn_right_until_left_senses_black(0)
s.turn_right_until_left_senses_white()
s.lfollow_left_until_right_senses_black_pid(0)
s.drive_through_line_right(0)
s.drive_until_black_right()
else: # Safe hospital is far zone
m.lift_cube_arm()
s.turn_right_until_black(0)
s.turn_right_until_white(0)
s.turn_right_until_black(0)
s.turn_right_until_left_senses_black()
s.align_close()
m.lower_cube_arm()
s.drive_until_white_third(0)
s.drive_until_black_third(0)
m.drive(900)
# Drive until the blue cube is in claw
m.close_claw()
m.lift_cube_arm()
m.turn_left()
m.bumpfollow_right_until_left_senses_black(0)
m.bumpfollow_right_until_left_senses_white()
m.lower_cube_arm()
m.open_claw()
print "Finished delivering blue cube"
def hit_flare(cur_pos):
fwd_count = 25 # around 5 sec
bwd_count = 15 # around 3 sec
ok_to_go = False
while True:
img_front = cam_front.read()
img_down = cam_down.read()
coords_front = gesture_detection.get_coord_from_detection(img_front)
cur_pos[0], cur_pos[1], cur_pos[2] = localizer.get_pos(img_down, cur_pos[0], cur_pos[1], cur_pos[2])
x, y = coords_front[0][0], coords_front[0][1]
if x < 700:
movement.turn_right()
continue
elif x > 800:
movement.turn_left()
continue
elif coords_front[3] >= 200: # change this after testing
ok_to_go = True
if ok_to_go is True and fwd_count is not 0:
movement.move_fwd()
fwd_count -= 1
elif bwd_count is not 0:
movement.move_bwd()
bwd_count -= 1
else:
img_down = cam_down.read()
return localizer.get_pos(img_down, cur_pos[0], cur_pos[1], cur_pos[2])
def check_zones_botguy():
print "Checking for red zone"
msleep(25)
ao()
camera_open()
initialize_camera()
a.botguy_zone = 0
if get_object_area(c.RED, 0) > 50: # Testing to see if middle zone is red
print "The middle zone is red."
a.botguy_zone = c.MIDDLE
else:
m.turn_left(300)
msleep(25)
ao()
msleep(1000)
print "The middle zone is not red."
initialize_camera()
if get_object_area(c.RED,
0) > 100: # Testing to see if left zone is red
a.botguy_zone = c.LEFT
print "The left zone is red."
else:
print "Not on the left, so it must be on the right."
a.botguy_zone = c.RIGHT # If the middle and left zones are not red, then the right zone must be red.
m.turn_right(300)
msleep(25)
ao()
print a.botguy_zone
camera_close()
print "~fin~\n\n\n"
def check_zones_crates():
print "Checking zones for yellow and red"
msleep(25)
ao()
camera_open()
initialize_camera()
a.crate_zone = 0
if get_object_area(c.YELLOW,
0) > 50: # Testing to see if middle zone is yellow
print "The middle zone is yellow."
a.crate_zone = c.MIDDLE
else:
m.turn_left(300)
msleep(25)
ao()
msleep(1000)
print "The middle zone is not yellow."
initialize_camera()
if get_object_area(c.YELLOW,
0) > 100: # Testing to see if left zone is yellow
print "The left zone is yellow."
a.crate_zone = c.LEFT
else:
print "Not on the left, so it must be on the right."
a.crate_zone = c.RIGHT # If the middle and left zones are not yellow, then the right zone must be yellow.
