def pickup_next():
'''Release the box in gripper (if any) and pick up the one below.
Assumption: robot is in front of a box/stack; lift is at level 1.'''
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.lift_up()
def make_tower():
count = 0
while robot.sense_color() != "":
count = count + 1
robot.drive_right()
robot.drive_right()
boxes = count
while boxes > 0:
robot.drive_left()
robot.drive_left()
boxes = boxes - 1
robot.lift_up()
robot.gripper_to_open()
robot.drive_right()
robot.lift_down()
robot.gripper_to_closed()
while boxes < (count - 1):
boxes = boxes + 1
robot.lift_up()
robot.drive_right()
robot.drive_right()
robot.gripper_to_open()
robot.lift_down()
if boxes != count - 1:
robot.gripper_to_closed()
def swap_left_mid():
robot.drive_right()
robot.lift_up()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
move()
def count_boxes():
if robot.sense_color() == "":
return 0
else:
robot.lift_up()
num_above = count_boxes()
robot.lift_down()
return 1 + num_above
def find(colour):
robot.init(height=5, boxes=[["black", "blue", "white", "red"]])
j = 1
while robot.sense_color() != "":
if robot.sense_color == colour:
return True # Why this doesn't work?
robot.lift_up()
j = j + 1
return False
def unstack_tower_of_two():
# Move to the middle
right_two_spaces()
# and do the unstacking manoeuvre
unstack_to_the_left()
# -------------Here to do the up-fold-down to initialize the gripper!
robot.lift_up()
robot.gripper_to_folded()
robot.lift_down()
def put_down_blocks():
# Move the lift down, and release the blocks.
robot.lift_down()
robot.gripper_to_open()
# Because there is now a block to the right (the one that we
# unstacked from), we must do the up-fold-down manoeuvre.
robot.lift_up()
robot.gripper_to_folded()
robot.lift_down()
def make_tower(n):
robot.init(width=2 * n - 1, boxes="flat")
robot.drive_right()
robot.lift_up()
while n > 1:
pickup_next()
move_to_next_stack()
n = n - 1
robot.gripper_to_folded()
robot.lift_down()
def unstack_tower_of_three():
# Move to the right-most stack
right_two_spaces()
right_two_spaces()
# and do the unstacking manoeuvre
unstack_to_the_left()
robot.lift_up()
robot.gripper_to_closed()
left_two_spaces()
put_down_blocks()
def unstack_tower_of_three():
# Move to the right-most stack
right_two_spaces()
right_two_spaces()
# and do the unstacking manoeuvre twice
unstack_to_the_left()
unstack_to_the_left()
robot.lift_up()
robot.gripper_to_folded()
robot.lift_down()
def find(color):
index = 0
while (robot.sense_color() != color) and (robot.sense_color() != ""):
index = index + 1
print(index)
if (robot.sense_color != ""):
robot.lift_up()
if robot.sense_color() == color:
return index + 1
else:
return -1
def swap_middle_and_right():
robot.lift_up()
move_2steps_right()
open_down_and_close_up()
move_2steps_left()
robot.lift_down()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
move_2steps_right()
robot.lift_down()
def pickup_and_replace():
robot.lift_up()
open_down_and_close_up()
move_2steps_right()
open_down_and_close_up()
move_2steps_left()
robot.lift_down()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
move_2steps_right()
robot.lift_down()
def make_tower(n):
robot.init(width=2 * n - 1, boxes="flat")
robot.drive_right()
robot.lift_up()
i = 0
while i < n - 1:
pickup_next()
move_to_next_stack()
i = i + 1
robot.gripper_to_folded()
robot.lift_down()
return "Tower complete!"
def find(colour):
current_hight = 0
current_color = robot.sense_color()
while current_color != '':
while current_color != colour:
robot.lift_up()
current_hight = current_hight + 1
current_color = robot.sense_color()
if current_color == '':
return -1
else:
current_color == colour
return current_hight, current_color
def swap_middle_and_left():
robot.lift_up()
robot.drive_left()
robot.drive_left()
robot.drive_left()
robot.drive_left()
robot.lift_down()
robot.gripper_to_closed()
#green box is in the gripper!
robot.lift_up()
robot.drive_right()
robot.drive_right()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
#blue box is in the gripper!
robot.drive_left()
robot.drive_left()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
robot.drive_right()
robot.drive_right()
robot.lift_down()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_folded()
def swap_left_and_middle():
robot.drive_right()
robot.lift_up()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.lift_up()
robot.drive_right()
robot.drive_right()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.drive_left()
robot.drive_left()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
robot.drive_right()
robot.drive_right()
robot.lift_down()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_folded()
robot.drive_left()
robot.drive_left()
robot.drive_left()
robot.lift_down()
def swap_left_and_middle():
robot.drive_right()
robot.lift_up()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
# red box is in gripper!
robot.lift_up()
robot.drive_right()
robot.drive_right()
robot.gripper_to_open()
# red box is on the top of green box!
robot.lift_down()
robot.gripper_to_closed()
#green box is in gripper!
robot.drive_left()
robot.drive_left()
#greem box is on the right!
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
robot.drive_right()
robot.drive_right()
def open_down_and_close_up():
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.lift_up()
def grasp_blocks_above():
#the order was wrong
#it should lift up first and then open the gripper
robot.lift_up()
robot.gripper_to_open()
robot.gripper_to_closed()
def pickup_next():
'''Release the box in gripper (if any) and pick up the one below.
Assumption: robot is in front of a box/stack; lift is at level 1.'''
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.lift_up()
# main program
robot.init(width = 9, boxes = "flat")
# position above first box
robot.drive_right()
robot.lift_up()
# pick up, move right
pickup_next()
move_to_next_stack()
# ...again
pickup_next()
move_to_next_stack()
# ...again
pickup_next()
move_to_next_stack()
# ...again
pickup_next()
def grasp_blocks_above():
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
def grasp_blocks_above():
# i deleted the following line since i read through the error message.
#gripper_to_open is the reason why the collision happened
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
