Drive clockwise in a circle of a given radius for a given distance
"""
radius_mm = self.inches_to_mm(radius_inches)
distance_mm = self.inches_to_mm(distance_inches)
self.on_arc_right(speed=speed, radius_mm=radius_mm, distance_mm=distance_mm, brake=stop)
def inches_to_mm(self, inches):
"""
Convert inches to mm
"""
return inches*25.4
# For the arm motor, we want positive values to be up and negative to be down.
# The way that we're configured, we have to reverse the polarity to achieve this.
arm_motor = MediumMotor(address=ARM_MOTOR_PORT)
arm_motor.polarity = MediumMotor.POLARITY_INVERSED
# Let's initialize our arm motor by putting it all the way down until it
# stalls. With our build, it will stall when it hits the supporting arms
# for the color sensor and touch sensor (so it doesn't hit the ground - it's
# still slightly in the air.)
arm_motor.off()
arm_motor.on(speed=SpeedPercent(-75))
arm_motor.wait_until_not_moving(timeout=5000)
arm_motor.off()
# Initialize our drive base - MyMoveDifferential extends MoveDifferential, which is a 'tank-like'
# class. Then drive forward at 25% speed for 24.0 inches.
mdiff = MyMoveDifferential(left_motor_port=LEFT_MOTOR_PORT,
right_motor_port=RIGHT_MOTOR_PORT, wheel_class=EV3EducationSetTire,
wheel_distance_mm=AXLE_TRACK_MM)
us_front.mode = 'US-DIST-CM'
us_side.mode = 'US-DIST-CM'
colors = ('red', 'blue')
while (True):
if cl.color == 5:
tank_drive.on_for_seconds(SpeedPercent(0), SpeedPercent(0), 2)
# change LED colours to green if a true victim is detected
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
# lower scoop
medMotor.polarity = 'inversed'
medMotor.on_for_rotations(SpeedPercent(50), 2)
# move robot into position
tank_drive.on_for_seconds(SpeedPercent(-20), SpeedPercent(-20), 2)
tank_drive.on_for_rotations(SpeedPercent(20), SpeedPercent(-20), 1 / 5)
tank_drive.on_for_seconds(SpeedPercent(20), SpeedPercent(20), 3.5)
# time of robot driving forward (3.5) needs to be tested to finalize.
# lift up scoop
medMotor.polarity = 'normal'
medMotor.on_for_rotations(SpeedPercent(50), 2)
# drive back, so that if rescue fails it can start over at original position
tank_drive.on_for_seconds(SpeedPercent(20), SpeedPercent(20), 3.5)
