def take_slide_to_home(): shared_all.turn_arc(distance = 90 ,angle = 50 , speed_mm_s=100) shared_all.turn_arc(distance = 160 ,angle = -90 , speed_mm_s=100) shared_all.move_rack_to_floor() shared_all.drive_raising_crane(duration_ms=2200, robot_distance_mm=400, robot_turn_angle=15, motor=rack_motor, crane_angle=-15)
def putcube(): shared_all.drive_raising_crane(duration_ms=1000, robot_distance_mm=30, robot_turn_angle=0, motor=crane_motor, crane_angle=-80) shared_all.move_straight(distance_mm=60, speed_mm_s=-90)
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 push_small_tire(adjust_for_mission=0): shared_all.move_rack_to_floor() shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=30, robot_turn_angle=-35, motor=rack_motor, crane_angle=-5) shared_all.move_crane_to_top(rack_motor) shared_all.turn_to_direction(gyro=gyro, target_angle=-70) shared_all.turn_arc(distance=90, angle=-20, speed_mm_s=140)
def level2crane(): shared_all.move_rack_to_floor() shared_all.log_string('Moved racktotop') shared_all.move_crane_up(motor=rack_motor, degrees=40) shared_all.turn(angle=20) shared_all.drive_raising_crane(duration_ms=500, robot_distance_mm=20, robot_turn_angle=0, motor=rack_motor, crane_angle=190) shared_all.move_straight(distance_mm=40, speed_mm_s=-90) shared_all.move_crane_down(motor=rack_motor, degrees=90) shared_all.log_string('MOtor is ' + str(crane_motor))
def level1crane(): shared_all.move_crane_to_floor(motor=crane_motor) shared_all.move_crane_up(motor=crane_motor, degrees=35) shared_all.move_straight(distance_mm=60, speed_mm_s=90) shared_all.move_crane_down(motor=crane_motor, degrees=15) shared_all.move_straight(distance_mm=8, speed_mm_s=90) shared_all.drive_raising_crane(duration_ms=700, robot_distance_mm=-10, robot_turn_angle=0, motor=crane_motor, crane_angle=120) shared_all.move_crane_down(motor=crane_motor, degrees=30) shared_all.move_straight(distance_mm=30, speed_mm_s=-90)
def rack_push_up(): shared_all.move_rack_to_floor() shared_all.drive_raising_crane(duration_ms=1300, robot_distance_mm=-40, robot_turn_angle=8, motor=rack_motor, crane_angle=90) shared_all.drive_raising_crane(duration_ms=1300, robot_distance_mm=40, robot_turn_angle=8, motor=rack_motor, crane_angle=70) shared_all.move_rack_to_floor()
def run(): shared_all.move_crane_to_top(motor=crane_motor) while True: shared_all.drive_raising_crane(duration_ms=500, robot_distance_mm=60, robot_turn_angle=0, motor=crane_motor, crane_angle=-45) shared_all.drive_raising_crane(duration_ms=500, robot_distance_mm=-60, robot_turn_angle=0, motor=crane_motor, crane_angle=45)
def run(): shared_all.move_rack_to_floor() # shared_all.move_crane_up( motor = rack_motor, degrees = 30) shared_all.move_straight(distance_mm=55, speed_mm_s=100) while shared_all.did_motor_stall(motor =rack_motor , max_degrees =30 , speed = 80): shared_all.log_string('Stalled') shared_all.move_straight(distance_mm=4, speed_mm_s=-20) shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=30, robot_turn_angle=0, motor=rack_motor, crane_angle=75) shared_all.turn_arc(distance = 60 ,angle = -7 , speed_mm_s=100)
def runold (): shared_all.move_rack_to_floor () shared_all.move_straight(distance_mm=60, speed_mm_s=120) while shared_all.did_motor_stall(motor =rack_motor , max_degrees =50 , speed = 320): # log_string('stalled - step back') shared_all.move_reverse(max_distance=6, speed_mm_s=20) shared_all.move_crane_to_angle(motor=rack_motor, target_angle=90) shared_all.drive_raising_crane (duration_ms=900, robot_distance_mm=80, robot_turn_angle=0, motor=rack_motor, crane_angle=-20) shared_all.move_crane_to_angle(motor=rack_motor, target_angle=120) shared_all.move_reverse(max_distance=20, speed_mm_s=100)
def run(adjust_for_mission=0): # shared_all.turn_to_direction( gyro=gyro, target_angle=10) shared_all.move_rack_to_floor() shake() #pull bsck shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-120, robot_turn_angle=-10, motor=rack_motor, crane_angle=-40) #release shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=5, robot_turn_angle=0, motor=rack_motor, crane_angle=15) shared_all.move_crane_up(rack_motor, 180) shared_all.move_rack_to_top()