m.turn_right(300)
msleep(25)
ao()
camera_close()
print a.crate_zone
print "~fin~\n\n\n"
def get_botguy():
print "Starting get_botguy()"
if crate_zone == c.LEFT:
print "I'm in the left zone and going to botguy"
f.drive_through_line_left() # Bot on middle line
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(20, 0, 0, False)
f.drive_until_white(5, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
f.lfollow_left_until_third_senses_black_smooth(5, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
m.drive_tics(300, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_third_senses_white(5 * c.LEFT_TURN_TIME, 0, 0)
elif crate_zone == c.MIDDLE:
print "I'm in the middle zone and going to botguy"
m.turn_right()
m.drive(1500)
m.turn_left()
f.drive_through_line_left() # Bot on middle line
f.align_far()
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(20, 0, 0, False)
f.drive_until_white(5, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
f.lfollow_left_until_third_senses_black_smooth(5, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
m.drive_tics(300, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_third_senses_white(5 * c.LEFT_TURN_TIME, 0, 0)
elif crate_zone == c.RIGHT:
print "I'm in the right zone and going to botguy"
f.drive_through_line_left() # Bot on middle line
f.align_far()
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(20, 0, 0, False)
if c.IS_MAIN_BOT:
m.drive_tics(1007, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
m.drive_tics(1120, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_third_senses_white(
5 * c.RIGHT_TURN_TIME / 1000, 0, 0, False)
f.right_point_turn_until_third_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
else:
print "What zone am I in again? I have no idea. This is an error message"
print "You already know I'm guessing it's in that right zone tho\n"
exit(86)
f.left_backwards_until_black()
f.right_backwards_until_black()
m.open_claw(c.CLAW_BOTGUY_OPEN_POS)
m.arm_slow(c.ARM_DOWN_POS)
#f.right_point_turn_until_third_senses_black() # To do: Run more tests on this command
f.lfollow_backwards_smooth(4.5)
m.arm_slow(c.ARM_UP_POS)
m.backwards(490)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.close_claw(c.CLAW_CLOSE_POS)
m.arm_slow(c.ARM_DOWN_POS)
m.backwards(100)
m.close_claw(c.BOTGUY_CLAW_CLOSE_POS)
print "Finished getting botguy\n\n"
def forwards_until_white_lfcliff_safe():
print "Start drive_until_white_lfcliff_safe"
m.base_forwards()
while BlackFrontLeft():
if BumpedRight():
m.turn_left(100)
msleep(100)
m.base_forwards()
m.deactivate_motors()
def magnet():
m.turn_left()
s.forwards_until_black_rfcliff_safe()
s.forwards_until_white_rfcliff_safe()
s.forwards_until_black_rfcliff_safe()
s.align_close_fcliffs()
m.turn_right()
s.align_close_fcliffs()
m.turn_right()
s.lfollow_lfcliff_smooth_until_bump()
def get_mid_poms(): # Second pom set
print "Starting get_mid_poms()"
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_left()
m.backwards(2680)
m.turn_right()
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_farther_low_poms():
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_right(int(c.RIGHT_TURN_TIME * 1.01))
f.forwards_until_bump()
m.backwards(200)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_cliffs()
collect_poms(50, 1000, 2100)
def test_movement(): # Used to see if movements and their defaults function as intended
print "Testing movement\n"
m.forward()
msleep(500) # Using msleep() instead of wait() to make sure each command turns off its wheels
m.backwards()
msleep(500)
m.turn_left()
msleep(500)
m.turn_right()
msleep(500)
print "Testing complete. Exiting...\n"
exit(86)
def get_high_poms_cheeky():
print "Starting get_high_poms_cheeky()"
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_right()
m.forwards(2680)
m.turn_left()
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
collect_poms(10000)
f.backwards_until_white_lfcliff()
m.arm_slow(c.ARM_UP_POS, 2, 1)
def get_farther_mid_poms():
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
f.lfollow_lfcliff_smooth(2)
f.lfollow_lfcliff_smooth_until_right_depth_senses_object()
m.forwards(1000)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_frisbee():
print "Starting get_frisbee()"
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.backwards(900)
m.arm_slow(c.ARM_FRISBEE_GRAB_POS, 2, 1)
m.forwards(2000)
m.arm_slow(c.ARM_FRISBEE_DROP_POS, 4, 1)
m.turn_left(
int(c.LEFT_TURN_TIME /
5)) # An 18 degree wiggle back and forth to shake frisbee loose
m.turn_right(int(c.RIGHT_TURN_TIME / 5))
m.backwards(1000)
m.lift_arm(c.ARM_FRISBEE_FARTHER_DROP_POS)
def get_high_poms(): # Third pom set
print "Starting get_high_poms()"
