def align():
# shared_all.move_straight(distance_mm=940, speed_mm_s=300)
shared_all.calibrate_gyro(new_gyro_angle=-45)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=1000,
speed_mm_s=300,
target_angle=-45)
def align_right_turns(adjust_for_mission=0):
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=70)
shared_all.move_straight(distance_mm=100, speed_mm_s=140)
shared_all.move_crane_to_top(crane_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_straight(distance_mm=390, speed_mm_s=-200)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=30,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def runtrial():
shared_all.move_straight(distance_mm=70, speed_mm_s=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=-90)
shared_all.turn_to_angle(gyro=gyro, target_angle=45) # turn to face south
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
speed_mm_s=100)
shared_all.turn_to_angle(gyro=gyro, target_angle=-45)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=800,
speed_mm_s=300,
target_angle=-45)
shared_all.turn_arc(distance=50, angle=-60,
speed_mm_s=100) # turn in an arc
shared_all.turn_to_angle(gyro=gyro, target_angle=150) # turn to face south
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=400,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=60)
shared_all.move_crane_to_top(crane_motor)
shared_all.move_to_obstacle(obstacle_sensor=ultrasound,
stop_on_obstacle_at=80,
speed_mm_s=-100)
def alignatangle(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 170,
speed_mm_s= 130,
target_angle= -130+ adjust_for_mission)
shared_all.turn(angle=110, speed_deg_s=190)
shared_all.turn_to_direction( gyro=gyro, target_angle=10+ adjust_for_mission)
def innov_to_basket(adjust_for_mission=0):
# shared_all.move_straight(distance_mm=10, speed_mm_s=-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=180,
speed_mm_s=130,
target_angle=-55 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=80)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=50,
speed_mm_s=130,
target_angle=-55 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=80)
def treadmill_to_row_withalign(adjust_for_mission=0):
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
shared_all.move_straight(distance_mm=120, speed_mm_s=100)
shared_all.turn(angle=90, speed_deg_s=140)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=100,
speed_mm_s=-160,
target_angle=-90)
shared_all.push_back_reset_gyro(distance_mm=40,
reset_gyro=True,
new_gyro_angle=-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=270,
speed_mm_s=180,
target_angle=-90)
shared_all.turn(angle=90, speed_deg_s=120)
shared_all.move_reverse(max_distance=40, speed_mm_s=100)
def pullup_to_dance():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=150,
speed_mm_s=180,
target_angle=-90)
shared_all.turn_arc(distance=150, angle=-60, speed_mm_s=130)
shared_all.turn_arc(distance=150, angle=60, speed_mm_s=130)
def align_nearboccia(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=40,
speed_mm_s=120,
target_angle=-90 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_right,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_right])
shared_all.move_straight(distance_mm=7, speed_mm_s=-90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=-137 + adjust_for_mission,
speed_deg_s=80)
if not shared_all.move_to_color_reverse(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=50):
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=55)
shared_all.move_straight(distance_mm=10, speed_mm_s=-100)
def align(adjust_for_mission=0):
SLIDE_ALIGN_DIRECTION=138
shared_all.turn(-90, speed_deg_s=140)
shared_all.move_straight(distance_mm=50, speed_mm_s=100)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK, alternative_color=Color.BLACK, speed_mm_s=60,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=80)
shared_all.move_straight(distance_mm=70, speed_mm_s=-100)
shared_all.turn(90, speed_deg_s=140)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK, alternative_color=Color.BLACK, speed_mm_s=60,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=60)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 40,
speed_mm_s= 130,
target_angle= 180+ adjust_for_mission)
shared_all.turn(SLIDE_ALIGN_DIRECTION - 180, speed_deg_s=100)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 60,
speed_mm_s= -110,
target_angle= SLIDE_ALIGN_DIRECTION+ adjust_for_mission)
shared_all.move_rack_to_floor()
def alignfacing():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=480, speed_mm_s=170, target_angle=-45)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN, max_distance_mm=40)
shared_all.move_straight(distance_mm=40, speed_mm_s=40)
def weight_to_phoneold(adjust_for_mission=0):
shared_all.push_back_reset_gyro(distance_mm=70,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=310,
speed_mm_s=180,
target_angle=180 +
adjust_for_mission)
def loading_to_basket():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=120,
speed_mm_s=140,
target_angle=0)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=120,
speed_mm_s=140,
target_angle=-90)
def run():
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm=190,
speed_mm_s=-18,
target_angle=DIRECTION)
# shared_all.move_straight(distance_mm=90, speed_mm_s=-140)
shared_all.turn_to_direction( gyro = gyro, target_angle = DIRECTION)
def row_to_weight_right_angleTurns(adjust_for_mission=0):
shared_all.turn(angle=-40)
shared_all.turn_arc(distance=50, angle=-60, speed_mm_s=80)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=70,
speed_mm_s=160,
target_angle=-90 +
adjust_for_mission)
def weightpushdown_to_phone(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=90,
speed_mm_s=110,
target_angle=-90 +
adjust_for_mission)
