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()))
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)
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()))
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)
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)
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)