l1.backward() # forward l2.backward() s1pressed = False s2pressed = False while not (s1pressed and s2pressed): if (s1.isPressed()): s1pressed = True l1.stop() if (s2.isPressed()): s2pressed = True l2.stop() motor_forward(l1, desync_offset) # add desired desync sync_legs(motor1, motor2, ts1, ts2, 400) # 400 desync makes it non-butterfly while True: if (us.getDistance() < 40): motor1.stop() motor2.stop() Tools.delay(1500) move_forward(motor1, motor2, 3000) # due to motor setup, forward is actually backward sync_legs(motor1, motor2, ts1, ts2, 0) # make it stand up snap_jaw(jaw, 3) if (randint(0,1) == 0): turn(motor1, motor2, 4000) sync_legs(motor1, motor2, ts1, ts2, 0) Tools.delay(1500) sync_legs(motor1, motor2, ts1, ts2, 400) # make it non butterfly else: turn(motor2, motor1, 4000) sync_legs(motor1, motor2, ts1, ts2, 0) Tools.delay(1500)
gunmotor = Motor(MotorPort.A)
motor1 = Motor(MotorPort.B)
motor2 = Motor(MotorPort.C)
us = UltrasonicSensor(SensorPort.S4)
robot.addPart(gunmotor)
robot.addPart(motor1)
robot.addPart(motor2)
robot.addPart(us)
def start_turn(m1, m2):
m1.stop()
m2.stop()
m1.backward()
m2.forward()
def stop(m1, m2, t):
m1.stop()
m2.stop()
Tools.delay(t)
start_turn(motor1, motor2)
while true:
if (us.getDistance() < 80):
stop(motor1, motor2, 500)
gunmotor.forward()
Tools.delay(1000)
gunmotor.stop()
start_turn(motor1, motor2)
Tools.delay(400) # don't shoot again for awhile
Tools.delay(20)
start_forward(motor1, motor2)
last_us_distance = -1
while True:
t1 = ts1.isPressed()
t2 = ts2.isPressed()
if (t1 and t2):
move_backward(motor1, motor2, 500)
turn(motor1, motor2, 400)
start_forward(motor1, motor2)
else:
if t1:
move_backward(motor1, motor2, 1000)
turn(motor2, motor1, 800)
start_forward(motor1, motor2)
elif t2:
move_backward(motor1, motor2, 1000)
turn(motor1, motor2, 800)
start_forward(motor1, motor2)
# if something appears close to sensor suddenly
if (last_us_distance != -1 and last_us_distance - us.getDistance() > 50):
stopfor(motor1, motor2, 1000)
# shoot it!
gunmotor.forward()
Tools.delay(1000)
gunmotor.stop()
start_forward(motor1, motor2)
last_us_distance = us.getDistance();
Tools.delay(20)
robot.addPart(ts2)
robot.addPart(us)
def back_away(m1, m2, t):
m1.stop()
m2.stop()
m1.backward
m2.backward()
Tools.delay(t)
m1.stop()
m2.stop()
def shoot(m, t):
m.forward()
Tools.delay(t)
m.stop()
for i in range(5):
# wait until something approaches
while(us.getDistance() > 80):
Tools.delay(20)
# back away when it does
back_away(m1, m2, 1000)
if ts1.isPressed() or ts2.isPressed():
# shoot if backed against wall!
shoot(gunmotor, 1000)
# after we're forced back 5 times
# we just open fire!
shoot(gunmotor, 10000)
robot.exit()
m1.stop()
m2.stop()
m1.backward()
m2.forward()
def stop(m1, m2, t):
m1.stop()
m2.stop()
Tools.delay(t)
def move_forward(m1, m2, t):
m1.stop()
m2.stop()
m1.forward()
m2.forward()
Tools.delay(t)
# start turning
start_turn(motor1, motor2)
# find largest us value
largest_us_value = 0
for i in range(20):
us_value = us.getDistance()
if (us_value > largest_us_value):
largest_us_value = us_value
Tools.delay(20)
# spin until facing direction of largest us value
while (us.getDistance() < largest_us_value):
continue
# move in the discovered direction like a boss
move_forward(5000)
