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 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 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 runold(adjust_for_mission=0):
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
max_distance_mm=60)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
alternative_color=Color.YELLOW,
max_distance_mm=170)
shared_all.turn_arc(distance=30, angle=15, speed_mm_s=60)
#lift weight and back up
crane_motor.stop()
shared_all.move_crane_down(motor=crane_motor, degrees=10)
crane_motor.run_time(600, 900)
# shared_all.move_crane_to_floor(crane_motor)
# shared_all.move_crane_up( motor = crane_motor, degrees = 40)
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_straight(distance_mm=70, speed_mm_s=-120)
# turn west and back up
shared_all.turn(-140, speed_deg_s=200)
shared_all.start_moving_crane_to_top(motor=crane_motor)
shared_all.move_straight(distance_mm=70, speed_mm_s=-150)
shared_all.turn_arc(distance=50, angle=60, speed_mm_s=190)
def base_to_basket(adjust_for_mission=0):
shared_all.turn_arc(distance=620, angle=-90, speed_mm_s=230)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.turn_to_direction(gyro=gyro, target_angle=-90, speed_mm_s=120)
def gyro_color_test_angled():
shared_all.log_string('Pre-run gyro speed ' + str(shared_all.gyro.speed()) + ' angle:' + str(shared_all.gyro.angle()))
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_crane_up(crane_motor, degrees=135)
shared_all.move_straight(max_distance=800, speed_mm_s=200)
shared_all.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.turn_to_direction(gyro, target_angle=45)
shared_all.log_string('post +45 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.move_to_color(color_sensor=color_sensor_left,
stop_on_color=Color.BLACK, speed_mm_s = 70)
shared_all.turn_to_direction(gyro, target_angle=90)
shared_all.log_string('post +90 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.move_straight(max_distance=100)
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_crane_up(crane_motor, degrees=45)
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_reverse(max_distance=100)
shared_all.move_crane_up(crane_motor, degrees=135)
shared_all.turn_to_direction(gyro, target_angle=210)
shared_all.log_string('post +210 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.move_straight(max_distance=1300)
shared_all.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
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 align():
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=17, speed_mm_s=40)
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 aligncubes():
shared_all.move_straight(distance_mm=290, speed_mm_s=150)
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
max_distance_mm=600)
shared_all.move_straight(distance_mm=10, speed_mm_s=-100)
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 align(adjust_for_mission=0):
shared_all.turn_to_direction(gyro=gyro,
target_angle=-133 + adjust_for_mission,
speed_deg_s=80)
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=30)
def align(adjust_for_mission=0):
shared_all.turn_to_direction( gyro=gyro, target_angle=180+ adjust_for_mission)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE, alternative_color=Color.WHITE, speed_mm_s=25,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center])
shared_all.move_straight(distance_mm= 60, speed_mm_s= -70)
shared_all.move_crane_to_floor(crane_motor)
shared_all.turn_arc(distance=160, angle=80, speed_mm_s =50)
def alignreverse(adjust_for_mission=0):
shared_all.turn(angle=-30)
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=180)
shared_all.turn_to_direction(gyro=gyro,
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 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 go_long():
shared_all.move_straight(max_distance=1600, speed_mm_s=250)
shared_all.move_to_color(color_sensor=color_sensor_left,
stop_on_color=Color.BLACK, speed_mm_s = 70)
shared_all.move_straight(max_distance=60)
shared_all.turn_to_direction(gyro, target_angle=-90)
shared_all.move_to_color(color_sensor=color_sensor_left,
stop_on_color=Color.RED, speed_mm_s = 70)
shared_all.turn_to_direction(gyro, target_angle=160)
shared_all.move_straight(max_distance=1600, speed_mm_s=250)
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():
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 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 alignold(adjust_for_mission=0):
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.move_straight(distance_mm=10, speed_mm_s=70)
shared_all.turn(-90)
shared_all.move_straight(distance_mm=170, speed_mm_s=-170)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=False,
new_gyro_angle=0)
shared_all.move_straight(distance_mm=160, speed_mm_s=150)
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.BLACK,
alternative_color=Color.BLACK)
def treadmill_to_weight(adjust_for_mission=0):
shared_all.move_straight(distance_mm=100, speed_mm_s=160)
shared_all.turn(angle=90, speed_deg_s=170)
shared_all.move_reverse(max_distance=100, speed_mm_s=140)
shared_all.push_back_reset_gyro(distance_mm=50,
reset_gyro=True,
new_gyro_angle=-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=460,
speed_mm_s=150,
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 treadmill_to_row_nearrow(adjust_for_mission=0):
shared_all.turn_arc(distance=110, angle=55,
speed_mm_s=100) # turn in an arc
shared_all.turn(angle=-55, speed_deg_s=120)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
# shared_all.turn_to_direction( gyro=gyro, target_angle=-90+ adjust_for_mission)
shared_all.move_straight(180, -180)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight(distance_mm=70, speed_mm_s=100)
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=40)
def align(adjust_for_mission=0):
# shared_all.move_straight(max_distance=700, speed_mm_s=100)
# wait(1000)
# shared_all.move_crane_to_top(crane_motor)
# wait(10)
shared_all.turn(angle=-30)
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=90)
# shared_all.move_straight(distance_mm=10, speed_mm_s=30)
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.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=180)
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 alignold(adjust_for_mission=0):
shared_all.move_straight(distance_mm=180, speed_mm_s=150)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK, alternative_color=Color.BLACK)
shared_all.move_straight(distance_mm=20, speed_mm_s=120)
