def noObstacle():
tolerance = 700
if (getObstacle()[0] < tolerance and getObstacle()[1] < tolerance
and getObstacle()[2] < tolerance):
return True
else:
return False
setName("OG_Loc")
print("Started")
functions.moveUntilBlocked(1, 800)
blocked = True
stepTime = 0.5
timeOffCourse = 0
while (blocked == True):
functions.turn(90)
functions.moveForward(1, stepTime)
functions.turn(-90)
timeOffCourse += stepTime
printSensorVals()
if (noObstacle()):
from myro import *
import functions
print("Started")
def blocked():
return (getObstacle()[0] > 1000)
functions.moveUntilBlocked(0.4, 1000)
r = 87
functions.turn(88)
slopeUp = False
if(blocked() == True):
slopeUp = True
turnTolerance = 900
max = 20
sidesTraversed = 0
actions = 0
while(sidesTraversed != 3):
if(sidesTraversed != 2):
if(slopeUp == True):
clearanceTest = functions.limitedMoveUntilBlocked(0.4, turnTolerance, 20)
print(getObstacle())
def noObstacle():
tolerance = 700
if(getObstacle()[0] < tolerance and getObstacle()[1] < tolerance and getObstacle()[2] < tolerance):
return True
else:
return False
setName("OG_Loc")
print("Started")
functions.moveUntilBlocked(1, 800)
blocked = True
stepTime = 0.5
timeOffCourse = 0;
while(blocked == True):
functions.turn(90)
functions.moveForward(1, stepTime)
functions.turn(-90)
timeOffCourse += stepTime
printSensorVals()
if(noObstacle()):
from myro import *
import functions
print("Started")
def blocked():
return (getObstacle()[0] > 1000)
functions.moveUntilBlocked(0.4, 1000)
r = 87
functions.turn(88)
slopeUp = False
if (blocked() == True):
slopeUp = True
turnTolerance = 900
max = 20
sidesTraversed = 0
actions = 0
while (sidesTraversed != 3):
if (sidesTraversed != 2):
from myro import *
import functions
tolerance = 300
def blocked():
return (getObstacle()[0] >= tolerance)
print("Started")
functions.moveUntilBlocked(0.2, 500) #move forward until an obstacle sensor reaches 500
while(blocked()):
functions.turn(10) #the robot will keep turning right until it becomes parallel with the box
functions.turn(50) #an additional little turn to avoid collisions with the box; now the robot should be parallel with the box's side
timeOffCourse = 0
i = 0
for i in range(0, 2): #go through the 'turn left when safe to do so' process twice
turnBlocked = True #assume turn is blocked
while(turnBlocked):
if(i == 0):
timeOffCourse += 1 #if going laterally, add time spent going the other way later
functions.moveForward(0.7, 1) #move forward slightly
functions.turn(-90) #turn left
