/
movements.py
61 lines (46 loc) · 1.14 KB
/
movements.py
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from time import sleep
from mechanics import (close_arms, lower_arms, extend_arms,
retract_arms, open_arms, raise_arms, Journey)
from log import log, indented
@indented
def move_straight(robot, dist):
"""
Moves the robot dist metres forward and updates the tracker.
"""
journey = Journey(robot, distance=dist)
journey.start()
robot.position.move(dist)
sleep(0.5)
@indented
def turn(robot, alpha=0.524): # 0.524 rad = 30 degrees
"""
Turns the robot alpha RADIANS and updates the tracker.
"""
journey = Journey(robot, angle=alpha)
journey.start()
robot.position.turn(alpha)
sleep(0.5)
@indented
def grab(robot):
"""
Picks up the token infront of the robot, and pulls it inside
"""
log(robot, "Picking Up Token.")
close_arms(robot)
sleep(0.2)
raise_arms(robot)
sleep(0.4)
retract_arms(robot)
@indented
def put_down(robot):
"""
Places the stored token infront of the robot
"""
log(robot, "Putting Down Token.")
close_arms(robot)
extend_arms(robot)
sleep(0.1)
lower_arms(robot)
sleep(0.3)
open_arms(robot)
sleep(0.2)