def Fermeture_Portes(ser,team):
functions.open_full_bras(ser)
### Fermeture des portes
functions.move_push(ser,0.33,team*(0.79),0.3)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.enable_sicks(ser,'0')
functions.move_push(ser,0.35,team*(0.79),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,0.2,0)
sleep(0.2)
### RECUL & FERMETURE DES BRAS
functions.move_push(ser,0.35,team*0.6,0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.enable_sicks(ser,'F')
functions.close_bras(ser)
print "Les Portes sont fermees, +20 potentiels mon capitaine."
def Prise_Coquillages_2(ser,team,configuration):
### LA CONFIGURATION 1 A UNE SEULE PRISE DE COQUILLAGES ###
if configuration==2: ### CONFIGURATION 2 ###
### RECALAGE AVANT DEPART
functions.rotate(ser,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,-0.1,0)
sleep(0.3)
functions.set_x(ser,0)
functions.set_t(ser,0)
### On va au fond du board
functions.move_push(ser,0.4,team*(-0.8),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.7,team*(-0.82),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,2.2,team*(-0.8),0.25)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
### On ramene tout sur le passage
functions.move_push(ser,1.6,team*(-0.7),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.6,team*(-0.68),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.2,team*(-0.6),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
### On fait le tour pour tout pousser dans la serviette de depart.
functions.move_push(ser,0.4,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.07,team*(-0.65),0.05)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.07,team*(0.1),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +12 points potentiels."
if configuration==3: ### CONFIGURATION 3 ###
functions.move_push(ser,0.5,team*(-0.5),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.5,team*(-1),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.15,team*(-0.7),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.12,team*(0.05),0.25)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +10 points potentiels."
elif configuration==4: ### CONFIGURATION 4 A MODIFIER ###
functions.move_push(ser,0.35,team*(-0.85),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.9,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.1,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.3,team*(-0.85),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,team*5)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,180)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.7,team*(-0.85),0)
functions.rotate(ser,team*10)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0,0,0.05)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +10 points potentiels."
def Script_Recalage (ser,team): functions.enable_sicks(ser,'0') functions.set_speed(ser,0.4) functions.move_speed(ser,-0.2,0) sleep(0.5)
def Prise_Grand_Tas_De_Sable(ser,team,configuration): ### Rotation vers les blocs de sable functions.move_push(ser,0.83,team*0.5,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) ### Avancee vers les blocs de sable functions.rotate(ser,team*90) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.83,team*0.68) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*90) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### CALAGE SUR LES BLOCS functions.move_speed(ser,0.1,0) sleep(0.5) functions.set_y(ser,team*0.7) sleep(0.01) functions.move_pos(ser,0.83,team*0.7) ### PRISE DES BLOCS functions.catch(ser) sleep(1.2) functions.set_acc(ser,0.4,12,0.9) functions.set_speed(ser,0.2) functions.set_speed_ang(ser,1) ### Recul functions.move_push(ser,0.83,team*0.50,0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### CHEMIN VERS LES ZONE DE CONSTRUCTION functions.move_push(ser,0.35,team*(0.1),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*(-45)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.60,team*(-0.16),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,1.05,team*(-0.4),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### LACHER DU SABLE functions.rotate(ser,team*50) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) sleep(1) ### CONTRAINTES DE VITESSE PAR DEFAUT functions.set_speed(ser,0) functions.set_speed_ang(ser,4) if configuration<4: functions.move_push(ser,0.72,team*(-0.8),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.close_bras(ser) functions.move_push(ser,0.72,team*(-0.8),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) elif (configuration==4) or (configuration==5): functions.move_push(ser,0.7,team*(-0.65),0.16) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.close_bras(ser) functions.move_push(ser,0.1,team*(-0.6),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Et un tas de sable en plus! Un ! +24 points potentiels."
functions.move_pos(ser,0.25,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_pos(ser,0,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,-0.2,0)
sleep(0.5)
functions.set_x(ser,0)
functions.set_y(ser,0)
functions.move_pos(ser,0,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.enable_sicks(ser,'F')
def Prise_Petit_Tas_De_Sable(ser,team,configuration):
functions.set_speed(ser,0.4)
####################################
#### PRISE DU MINI TAS DE SABLE ####
def Prise_Colonne_De_Sable(ser,team,x,y): functions.move_pos(ser,x,team*y) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'0') functions.rotate(ser,team*(-90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_pumps(ser) functions.move_speed(ser,-0.2,0) sleep(1) functions.set_speed(ser,0.2) functions.set_speed(ser,1.5) sleep(0.05) functions.enable_US(ser,'9') functions.move_pos(ser,x,team*y-0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.deploy_wings(ser) sleep(1) functions.move_push(ser,0.15,team*(0),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.60,team*(-0.16),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### On s enfonce dans la zone de construction. functions.enable_US(ser,'0') functions.move_push(ser,x-0.3,team*(y-0.75)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.disable_pumps(ser) functions.close_wings(ser) sleep(0.5) functions.set_speed(ser,0) functions.set_speed(ser,3) sleep(0.05) functions.move_push(ser,0.3,team*(0.2),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'F') print "Et une colonne de plus ! Une !"