def botgalToFrisbee(): print("botgaltofrisbee") link.enable_servo(c.grabberArm) move.cubeHolderArmMesa() drive.withStop(200, 200, 2.4) move.grabberOpen() t.sleep (1.000) move.grabberArmStraightUp()
def testFrisbeeGrabber(): print "test frisbeeGrabber" link.set_servo_position(c.frisbeeGrabber, c.frisbeeGrabberClose) link.enable_servo(c.frisbeeGrabber) frisbeeGrabberOpen() t.sleep(.5) frisbeeGrabberClose(10) link.disable_servo(c.frisbeeGrabber)
def testGrabberArm(): print "testing grabberArm" link.set_servo_position(c.grabberArm, c.grabberArmClear) link.enable_servo(c.grabberArm) grabberArmStraightUp() grabberArmClear() link.disable_servo(c.grabberArm) link.disable_servo(c.cubeHolderArm)
def init() : print "Turn on Create..." link.create_connect() link.create_full() link.set_servo_position(c.armPort, c.armUp) link.set_servo_position(c.clawPort, c.clawOpen) link.enable_servo(c.armPort) link.enable_servo(c.clawPort) print "...Ready!"
def testGrabber(): print "testing grabber" link.set_servo_position(c.grabber, c.grabberClearClosed) link.enable_servo(c.grabber) t.sleep(.5) grabberOpenInit() t.sleep(1) #was.4 grabberClearClosed() t.sleep(.5) link.disable_servo(c.grabber)
def testCubeHolderArm(): print "testing cubeHolderArm" link.set_servo_position(c.cubeHolderArm, c.cubeHolderArmCompleteDown) link.enable_servo(c.cubeHolderArm) cubeHolderArmSlightBack() t.sleep(.5) testETScanner cubeHolderArmCompleteDown() t.sleep(.5) link.disable_servo(c.cubeHolderArm)
def grabFrisbee(): link.enable_servo(c.grabber) link.enable_servo(c.frisbeeGrabber) move.grabberOpen() move.frisbeeGrabberOpen() #t.sleep(1.00) move.grabberArmGrabFrisbee( 40 ) t.sleep(1.00) move.grabberArmFinal(10) t.sleep(1.00) move.grabberMidClose() #t.sleep(1.00) move.frisbeeGrabberClose() t.sleep(1.00) move.grabberSlowOpen() move.grabberArmBack(5)
def testServo(): print "testing clapper" link.set_servo_position(c.clapper, c.clapperTight) link.enable_servo(c.clapper) time.sleep(1.0) link.set_servo_position(c.clapper, c.clapperWide) time.sleep(1.0) print "testing sorter" link.set_servo_position(c.sorter, c.sorterLeft) link.enable_servo(c.sorter) time.sleep(1.0) link.set_servo_position(c.sorter, c.sorterRight) time.sleep(1.0) link.set_servo_position(c.sorter, c.sorterCenter) time.sleep(1.0) print "testing kicker" link.set_servo_position(c.kicker, c.kickerOut) link.enable_servo(c.kicker) time.sleep(1.0) link.set_servo_position(c.kicker, c.kickerReady) time.sleep(1.0)
def testServo(): print "testing clapper" link.set_servo_position(c.clapper, c.clapperTight) link.enable_servo(c.clapper) time.sleep(1.0) link.set_servo_position(c.clapper, c.clapperWide) time.sleep(1.0) print "testing sorter" link.set_servo_position(c.sorter, c.sorterLeft) link.enable_servo(c.sorter) time.sleep(1.0) link.set_servo_position(c.sorter, c.sorterRight) time.sleep(1.0) link.set_servo_position(c.sorter, c.sorterCenter) time.sleep(1.0) print "testing kicker" link.set_servo_position(c.kicker, c.kickerOut) link.enable_servo(c.kicker) time.sleep(1.0) link.set_servo_position(c.kicker, c.kickerReady) time.sleep(1.0)
def backAwayFromBin(): print "back Away From Bin" link.set_servo_position(c.grabberArm, c.grabberArmRelease) link.enable_servo(c.grabberArm) move.cubeHolderArmMid(20) drive.withStop(-200, -200, 1.625)#3.25