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 alignold(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=90,
speed_mm_s=100,
target_angle=-90 +
adjust_for_mission)
# shared_all.turn(-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=85,
speed_mm_s=-120,
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)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=75,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.turn_to_direction(gyro=gyro,
target_angle=-135 + adjust_for_mission,
speed_mm_s=80)
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 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 treadmill_to_row_simple(adjust_for_mission=0):
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
shared_all.move_straight(distance_mm=40, speed_mm_s=70)
def base_to_treadmill(adjust_for_mission=0):
# shared_all.move_straight(distance_mm=1370,speed_mm_s=-150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=1340,
speed_mm_s=-290,
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 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 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 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 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 align_color_and_rightturns(adjust_for_mission=0):
shared_all.move_straight(distance_mm=170, speed_mm_s=120)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 80,
speed_mm_s= -140,
target_angle= -90+ adjust_for_mission)
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=110)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 220,
speed_mm_s= 140,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
def align(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=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 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)