def swap_left_and_middle():
robot.drive_right()
robot.lift_up()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.lift_up()
robot.drive_right()
robot.drive_right()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
robot.drive_left()
robot.drive_left()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
robot.drive_right()
robot.drive_right()
robot.lift_down()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_folded()
robot.drive_left()
robot.drive_left()
robot.drive_left()
robot.lift_down()
def swap_middle_and_left():
robot.lift_up()
robot.drive_left()
robot.drive_left()
robot.drive_left()
robot.drive_left()
robot.lift_down()
robot.gripper_to_closed()
#green box is in the gripper!
robot.lift_up()
robot.drive_right()
robot.drive_right()
robot.gripper_to_open()
robot.lift_down()
robot.gripper_to_closed()
#blue box is in the gripper!
robot.drive_left()
robot.drive_left()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_closed()
robot.drive_right()
robot.drive_right()
robot.lift_down()
robot.gripper_to_open()
robot.lift_up()
robot.gripper_to_folded()
def put_down_blocks():
# Move the lift down, and release the blocks.
robot.lift_down()
robot.gripper_to_open()
# Because there is now a block to the right (the one that we
# unstacked from), we must do the up-fold-down manoeuvre.
robot.lift_up()
robot.gripper_to_folded()
robot.lift_down()
def unstack_tower_of_two():
# Move to the middle
right_two_spaces()
# and do the unstacking manoeuvre
unstack_to_the_left()
# -------------Here to do the up-fold-down to initialize the gripper!
robot.lift_up()
robot.gripper_to_folded()
robot.lift_down()
def unstack_tower_of_three():
# Move to the right-most stack
right_two_spaces()
right_two_spaces()
# and do the unstacking manoeuvre twice
unstack_to_the_left()
unstack_to_the_left()
robot.lift_up()
robot.gripper_to_folded()
robot.lift_down()
def make_tower(n):
robot.init(width=2 * n - 1, boxes="flat")
robot.drive_right()
robot.lift_up()
while n > 1:
pickup_next()
move_to_next_stack()
n = n - 1
robot.gripper_to_folded()
robot.lift_down()
def make_tower(n):
robot.init(width=2 * n - 1, boxes="flat")
robot.drive_right()
robot.lift_up()
i = 0
while i < n - 1:
pickup_next()
move_to_next_stack()
i = i + 1
robot.gripper_to_folded()
robot.lift_down()
return "Tower complete!"
robot.gripper_to_closed()
robot.lift_up()
# main program
robot.init(width = 9, boxes = "flat")
# position above first box
robot.drive_right()
robot.lift_up()
# pick up, move right
pickup_next()
move_to_next_stack()
# ...again
pickup_next()
move_to_next_stack()
# ...again
pickup_next()
move_to_next_stack()
# ...again
pickup_next()
move_to_next_stack()
# tower is done, park the robot
robot.gripper_to_folded()
robot.lift_down()