def run(): shared_all.move_crane_down(rack_motor, 70) shared_all.move_hook_to_floor() shared_all.move_straight(distance_mm=20, speed_mm_s=-50) shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-20, robot_turn_angle=0, motor=rack_motor, crane_angle=20) shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-70, robot_turn_angle=0, motor=rack_motor, crane_angle=30) shared_all.move_straight(distance_mm=40, speed_mm_s=-130) shared_all.move_crane_up(rack_motor, 30) #backup shared_all.move_straight(distance_mm=600, speed_mm_s=-200)
def run(): ##lift shared_all.move_crane_down(crane_motor, 10) shared_all.drive_raising_crane(duration_ms=600, robot_distance_mm=0, robot_turn_angle=0, motor=crane_motor, crane_angle=110) shared_all.move_crane_down(crane_motor, 80) #knock shared_all.move_straight(distance_mm=18, speed_mm_s=-90) shared_all.move_crane_to_floor(crane_motor) shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=10, robot_turn_angle=-30, motor=crane_motor, crane_angle=-20) #backup shared_all.start_moving_crane_to_angle(crane_motor, 70) shared_all.turn_to_direction(gyro=gyro, target_angle=-85) shared_all.move_straight(distance_mm=60, speed_mm_s=-120)
def runfacing(): shared_all.move_crane_down(rack_motor, 70) shared_all.move_hook_to_floor() shared_all.move_straight(distance_mm=20, speed_mm_s=-50) shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-30, robot_turn_angle=0, motor=rack_motor, crane_angle=20) shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-90, robot_turn_angle=0, motor=rack_motor, crane_angle=20) # shared_all.move_straight(distance_mm=40, speed_mm_s=130) shared_all.move_crane_up(rack_motor, 70) shared_all.move_straight(distance_mm=500, speed_mm_s=-200) shared_all.move_rack_to_top() # shared_all.calibrate_gyro(new_gyro_angle=-45) # alignfacing() # runfacing()
def level1(): shared_all.move_crane_to_top(motor=crane_motor) shared_all.move_rack_to_floor() shared_all.turn(angle=-10, speed_deg_s=90) shared_all.move_straight(distance_mm=90, speed_mm_s=90) shared_all.turn(angle=20, speed_deg_s=90) # rack_motor.stop(Stop.BRAKE) # cntr=0 # while cntr < 4 and shared_all.did_motor_stall(motor =rack_motor , max_degrees =80 , speed = 320): # shared_all.log_string('Mtr stalled') # shared_all.move_crane_down(rack_motor, 5) # shared_all.log_string('mved crane down') # shared_all.move_rack_to_floor() # shared_all.move_straight(distance_mm=6, speed_mm_s=20) # cntr +=1 # shared_all.move_rack_to_floor() # shared_all.move_crane_down(rack_motor, 5) # rack_motor.run_time(720, 900) shared_all.drive_raising_crane(duration_ms=1300, robot_distance_mm=-40, robot_turn_angle=0, motor=rack_motor, crane_angle=80) shared_all.drive_raising_crane(duration_ms=1300, robot_distance_mm=0, robot_turn_angle=0, motor=rack_motor, crane_angle=50) shared_all.drive_raising_crane(duration_ms=900, robot_distance_mm=20, robot_turn_angle=0, motor=rack_motor, crane_angle=15) # back up while lowering slightly shared_all.drive_raising_crane(duration_ms=800, robot_distance_mm=-70, robot_turn_angle=0, motor=rack_motor, crane_angle=-20) shared_all.move_rack_to_floor() shared_all.move_straight(distance_mm=60, speed_mm_s=-90) shared_all.move_rack_to_top()
def runold(adjust_for_mission=0): shared_all.turn_to_direction( gyro=gyro, target_angle=-37+ adjust_for_mission) shared_all.move_rack_to_floor() shake() shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-80, robot_turn_angle=-20, motor=rack_motor, crane_angle=-5) shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=25, robot_turn_angle=-50, motor=rack_motor, crane_angle=-5) shared_all.turn(8) shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-10, robot_turn_angle=0, motor=rack_motor, crane_angle=110)
def runfacingnorth(): shared_all.move_rack_to_floor() shake() shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=10, robot_turn_angle=-70, motor=rack_motor, crane_angle=-15)
def runold2 (): shared_all.move_straight(distance_mm=550, speed_mm_s=160) shared_all.move_crane_to_floor(motor=rack_motor) shared_all.drive_raising_crane(duration_ms=50, robot_distance_mm=-37, robot_turn_angle=0, motor=rack_motor, crane_angle=80) shared_all.move_straight (distance_mm=550, speed_mm_s=-160)