Robot.log("BEGIN TEST")
"""
# Test bounceback
Robot.log("My_block.spin_turn");
Target_Angle = 120
for spins in range(0, 300):
My_block.spin_turn(Target_Angle)
Target_Angle = Target_Angle + random.randint(-180,180)
sleep(1)
# Test simple turn
Robot.log("My_block.simple_turn");
Target_Angle = 120
for spins in range(0, 300):
My_block.simple_turn(Target_Angle)
Target_Angle = Target_Angle + random.randint(-180,180)
sleep(1)
"""
# Test proportional turn
Robot.log("My_block.proportional_turn")
Target_Angle = 120
for spins in range(0, 300):
My_block.proportional_turn(Target_Angle)
Target_Angle = Target_Angle + random.randint(-180, 180)
sleep(2)
Robot.log("TEST COMPLETE")
Robot.log_file.close()
def swingset_mission():
"""
Completes M-07 Swing, and M-08 Elevator.
"""
Robot.right_attachment.on_for_seconds(50, 0.5)
# Establishes the compass point the robot is facing
Robot.gyro.compass_point = 90
# Complete Swing and back away
My_block.gyro_straight(40, 7.36)
My_block.gyro_straight(30, -1)
# Smush against wall
My_block.spin_turn(0)
My_block.wall_square(100)
# Drive to elevator
My_block.gyro_straight(35, 1.62)
My_block.spin_turn(56)
My_block.gyro_straight(35, 2.15)
# qwhack elevator
Robot.left_attachment.on_for_rotations(35, 1)
sleep(0.5)
Robot.tank_pair.on_for_rotations(55, 55, -1.05)
Robot.left_attachment.on_for_rotations(-35, 0.95)
# Do House Mission
Robot.debug_print(Robot.gyro.compass_point)
My_block.spin_turn(89)
Robot.debug_print(Robot.gyro.compass_point)
Robot.right_attachment.on_for_seconds(-50, 1.4)
Robot.debug_print(Robot.gyro.compass_point)
My_block.gyro_straight(30, 0.81)
Robot.debug_print(Robot.gyro.compass_point)
My_block.spin_turn(99)
Robot.debug_print(Robot.gyro.compass_point)
Robot.steer_pair.on_for_rotations(0, -20, 0.3)
My_block.spin_turn(93)
Robot.debug_print(Robot.gyro.compass_point)
Robot.steer_pair.on_for_rotations(0, -20, 0.3)
My_block.proportional_turn(86)
# Go Home.
My_block.gyro_straight(100, -6)
My_block.wall_square(100)
Robot.right_attachment.on_for_rotations(100, 2.2)
sleep(0.4)
My_block.proportional_turn(0)