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
# m.turn_right()
# f.left_point_turn_until_lfcliff_senses_black() # How does it know it is on the right side of the line?
f.lfollow_lfcliff_smooth_until_rfcliff_senses_black()
m.backwards(1400)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms(50, 0)
def hold_cube_and_deliver_ambulance():
print "Starting deliver_ambulance()"
s.backwards_until_black_left()
m.lift_arm()
s.drive_until_black_third()
s.turn_right_until_black()
s.backwards_through_line_third(0)
s.backwards_until_black_right()
m.lower_cube_arm()
s.drive_through_line_third(0)
s.drive_until_black_left()
m.close_claw()
m.move_cube_arm(c.CUBE_ARM_HOLDING_POS)
m.move_claw(c.CLAW_LESS_OPEN_POS)
m.move_cube_arm(c.CUBE_ARM_UP_POS)
m.turn_left(int(c.RIGHT_TURN_TIME / 1.5))
s.backwards_through_line_left(0)
s.backwards_through_line_third()
s.turn_right_until_left_senses_black(0)
s.turn_right_until_left_senses_white()
s.lfollow_left_until_right_senses_black_pid_safe_no_stop(500)
s.lfollow_left_until_right_senses_black_pid()
#s.lfollow_left_until_right_senses_black(1000)
#s.lfollow_left_until_right_senses_black_smooth()
s.turn_right_until_white(0)
s.turn_right_until_black()
m.lower_arm()
w.check_zones_hospital()
m.lift_arm()
if c.SAFE_HOSPITAL == c.NEAR_ZONE:
s.backwards_through_line_third()
m.lower_arm()
m.backwards(500)
s.drive_until_black_third()
m.lift_arm()
else: # Safe hospital is far zone
s.backwards_through_line_third()
s.turn_right_until_white(0)
s.turn_right_until_black()
s.backwards_until_white_right(0)
m.backwards(500)
m.lower_arm()
# Ambulance delivered
s.drive_through_line_third()
s.turn_right_until_left_senses_black(0)
s.turn_right_until_left_senses_white(0)
print "Finished delivering ambulance and yellow cube"
def test_movement(exit = True):
# Used to see if movements and their defaults function as intended.
print "Testing movement\n"
m.turn_left()
msleep(500)
m.turn_right()
msleep(500)
m.drive(5000)
msleep(500) # Using msleep() instead of wait() to make sure each command turns off its wheels.
m.backwards(5000)
msleep(500)
print "Testing complete."
if exit == True:
print "Exiting...\n"
exit(86)
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 test_movement_extensive(exit = True):
print "Extensively testing movement"
mav(c.RIGHT_MOTOR, c.BASE_RM_POWER)
msleep(c.PIVOT_RIGHT_TURN_TIME)
mav(c.RIGHT_MOTOR,0)
msleep(500)
mav(c.LEFT_MOTOR, c.BASE_LM_POWER)
msleep(c.PIVOT_LEFT_TURN_TIME)
mav(c.LEFT_MOTOR,0)
msleep(500)
m.turn_left()
msleep(500)
m.turn_right()
msleep(500)
m.drive(1000)
msleep(500) # Using msleep() instead of wait() to make sure each command turns off its wheels.
m.backwards(1000)
msleep(500)
if exit == True:
print "Exiting...\n"
exit(86)
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 get_gas_valve():
s.wfollow_right_until_black_left_front()
s.wfollow_right_until_white_left_front()
s.wfollow_right_until_black_left_front()
s.wfollow_right_until_black_right()
s.wfollow_right_until_white_right()
s.turn_left_until_rfcliff_senses_white()
s.turn_left_until_rfcliff_senses_black()
m.turn_left(c.LEFT_TURN_TIME / 4.8)
# This turns the robot closer to 90 degrees
s.forwards_until_white_lfcliff()
s.forwards_through_line_lfcliff()
s.align_far_fcliffs()
s.align_far_fcliffs()
s.forwards_until_bump()
m.backwards(1000)
#g.turn_left_gyro(180)
m.turn_left()
m.turn_left()
s.forwards_until_black_lfcliff()
s.align_close_fcliffs()
s.align_close_fcliffs()
#m.turn_left(250)
m.lower_arm()
msleep(500)
m.backwards(900)
m.lift_arm(3, 1, c.ARM_HALF_UP_POS)
m.backwards(300)
m.lift_arm()
s.forwards_until_black_lfcliff()
s.align_close_fcliffs()
s.forwards_until_bump()
m.backwards(100)
#g.turn_right_gyro()
m.turn_right(c.RIGHT_TURN_TIME / 1.2)
s.wfollow_left_until_white_right_front(9999)
s.wfollow_left_until_black_right_front(9999)
s.wfollow_left_until_white_right_front(9999)
s.align_far_fcliffs()
s.align_far_fcliffs()
m.backwards(500)
#g.turn_right_gyro(30)
m.turn_right(c.RIGHT_TURN_TIME / 3.5)
m.backwards(400)
m.lower_arm(1, 1, c.ARM_DELIVERY_POS)
shut_down_in(118)
def check_zones_full():
print "Checking zones"
msleep(25)
ao()
m.arm_slow(c.ARM_HIGH_POS, 2, 1)
camera_open()
initialize_camera()
console_clear()
graphics_open(480, 260)
graphics_fill(255, 255, 255)
graphics_update()
a.crate_zone = 30
a.botguy_zone = 30
