def gyroRight (degrees):
startingAngle = gyro.angle()
finishAngle = startingAngle + degrees
print("Right --> Starting at: " + str(startingAngle) + " need to turn " + str(degrees) + " Will stop at: " + str(finishAngle))
turnSpeed = 150
while gyro.angle() <= finishAngle:
r_DriveMotor.run(-1 * turnSpeed)
l_DriveMotor.run(turnSpeed)
driver.stop()
def run4():#creats a function for run 4
driver.stop() #stops for membory problem
driver.settings(straight_speed=500) #definig straight speed
driver.straight(600) #going straight to get out near sc
driver.stop() #stoping to try and drop
driver.straight(150) #goes forward more; closer to the step counter
driver.stop()#trys to drop again just incase
driver.straight(600) #dives all the way back to push back the stepcounter
driver.stop() #stops
driver.straight(-1300) #drives back to hime
def run3():
driver.straight(-10) #making run three a function for main to cut down on start up time
driver.stop()
driver.settings(straight_speed=400) #setting the speed when you go straight to always be 200
driver.straight(300)
driver.stop()
gyroRight(6)
driver.straight(125) #goes straight to bench driving health units and innovation challenge
door.run_until_stalled(300)
driver.stop() #stops
gyroLeft(130)
driver.stop() #stops for gyro
#gyroRight(10)
#driver.straight(-350) #drives backwards to home
#driver.stop()
#gyroLeft(70)
driver.straight(550)
driver.stop() #stops to end program
def run1():
driver.settings(straight_speed=450)
ev3.speaker.beep() # notify done
# drive until black
gyro.reset_angle(0)
driver.stop()
driver.straight(75)
driver.stop()
gyroRight(79)
driver.stop()
driver.straight(1450)
driver.stop()
gyroRight(80)
driver.straight(250)
driver.straight(-150)
driver.stop()
gyroRight(85)
driver.straight(-250)
driver.stop()
driver.settings(straight_speed=500)
l_DriveMotor.run_time(-500, 4300)
driver.stop()
driver.straight(260)
driver.stop()
gyroLeft(50)
driver.straight(200)
driver.straight(-160)
driver.stop()
gyroRight(88)
driver.straight(2000)
def run5():
#reset gyro
gyro.reset_angle(0)
driver.settings(straight_speed=350)
driver.straight(-10)
#positioned the robot for the run
driver.straight(100)
driver.stop()
gyroRight(53)
driver.stop()
# find the black line and turns to go straight back
driver.straight(410)
driver.stop()
gyroLeft(53)
driver.stop()
driver.straight(325) #drives straight to be parrallle to bball hoop
driver.stop()
gyroLeft(28) #turn to bball hoop
driver.stop()
driver.settings(straight_speed=100)
driver.straight(187) #goes to bball hoop
driver.straight(-50)
driver.stop() #stop because its important
gyroRight(gyro.angle() * -0.91) #turns over to botci
driver.stop()
driver.settings(straight_speed=150)
driver.straight(70) #goes to botchi tipping red cube out
driver.stop()
driver.straight(-75) #backs up from botchi
driver.stop()
driver.settings(straight_speed=350)
gyroRight(90) #turns to be paralelle to dance floor
driver.stop()
driver.straight(320) #goes to be next to dance floor
driver.stop()
gyroLeft(90) #turns to dance floor
driver.straight(150) #
while True: #basicly a forever loop
driver.straight(20) #danceeeee like theres no tommorow
driver.stop()
gyroRight(180)
driver.stop()
driver.straight(-20)
driver.straight(10)
driver.stop()
gyroLeft(140)
driver.stop()
gyroRight(100)
driver.stop()
gyroLeft(90)
driver.straight(10)
ev3.speaker.set_volume(
100) #telling the speker to talk at volume 100 aka 100%
ev3.speaker.set_speech_options(
language='el', voice='f3',
speed=60) #settieng the accent to greek the
#voice to female and the speed 100 wpm
ev3.speaker.say("bootsandcatsaandbootsandcats"
) #telling it to say whatever we want
def run2():
driver.settings(straight_speed=450)
driver.straight(250)
driver.straight(-140)
driver.stop()
gyroRight(85)
driver.straight(-250)
driver.stop()
driver.settings(straight_speed=500)
l_DriveMotor.run_time(-600, 4000) #runs treadmill
driver.stop()
driver.straight(260) #gets off treadmill
driver.stop()
gyroLeft(70) #facing wall
driver.straight(200)
driver.straight(-160)
driver.stop()
