コード例 #1
0
ファイル: main.py プロジェクト: ashindea/fll
def gyro_test(robot, gyro):
    common_methods.log_string('Pre-run      gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.move_straight(robot=robot, max_distance=300)
    common_methods.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
 
    move_robot.turn_to_direction(robot, gyro, target_angle=90)
    common_methods.log_string('post +90 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.turn_to_direction(robot=robot, gyro=gyro, target_angle=180)
    common_methods.log_string('post U turn   gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.move_straight(robot=robot, max_distance=300)
    common_methods.log_string('post st. run  gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.turn_to_direction(robot=robot, gyro=gyro, target_angle=-90)
    common_methods.log_string('post -90 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
コード例 #2
0
ファイル: main.py プロジェクト: ashindea/fll
def do_move_return(robot):
    move_robot.move_straight(robot=robot, max_distance=200, speed_mm_s=200)
    move_robot.turn(robot=robot, angle=90)

    worker.move_crane_to_floor(robot, crane_motor)
    worker.move_crane_up(robot, crane_motor, degrees=45)
    #move_robot.turn(robot=robot, angle=180)
    move_robot.turn(robot=robot, angle=90)

    worker.move_crane_up(robot, crane_motor, degrees=45)
    move_robot.turn(robot=robot, angle=90)
    worker.move_crane_down(robot, crane_motor, degrees=25)
    move_robot.turn(robot=robot, angle=90)

    worker.move_crane_up(robot, crane_motor, degrees=45)
    move_robot.turn(robot=robot, angle=90)
    worker.move_crane_down(robot, crane_motor, degrees=25)
    move_robot.turn(robot=robot, angle=90)

    move_robot.move_straight(robot, max_distance = 200, speed_mm_s = 300)
コード例 #3
0
ファイル: main.py プロジェクト: ashindea/fll
def gyro_color_test_angled(robot, gyro, color_sensor, crane_motor):
    common_methods.log_string('Pre-run      gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
    worker.move_crane_to_floor(robot, crane_motor)
    worker.move_crane_up(robot, crane_motor, degrees=135)

    move_robot.move_straight(robot=robot, max_distance=800)
    common_methods.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.turn_to_direction(robot, gyro, target_angle=45)
    common_methods.log_string('post +45 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.move_to_color(robot=robot,color_sensor=color_sensor,
        stop_on_color=Color.BLACK, speed_mm_s = 70)


    move_robot.turn_to_direction(robot, gyro, target_angle=90)
    common_methods.log_string('post +90 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.move_straight(robot=robot, max_distance=100)
    worker.move_crane_to_floor(robot, crane_motor)
    worker.move_crane_up(robot, crane_motor, degrees=45)
    worker.move_crane_to_floor(robot, crane_motor)
    move_robot.move_reverse(robot=robot, max_distance=100)
    worker.move_crane_up(robot, crane_motor, degrees=135)


    move_robot.turn_to_direction(robot, gyro, target_angle=210)
    common_methods.log_string('post +210 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))

    move_robot.move_straight(robot=robot, max_distance=700)
    common_methods.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
コード例 #4
0
ファイル: main.py プロジェクト: ashindea/fll
def do_crane_push(robot, gyro, color_sensor, crane_motor):
    worker.move_crane_to_floor(robot, crane_motor)
    worker.move_crane_up(robot, crane_motor, degrees=10)

    move_robot.move_straight(robot=robot, max_distance=50)
    move_robot.turn(robot=robot, angle=30)
    move_robot.move_straight(robot=robot, max_distance=100)
    move_robot.turn(robot=robot, angle=-40)

    crane_motor.run(40)
    move_robot.move_straight(robot=robot, max_distance=130, speed_mm_s = 50)
    crane_motor.stop(Stop.BRAKE)
    worker.move_crane_down(robot, crane_motor, degrees=30)
    move_robot.move_straight(robot=robot, max_distance=60)
    """for x in range(5):
        worker.move_crane_up(robot, crane_motor, degrees=20)
        move_robot.move_straight(robot=robot, max_distance=40)"""

    move_robot.move_reverse(robot=robot, max_distance=350)

    """worker.move_crane_up(robot, crane_motor, degrees=20)
コード例 #5
0
ファイル: main.py プロジェクト: ashindea/fll
def do_crane_dance(robot, crane_motor):
    move_robot.move_straight(robot=robot, max_distance=500, speed_mm_s=300)
    move_robot.turn(robot=robot, angle=90)
    worker.move_crane_to_floor(robot, crane_motor)
    move_robot.move_straight(robot=robot, max_distance=80)

    worker.move_crane_up(robot, crane_motor, degrees=45)
    worker.move_crane_to_floor(robot, crane_motor)
    
    move_robot.move_reverse(robot=robot, max_distance=100)
    worker.move_crane_up(robot, crane_motor, degrees=90)

    move_robot.turn(robot=robot, angle=-90)
    move_robot.move_straight(robot=robot, max_distance=300)

    move_robot.turn(robot=robot, angle=180)
    move_robot.move_straight(robot=robot, max_distance=300)
 
    move_robot.turn(robot=robot, angle=50)
   
    move_robot.move_to_color(robot=robot,color_sensor=color_sensor_left,
        stop_on_color=Color.BLACK, speed_mm_s=350)
    worker.move_crane_down(robot, crane_motor, degrees=60)
    worker.move_crane_up(robot, crane_motor, degrees=60)
コード例 #6
0
ファイル: main.py プロジェクト: ashindea/fll
common_methods.sound_attention()

robot, crane_motor, left_motor, right_motor,color_sensor_left, color_sensor_right, gyro =setup_robot.get_robot()

#do_crane_dance(robot, crane_motor)
#do_color_dance(robot, color_sensor_left)
#do_find_line_then_follow(robot, color_sensor=color_sensor_left)
#do_move_return(robot)
#zigzag()
#do_align_to_left_then_right()
#color_test(robot, color_sensor_left)
#gyro_test(robot, gyro)
gyro_color_test_angled(robot, gyro, color_sensor_left, crane_motor)
#do_crane_push(robot, gyro, color_sensor_left, crane_motor)

"""
#move_robot.move_to_color(robot, color_sensor_left, Color.WHITE)

#move_robot.move_to_color(robot, color_sensor_left, Color.BLACK)
#move_robot.move_to_color(robot, color_sensor_left, Color.WHITE)

move_robot.move_straight(robot, int(200/2))    

move_robot.turn_to_color_right(robot, color_sensor_left, Color.WHITE) 
"""
#move_robot.align_with_line_to_right(robot, color_sensor=color_sensor_left)
#move_robot.follow_line_border(robot,color_sensor_left,max_distance = 200)

#move_robot.turn_to_color_left(robot, color_sensor_left, Color.WHITE) 

#move_robot.search_for_color(robot, color_sensor_left, Color.BLACK)