if get_object_area(c.YELLOW,
0) > 50: # Testing to see if middle zone is yellow
print "The middle zone is yellow.\n"
a.crate_zone = c.MIDDLE
graphics_rectangle_fill(160, 0, 320, 260, 255, 255, 0) # Yellow
graphics_update()
elif get_object_area(c.RED, 0) > 50:
a.botguy_zone = c.MIDDLE
graphics_rectangle_fill(160, 0, 320, 260, 255, 0, 0) # Red
graphics_update()
print "The middle zone is red.\n"
else:
print "The middle is not red nor yellow.\n"
graphics_rectangle_fill(160, 0, 320, 260, 0, 255, 0) # Green
graphics_update()
m.turn_left(400) # Checking the left zone
msleep(25)
ao()
initialize_camera()
if get_object_area(c.YELLOW,
0) > 100: # Testing to see if left zone is yellow
print "The left zone is yellow.\n"
graphics_rectangle_fill(0, 0, 160, 260, 255, 255, 0) # Yellow
graphics_update()
if a.crate_zone == 30:
a.crate_zone = c.LEFT
else:
print "ERROR. The wallaby sensed yellow for the left zone and the middle zone.\n"
elif get_object_area(c.RED, 0) > 100:
print "The left zone is red\n"
graphics_rectangle_fill(0, 0, 160, 260, 255, 0, 0) # Red
graphics_update()
if a.botguy_zone == 30:
a.botguy_zone = c.LEFT
else:
print "ERROR. The wallaby sensed red for the left zone and the middle zone.\n"
else:
print "The left zone is neither red nor yellow.\n"
graphics_rectangle_fill(0, 0, 160, 260, 0, 255, 0) # Green
graphics_update()
if a.crate_zone == 30: # If the crate zone has not been set yet.
a.crate_zone = c.RIGHT
graphics_rectangle_fill(320, 0, 480, 260, 255, 255, 0) # Yellow
graphics_update()
print "The right zone is yellow.\n"
elif a.botguy_zone == 30:
if a.crate_zone == c.RIGHT:
print "Code failure"
else:
a.botguy_zone = c.RIGHT
graphics_rectangle_fill(320, 0, 480, 260, 255, 0, 0) # Red
graphics_update()
print "The right zone is red. \n"
else:
print "The right zone is neither red nor yellow."
graphics_rectangle_fill(320, 0, 480, 260, 0, 255, 0) # Green
graphics_update()
if a.botguy_zone == 30:
if a.crate_zone == c.RIGHT:
a.botguy_zone = c.LEFT
graphics_rectangle_fill(0, 0, 160, 260, 255, 0, 0) # Red
graphics_update()
print "We are guessing that the left zone is red. \n"
else:
a.botguy_zone = c.RIGHT
graphics_rectangle_fill(320, 0, 480, 260, 255, 0, 0)
graphics_update()
print "We are guessing that the right zone is red. \n"
f.left_forwards_until_black(
) # The left tophat can end up on white - Jet 6-27-18
f.align_far()
camera_close()
graphics_close()
print "Crate zone: " + str(a.crate_zone)
print "Botguy zone: " + str(a.botguy_zone)
print "~fin~\n\n\n"
def test_turns():
m.turn_left()
msleep(500)
m.turn_right()
sd()
def deliver_second_crate():
print "Starting second_crate_delivery()"
m.drive(250)
m.arm_slow(c.ARM_SECOND_CRATE_GRAB_POS, 2, 1)
m.backwards(100)
m.claw_slow(c.CLAW_SECOND_CRATE_GRAB_POS, 3, 1)
m.lift_arm(c.ARM_SECOND_CRATE_UP_POS)
m.wait(100)
if crate_zone == c.LEFT:
f.left_point_turn_until_black()
if c.IS_MAIN_BOT:
f.lfollow_left_smooth_amount(.7, c.BASE_LM_POWER, c.BASE_RM_POWER,
int(.5 * c.BASE_LM_POWER),
int(.5 * c.BASE_RM_POWER), 0, 0,
False)
f.lfollow_left_smooth(.8, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
f.lfollow_left_smooth(1.5)
f.left_point_turn_until_right_senses_black()
f.lfollow_right_inside_line_until_left_senses_black_smooth_amount(
1, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_right_inside_line_until_left_senses_black_smooth(
10, 0, 0, False)
m.drive(150, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_right()
f.align_in_zone_safely()
elif crate_zone == c.MIDDLE:
f.right_point_turn_until_black()
f.lfollow_right_smooth(1.5)
f.right_point_turn_until_left_senses_black()
f.lfollow_left_inside_line_until_right_senses_black_smooth_amount(
1, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, 0, 0, False)
m.drive(180, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.right_point_turn_until_black(5, 0, 0, False)
f.right_point_turn_until_white(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_black(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
m.turn_right(c.RIGHT_TURN_TIME, c.BASE_LM_POWER, -1 * c.BASE_RM_POWER,
c.BASE_LM_POWER, -1 * c.BASE_RM_POWER)
f.align_in_zone_safely()
elif crate_zone == c.RIGHT:
f.drive_until_white_third(10, 0, 0, False)
m.drive(300, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.right_point_turn_until_black()
