def get_low_poms(): # First pom set
print "Starting get_low_poms()"
m.arm_slow(c.ARM_UP_POS, 3, 1)
f.backwards_through_line_lfcliff()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_low_poms_cheeky(): # First pom set
print "Starting get_low_poms()"
m.arm_slow(c.ARM_UP_POS, 3, 1)
f.backwards_through_line_lfcliff()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms(50, 0)
f.forwards_until_black_lfcliff()
m.backwards(150)
def get_mid_poms(): # Second pom set
print "Starting get_mid_poms()"
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_left()
m.backwards(2680)
m.turn_right()
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_high_poms_cheeky():
print "Starting get_high_poms_cheeky()"
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_right()
m.forwards(2680)
m.turn_left()
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
collect_poms(10000)
f.backwards_until_white_lfcliff()
m.arm_slow(c.ARM_UP_POS, 2, 1)
def get_farther_mid_poms():
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
f.lfollow_lfcliff_smooth(2)
f.lfollow_lfcliff_smooth_until_right_depth_senses_object()
m.forwards(1000)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_high_poms(): # Third pom set
print "Starting get_high_poms()"
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
# m.turn_right()
# f.left_point_turn_until_lfcliff_senses_black() # How does it know it is on the right side of the line?
f.lfollow_lfcliff_smooth_until_rfcliff_senses_black()
m.backwards(1400)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms(50, 0)
def get_farther_high_poms():
print "Starting get_farther_high_poms()"
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
f.lfollow_lfcliff_smooth_until_rfcliff_senses_black()
f.forwards_until_white_rfcliff()
f.right_point_turn_until_rfcliff_senses_black(2)
f.right_point_turn_until_lfcliff_senses_black(2)
f.right_point_turn_until_rfcliff_senses_white(2)
f.right_point_turn_until_rfcliff_senses_black(2)
f.backwards_until_black_lfcliff()
# m.turn_right(int(0.5 * c.RIGHT_TURN_TIME), 2 * c.BASE_LM_POWER, -2 * c.BASE_RM_POWER)
# m.turn_right(int(0.5 * c.RIGHT_TURN_TIME), 2 * c.BASE_LM_POWER, -2 * c.BASE_RM_POWER)
m.backwards(1650)
m.turn_right()
f.forwards_until_line_fcliffs()
f.align_close_fcliffs()
collect_poms()
def calibrate():
max_sensor_value_rcliff = 0
min_sensor_value_rcliff = 90000
max_sensor_value_lcliff = 0
min_sensor_value_lcliff = 90000
max_sensor_value_lfcliff = 0
min_sensor_value_lfcliff = 90000
max_sensor_value_rfcliff = 0
min_sensor_value_rfcliff = 90000
sec = seconds() + 9
print "Running calibrate()"
m.activate_motors(-1, int(c.BASE_LM_POWER / 2), int(c.BASE_RM_POWER / 2))
print str(int(c.BASE_LM_POWER / 2))
print str(int(c.BASE_RM_POWER / 2))
while seconds() < sec:
if get_create_rcliff_amt() > max_sensor_value_rcliff:
max_sensor_value_rcliff = get_create_rcliff_amt()
if get_create_rcliff_amt() < min_sensor_value_rcliff:
min_sensor_value_rcliff = get_create_rcliff_amt()
if get_create_lcliff_amt() > max_sensor_value_lcliff:
max_sensor_value_lcliff = get_create_lcliff_amt()
if get_create_lcliff_amt() < min_sensor_value_lcliff:
min_sensor_value_lcliff = get_create_lcliff_amt()
if get_create_rfcliff_amt() > max_sensor_value_rfcliff:
max_sensor_value_rfcliff = get_create_rfcliff_amt()
if get_create_rfcliff_amt() < min_sensor_value_rfcliff:
min_sensor_value_rfcliff = get_create_rfcliff_amt()
if get_create_lfcliff_amt() > max_sensor_value_lfcliff:
max_sensor_value_lfcliff = get_create_lfcliff_amt()
if get_create_lfcliff_amt() < min_sensor_value_lfcliff:
min_sensor_value_lfcliff = get_create_lfcliff_amt()
msleep(1)
m.deactivate_motors()
c.LCLIFF_BW = (
(max_sensor_value_lcliff + min_sensor_value_lcliff) / 2) + 750
c.RCLIFF_BW = (
(max_sensor_value_rcliff + min_sensor_value_rcliff) / 2) + 750
c.LFCLIFF_BW = (
(max_sensor_value_lfcliff + min_sensor_value_lfcliff) / 2) + 770
c.RFCLIFF_BW = (
(max_sensor_value_rfcliff + min_sensor_value_rfcliff) / 2) + 1000
print "LCLIFF_BW: " + str(c.LCLIFF_BW)
print "RCLIFF_BW: " + str(c.RCLIFF_BW)
print "LFCLIFF_BW: " + str(c.LFCLIFF_BW)
print "RFCLIFF_BW: " + str(c.RFCLIFF_BW)
print "max_sensor_value_rcliff: " + str(max_sensor_value_rcliff)
print "min_sensor_value_rcliff: " + str(min_sensor_value_rcliff)
msleep(500)
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
msleep(300)
f.forwards_until_black_lcliff()
f.align_close_cliffs()
msleep(300)
f.forwards_until_bump()
m.backwards(100)
#m.activate_motors(1)
#msleep(4250)
#m.deactivate_motors()
msleep(1500)
ao()
create_disconnect()
wait_for_light(c.LIGHT_SENSOR)
create_connect()
shut_down_in(120) # URGENT: PUT BACK IN BEFORE COMPETITION