def alignheadon(adjust_for_mission=0): shared_all.turn(180, 210) 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 inovtobball(): shared_all.move_straight(distance_mm=100, speed_mm_s=-100) shared_all.turn(90) shared_all.move_straight(distance_mm=150, speed_mm_s=150) shared_all.turn(-90) shared_all.move_straight(distance_mm=350, speed_mm_s=200) shared.turn(-45)
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 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 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 run_arp(): shared_all.move_crane_to_top(crane_motor) shared_all.move_crane_to_floor(crane_motor) shared_all.turn(-10) shared_all.move_straight( distance_mm=300, speed_mm_s=-190, )
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 align(): shared_all.move_reverse( max_distance=30 , speed_mm_s= 100) shared_all.turn(angle=-45, speed_deg_s=100) shared_all.move_straight(distance_mm=60, speed_mm_s=100) # Calibrate the gyro point in the direction at the start # shared_all.calibrate_gyro(0) # align()
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 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 align(): # shared_all.move_straight(distance_mm=50, speed_mm_s=200) # shared_all.turn(angle=90, speed_deg_s=200) # shared_all.move_reverse(max_distance=65, speed_mm_s=75) # shared_all.move_straight(distance_mm=450, speed_mm_s=175) # shared_all.turn(angle=15, speed_deg_s=200) # shared_all.turn_arc(distance=15,angle=15,speed_mm_s=50) # shared_all.move_straight(distance_mm=138, speed_mm_s=200) shared_all.start_moving_crane_to_angle(crane_motor, 45) shared_all.move_rack_to_top() shared_all.move_straight(distance_mm=110, speed_mm_s=120) shared_all.turn(35)
def run(adjust_for_mission=0): shared_all.turn(5) # shared_all.move_straight(distance_mm=190, speed_mm_s=-210) right_motor.run_angle(-90, 50, Stop.BRAKE, True) left_motor.run_angle(-270, 3 * 360, Stop.BRAKE, True) shared_all.move_straight(distance_mm=120, speed_mm_s=180) shared_all.move_straight(distance_mm=20, speed_mm_s=90) shared_all.turn_to_direction(gyro=gyro, target_angle=180 + adjust_for_mission)
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 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 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 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 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 runpushdown(): shared_all.move_rack_to_top() shared_all.move_straight(distance_mm=110, speed_mm_s=120) shared_all.turn(35) shared_all.move_crane_down(rack_motor, 210) shared_all.turn(-35) shared_all.move_straight(distance_mm=50, speed_mm_s=-120) shared_all.start_moving_crane_to_top(rack_motor) 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=70) shared_all.move_rack_to_top()
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 turn_points_90(): shared_all.move_straight(distance_mm=90, speed_mm_s=140) shared_all.turn(110, 190) wait(2000) shared_all.turn(-110, 190) wait(2000) shared_all.turn(90) wait(3000) shared_all.turn(-90)
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 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 run(adjust_for_mission=0): # shared_all.move_straight(distance_mm=190, speed_mm_s=-210) # left_motor.run_angle( -210, 3*360, Stop.BRAKE, True) shared_all.turn(5) # shared_all.move_straight(distance_mm=190, speed_mm_s=-210) right_motor.run_angle(-90, 50, Stop.BRAKE, True) left_motor.run_angle(-270, 3 * 360, Stop.BRAKE, True) shared_all.move_straight(distance_mm=230, speed_mm_s=180) # shared_all.move_straight(distance_mm=20, speed_mm_s=90) shared_all.turn_to_direction(gyro=gyro, target_angle=180 + adjust_for_mission) shared_all.turn(90) shared_all.push_back_reset_gyro(distance_mm=150, reset_gyro=True, new_gyro_angle=-90)
def do_crane_push(): shared_all.move_crane_to_floor(crane_motor) shared_all.move_crane_up(crane_motor, degrees=135) shared_all.move_straight(max_distance=60) shared_all.turn(angle=-50) # shared_all.move_straight(max_distance=100) shared_all.move_crane_to_floor(crane_motor) shared_all.turn(angle=50) crane_motor.run(40) shared_all.move_straight(max_distance=130, speed_mm_s=50) crane_motor.stop(Stop.BRAKE) shared_all.move_crane_down(crane_motor, degrees=30) shared_all.move_straight(max_distance=60) """for x in range(5): worker.move_crane_up(robot, crane_motor, degrees=20) move_robot.move_straight(robot=robot, max_distance=40)""" shared_all.move_reverse(max_distance=350) """worker.move_crane_up(robot, crane_motor, degrees=20)
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 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 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 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 row_to_weight(): shared_all.turn(angle=-90, speed_deg_s=100) shared_all.move_straight(distance_mm=40, speed_mm_s=100) shared_all.turn(angle=90, speed_deg_s=100) shared_all.move_straight(distance_mm=50, speed_mm_s=100) shaared_all.turn(angle=-90, speed_deg_s=100)