f.lfollow_right(3)
f.right_point_turn_until_left_senses_black()
f.lfollow_left_inside_line_until_right_senses_black_smooth_amount(
2, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.drive(200, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_left()
f.align_in_zone_safely()
f.drive_through_line_third(10, 0, 0, False)
m.drive(800, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.arm_slow(c.ARM_SECOND_CRATE_DEPOSIT_POS, 2, 1)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.backwards(600)
msleep(10)
m.drive(200)
m.arm_slow(c.ARM_HIGH_POS, 2, 1)
print "Second crate delivered\n\n"
def deliver_first_crate():
print "Starting first_crate_delivery()"
m.drive(500)
if crate_zone == c.LEFT:
print "Starting deliver_left()"
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_left_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_left_senses_white(10, 0, 0, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.lfollow_left_until_right_senses_black_smooth(7)
if c.IS_MAIN_BOT:
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME, 0, 0,
False)
f.right_point_turn_until_white(1, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
else: # Clone bot
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME)
elif crate_zone == c.MIDDLE:
print "Starting deliver_middle()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
f.drive_until_white_left()
f.right_forwards_until_left_senses_black(10, 0, False)
f.right_forwards_until_left_senses_white(10, c.BASE_RM_POWER)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, 0, 0, False)
#f.left_forwards_until_black()
f.drive_until_white_right(2, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
if c.IS_MAIN_BOT:
f.lfollow_left_inside_line_smooth(2.5, c.BASE_LM_POWER,
c.BASE_RM_POWER)
else: # Clone bot
f.lfollow_left_inside_line_smooth(2.7, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_left()
f.align_in_zone_safely()
f.drive_through_line_third(10, 0, 0, False)
m.drive(700, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
elif crate_zone == c.RIGHT:
print "Starting deliver_right()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
f.left_point_turn_until_black_after(c.LEFT_TURN_TIME, 0, 0, False)
f.left_point_turn_until_white(1, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER)
m.backwards(200)
m.arm_slow(c.ARM_DOWN_POS)
msleep(300) # This pause helps keep the second crate from tipping over
m.claw_slow(c.CLAW_LARGE_OPEN_POS)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.backwards(500)
print "First crate delivered\n\n"
def put_botguy_in_correct_zone():
approach_t()
f.right_point_turn_until_third_senses_black(.2)
print "Starting deliver_botguy()"
if botguy_zone == c.LEFT:
print "Starting deliver_left()"
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_left_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_left_senses_white(10, 0, 0, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.lfollow_left_until_right_senses_black_smooth(7)
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME, 0, 0, False)
m.turn_right(int(c.RIGHT_TURN_TIME / 2), c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
elif botguy_zone == c.MIDDLE:
print "Starting deliver_middle()"
f.drive_until_white_third(5, 0, 0, False)
m.drive(300, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_black(10, 0, 0, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.backwards_through_line_left()
f.align_close()
if False: # crate_zone == c.LEFT:
m.turn_right(int(c.RIGHT_TURN_TIME / 8))
m.backwards(900)
m.turn_right(int(c.RIGHT_TURN_TIME / 10))
elif False: # crate_zone == c.RIGHT:
m.turn_left(int(c.LEFT_TURN_TIME / 8))
m.backwards(900)
m.turn_left(int(c.LEFT_TURN_TIME / 20))
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.backwards(1000)
elif botguy_zone == c.RIGHT:
print "Starting deliver_right()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
m.turn_left(c.LEFT_TURN_TIME, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER,
-1 * c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.turn_left(c.LEFT_TURN_TIME, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER,
-1 * c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.turn_left(int(c.LEFT_TURN_TIME / 2), -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 3, 1)
m.backwards(300)
print "Botguy delivered\n\n"