gyroRight(87) #facing home
driver.straight(300)
driver.stop()
while r_color.reflection() < 90:
driver.drive(150, 0)
driver.stop()
driver.straight(150)
driver.stop()
#run2 starts
driver.settings(straight_speed=450)
gyroLeft(90)
driver.straight(350) #wall square
driver.straight(-690)
driver.stop()
driver.settings(straight_speed=300)
dumper.down(350, 95) #moves dumper down 90% to dump blocks
#driver.straight(470) #move forward to GO UNDER BRIDGE
#driver.straight(-375) #goes backwards go go back to target
driver.stop()
driver.straight(100)
dumper.up(300, 30) #dumper moves up 30% to get lined up with flip
#moves forward to be at right distance to flip
driver.stop() #stops for gyro
gyroRight(30) #turns to line up wiht flip
driver.straight(-55) #backward so flip is in dump and turn flip
driver.straight(
10) #forward for +special effects+ (also so we knock flip sligly)
dumper.run_until_stalled(100)
driver.straight(50) #goes forward to finish the dump
driver.stop()
driver.settings(straight_speed=500
) #changing the speed so its faster to cut down on time
#(we get speedy)
driver.stop() #stops for gyro
gyroRight(20) #turns overso we are in line with the slide
driver.stop() #stops because its inportant to do that
driver.straight(30) #goes forward so we are by the slide
driver.stop()
pct = door.up(300, 48)
print("PCT: " + str(pct))
while pct <= 47.5:
driver.straight(-20)
driver.stop()
pct = door.up(500, 48 - pct)
print("PCT: " + str(pct))
driver.stop()
driver.straight(95) #goes straight to actually knock them down
driver.stop()
driver.straight(
-120) #goes backwards so we down hurt our robot by turning them
driver.stop()
door.down(100, 45) #brings door down so we don't accidently hit something
dumper.run_until_stalled(
300) #brings dump up becuse we don't want to forget and get penilized
driver.stop()
gyroRight(41) #turns so we are facing bench/baskitball area
driver.straight(440) #drives so we are parallel
driver.stop() #stops because the gyro dosn't like us when we don't
gyroLeft(88) #turns so we are facing little dudes
driver.settings(straight_speed=250)
door.up(100, 80) #brings door up to prepare to trap little dudes
driver.straight(530) #drives forward to trap little dudes
driver.stop()
driver.settings(straight_speed=400)
door.down(100, 80) #now actually finally traps little dudes
gyroRight(80) #turns right to face home
driver.straight(803) #drives into home
def runB():
driver.settings(straight_speed=450)
driver.stop()
driver.straight(-10)
ev3.speaker.beep() # notify done
gyro.reset_angle(0)
driver.stop()
driver.straight(80)
driver.stop()
gyroRight(79)
driver.stop()#turrning out to face challange zone
driver.straight(1380)#getting out to zone
driver.stop()
gyroLeft(80)
driver.straight(300)
driver.stop()
while r_color.reflection()>10:#sensing white by weight machine
driver.drive(200,0)
driver.stop()
driver.straight(20)
driver.stop()
driver.straight(80)
driver.stop()
gyroRight(80)
while l_color.reflection()>12:#
driver.drive(200,0)
driver.stop()
door.up(300,95)#door up
driver.stop()
gyroLeft(78)#turn so door is over weight machine
driver.settings(straight_speed=350)
pct = door.down(300,95)
print("PCT: " + str(pct))
while pct >= 20:
door.up(300,30)
gyroLeft(2)
pct = door.down(300,70)
print("PCT: " + str(pct))
#door down to get machine
driver.stop()
gyroRight(93)
door.run_until_stalled(500)
driver.stop()
driver.straight(500)#wall square
while l_color.reflection()<85:#goes back to white line
driver.drive(-200,0)
driver.stop()
gyroRight(52)#turns to row machine
door.up(300,30)
driver.straight(190)#does row
driver.stop()
door.down(300,25)
driver.stop()
gyroRight(55)
driver.straight(-10)#finishes row
driver.stop()
door.run_until_stalled(-300)
driver.straight(-50)
driver.stop()
gyroRight(35)
driver.stop()
driver.straight(250)
driver.stop()
gyroLeft(63)
door.run_until_stalled(300)
while l_color.reflection()<85:
driver.drive(300,0)
driver.stop()
gyroLeft(55)
driver.stop()
driver.straight(100)
driver.stop()
gyroRight(50)
driver.straight(200)
driver.stop()