def getThirdDateBin(): mpp.drive_speed(5.8, 100) #5.8 u.move_servo(c.servoPipeWheel, c.pipeStraight, 25) mpp.rotate(95, 75) #101 mpp.drive_speed(1, 80) #2 u.move_servo(c.servoPipeWheel, 900, 20) mpp.drive_timed(-95, -60, 2) #was -85 tim = seconds() while analog(c.ET) < (c.onTree - 750) and seconds() - tim < 2.8: mpp.drive_timed(-95, 60, .05) #was -85, -60 if seconds() - tim > 2.8: print("Fourth tree timeout") mpp.rotate(16, 80) mpp.drive_speed(-.6, 70) mpp.pivot_right(15, 65) u.move_servo(c.servoPipeWheel, c.pipeBin, 25) print "Saw Tree" mpp.pivot_right(6, 75) mpp.drive_speed(1.5, 80) mpp.rotate(-10, 80) #-20 else: mpp.pivot_right(15, 65) u.move_servo(c.servoPipeWheel, c.pipeBin, 25) print "Saw Tree" mpp.pivot_right(6, 75) mpp.drive_speed(1.5, 80) mpp.rotate(-20, 80) # -18 mpp.drive_speed(-4.5, 80) #-6.5 mpp.pivot_left(-25, 80) msleep(100) mpp.pivot_right(25, 75) #was 18 degrees mpp.new_get_poms_timed(100, 8000) #6000 mpp.pivot_right(-3, 60)
def driveFirstTreesH2H(): print "driveFirstTrees" mpp.drive_speed(-3.3, 100) #-9 msleep(100) mpp.pivot_left(-40, 70) msleep(100) mpp.drive_speed(-2, 70) mpp.drive_speed(.5, 70) # .73, 35 msleep(100) mpp.pivot_right(8, 80) #8 u.move_servo(c.servoDateWheel, c.wheelIn + 100, 20) u.move_servo(c.servoDateWheel, c.wheelIn, 8) mpp.new_get_poms_timed(100, 5000) msleep(100) u.move_servo(c.servoDateWheel, c.wheelOut, 20) u.move_servo(c.servoArmBin, c.armDown, 20) u.move_servo(c.servoPipeWheel, c.pipeBin, 20)
def driveFirstTrees(): print "driveFirstTrees" mpp.drive_speed(-3.3, 100) #-9 msleep(100) mpp.pivot_left(-40, 70) msleep(100) mpp.drive_speed(-2, 70) mpp.drive_speed(.5, 70) # .73, 35 msleep(100) mpp.pivot_right(6, 80) #8 u.move_servo(c.servoDateWheel, c.wheelIn + 100, 20) u.move_servo(c.servoDateWheel, c.wheelIn, 8) mpp.new_get_poms_timed(100, 7000) msleep(100) u.move_servo(c.servoDateWheel, c.wheelOut, 20) mpp.pivot_right(-3, 70) mpp.drive_speed(2, 70) mpp.pivot_right(3, 70) mpp.pivot_right(9, 70)
def go_to_spinner(): display("\nFunction: go_to_spinner\n") u.move_servo(c.SERVO_BIN_ARM, c.ARM_TUCKED, 5) if c.IS_CLONE: x.drive_speed(8, 100) else: x.drive_speed(11, 100) if c.IS_CLONE: x.pivot_left(-90, 70) else: x.pivot_left(-88, 70) x.drive_speed(22, -100, True) x.pivot_left(-32, 50) x.drive_speed(-11, 80) x.pivot_right(-32, 50) x.drive_speed(-3, 70) x.drive_condition(50, 50, u.on_black_front, False) if c.IS_CLONE: x.rotate(90, 35) else: x.rotate(98, 35) u.move_servo(c.SERVO_BIN_ARM, c.ARM_TUCKED) u.move_servo(c.SERVO_JOINT, c.JOINT_PARALLEL) x.drive_condition(80, 80, u.on_black_front, False) x.drive_condition(50, 50, u.on_black_front, True) x.rotate_spinner(.25, 80) x.drive_speed(5, 60) u.move_servo(c.SERVO_JOINT, c.JOINT_GROUND) x.rotate_spinner(4, -70) x.rotate_to_safe(50)