shared_all.turn(-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=60,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
def base_to_innov():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=210,
speed_mm_s=190,
target_angle=-90)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
max_distance_mm=30)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=10,
speed_mm_s=110,
target_angle=-90)
def base_to_treadmill(adjust_for_mission=0):
# shared_all.move_straight(distance_mm=1370,speed_mm_s=-150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=1340,
speed_mm_s=-290,
target_angle=180)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=180)
def alignold(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.turn(90, speed_deg_s=160)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=10,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def aligntonorth(adjust_for_mission=0):
shared_all.turn_arc(distance=150, angle=-45, speed_mm_s=170)
shared_all.turn_arc(distance=150, angle=45, speed_mm_s=170)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 20,
speed_mm_s= 110,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN, alternative_color=Color.GREEN)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLUE, alternative_color=Color.BLUE)
shared_all.move_straight(distance_mm=10, speed_mm_s=-80)
def stepcounter_to_treadmill_reverse(adjust_for_mission=0):
shared_all.move_straight(distance_mm=160, speed_mm_s=150)
shared_all.turn(angle=-10)
shared_all.turn_arc(distance=330, angle=-50, speed_mm_s=-150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=400,
speed_mm_s=-170,
target_angle=180)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=180)
def align():
shared_all.calibrate_gyro(-85)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=200,
speed_mm_s=190,
target_angle=-85)
# shared_all.move_crane_to_floor( motor=crane_motor)
# shared_all.move_crane_up( motor=crane_motor, degrees=60)
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=40,
max_distance_mm=60)
shared_all.move_straight(distance_mm=50, speed_mm_s=40)
def basket_to_bench():
shared_all.turn_arc(distance=90, angle=-55, speed_mm_s=-70)
shared_all.move_crane_to_top(motor=rack_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=120,
speed_mm_s=140,
target_angle=180 +
adjust_for_mission)
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.turn(-60)
def row_to_weight_pushdown(adjust_for_mission=0):
shared_all.turn(angle=-40)
shared_all.turn_arc(distance=50, angle=-60, speed_mm_s=80)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=70,
speed_mm_s=160,
target_angle=-90 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=120)
def align_color_and_rightturns(adjust_for_mission=0):
shared_all.move_straight(distance_mm=170, speed_mm_s=120)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 80,
speed_mm_s= -140,
target_angle= -90+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE, alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=110)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 220,
speed_mm_s= 140,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
def phone_to_slide(adjust_for_mission=0):
shared_all.turn_arc(distance=60, angle=-10, speed_mm_s=-90)
shared_all.move_straight(distance_mm=40, speed_mm_s=-100)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=250,
speed_mm_s=200,
target_angle=180 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
speed_mm_s=25,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=140)
def tread_to_weight():
# shared_all.move_straight_target_direction(gyro=gyro, distance_mm=600, speed_mm_s=180,
# target_angle= -90)
shared_all.move_rack_to_top()
# shared_all.move_crane_to_floor(motor=crane_motor, release_angle=25)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=460,
speed_mm_s=210,
target_angle=-90)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
def row_to_weight_curved(adjust_for_mission=0):
shared_all.turn(angle=-55)
shared_all.move_straight(distance_mm=280, speed_mm_s=170)
# shared_all.move_to_color(color_sensor=color_sensor_center,
# stop_on_color=Color.BLACK, alternative_color=Color.BLACK,
# max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
# max_distance_mm=70)
shared_all.turn(angle=-75, speed_deg_s=180)
# shared_all.turn_arc(distance=100 , angle=-70, speed_mm_s=150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=230,
speed_mm_s=-160,
target_angle=-170 +
adjust_for_mission)
shared_all.push_back_reset_gyro(distance_mm=50,
reset_gyro=True,
new_gyro_angle=180)
def alignold(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=90,
speed_mm_s=100,
target_angle=-90 +
adjust_for_mission)
# shared_all.turn(-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=85,
speed_mm_s=-120,
target_angle=180 +
adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=75,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.turn_to_direction(gyro=gyro,
target_angle=-135 + adjust_for_mission,
speed_mm_s=80)
def stepcounter_to_treadmill_forward(adjust_for_mission=0):
# shared_all.turn( angle=-45)
shared_all.turn_arc(distance=200, angle=-65,
speed_mm_s=150) # turn in an arc
shared_all.turn_arc(distance=200, angle=65,
speed_mm_s=150) # turn in an arc
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=170,
speed_mm_s=150,
target_angle=0)
# back up and move at an angle to spine black line
shared_all.turn(angle=40, speed_deg_s=90)
shared_all.move_reverse(max_distance=50, speed_mm_s=110)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=15)
shared_all.move_reverse(max_distance=10, speed_mm_s=80)
shared_all.turn(angle=-40, speed_deg_s=90)
shared_all.turn_to_direction(gyro=gyro, target_angle=0)
def run():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=195,
speed_mm_s=20,
target_angle=-90)
