def get_low_poms(): # First pom set
print "Starting get_low_poms()"
m.arm_slow(c.ARM_UP_POS, 3, 1)
f.backwards_through_line_lfcliff()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_crates():
print "Starting get_crates()"
print "Bot in starting box\n"
f.drive_through_two_lines_third()
f.right_point_turn_until_black()
f.lfollow_right_until_left_senses_black_smooth_amount(
.5, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.5 * c.BASE_LM_POWER),
int(.5 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_right_until_left_senses_black_smooth_amount(
.5, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.7 * c.BASE_LM_POWER),
int(.7 * c.BASE_RM_POWER), c.BASE_LM_POWER, c.BASE_RM_POWER, False)
f.lfollow_right_until_left_senses_black_smooth_amount(
10, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.9 * c.BASE_LM_POWER),
int(.9 * c.BASE_RM_POWER), c.BASE_LM_POWER, c.BASE_RM_POWER, False)
print "Bot on center tee\n"
if c.IS_MAIN_BOT:
m.drive_tics(1007, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
m.drive_tics(1120, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_third_senses_white(10, 0, 0, False)
f.right_point_turn_until_third_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.left_backwards_until_black()
f.right_backwards_until_black()
m.open_claw()
m.arm_slow(c.ARM_DOWN_POS)
m.claw_slow(c.CLAW_LESS_OPEN_POS)
m.backwards(1400)
print "Bot driving backwards to get crates\n"
m.close_claw()
print "\n\nFinished getting crates\n\n"
def collect_poms(msleep_time=50,
forwards_amount=1000,
amount=1250): # Actual act of collecting poms once aligned
m.backwards(amount)
m.arm_slow(c.ARM_COLLECTION_POS)
msleep(msleep_time)
m.forwards(forwards_amount)
def get_low_poms_cheeky(): # First pom set
print "Starting get_low_poms()"
m.arm_slow(c.ARM_UP_POS, 3, 1)
f.backwards_through_line_lfcliff()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms(50, 0)
f.forwards_until_black_lfcliff()
m.backwards(150)
def get_mid_poms(): # Second pom set
print "Starting get_mid_poms()"
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_left()
m.backwards(2680)
m.turn_right()
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_farther_low_poms():
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_right(int(c.RIGHT_TURN_TIME * 1.01))
f.forwards_until_bump()
m.backwards(200)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_cliffs()
collect_poms(50, 1000, 2100)
def get_farther_mid_poms():
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
f.lfollow_lfcliff_smooth(2)
f.lfollow_lfcliff_smooth_until_right_depth_senses_object()
m.forwards(1000)
m.turn_left()
f.backwards_through_line_lfcliff()
f.align_close_fcliffs()
collect_poms()
def get_high_poms_cheeky():
print "Starting get_high_poms_cheeky()"
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.turn_right()
m.forwards(2680)
m.turn_left()
f.forwards_until_black_lfcliff()
f.align_close_fcliffs()
collect_poms(10000)
f.backwards_until_white_lfcliff()
m.arm_slow(c.ARM_UP_POS, 2, 1)
def test_servos(exit = True):
# Used to see if basic servo commands and constants function as intended.
print "Testing servos\n"
m.claw_slow(c.CLAW_CLOSE_POS)
m.wait() # Using wait() instead of msleep() to make sure wheels are off.
m.claw_slow(c.CLAW_OPEN_POS)
m.wait()
m.arm_slow(c.ARM_DOWN_POS)
m.wait()
m.arm_slow(c.ARM_HIGH_POS)
m.wait()
print "Testing complete."
if exit == True:
print "Exiting...\n"
exit(86)
def get_botguy():
print "Starting get_botguy()"
if crate_zone == c.LEFT:
print "I'm in the left zone and going to botguy"
f.drive_through_line_left() # Bot on middle line
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(20, 0, 0, False)
f.drive_until_white(5, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
f.lfollow_left_until_third_senses_black_smooth(5, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
m.drive_tics(300, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_third_senses_white(5 * c.LEFT_TURN_TIME, 0, 0)
elif crate_zone == c.MIDDLE:
print "I'm in the middle zone and going to botguy"
m.turn_right()
m.drive(1500)
m.turn_left()
f.drive_through_line_left() # Bot on middle line
f.align_far()
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(20, 0, 0, False)
f.drive_until_white(5, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
f.lfollow_left_until_third_senses_black_smooth(5, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
m.drive_tics(300, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_third_senses_white(5 * c.LEFT_TURN_TIME, 0, 0)
elif crate_zone == c.RIGHT:
print "I'm in the right zone and going to botguy"
f.drive_through_line_left() # Bot on middle line
f.align_far()
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(20, 0, 0, False)
if c.IS_MAIN_BOT:
m.drive_tics(1007, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
m.drive_tics(1120, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_third_senses_white(
5 * c.RIGHT_TURN_TIME / 1000, 0, 0, False)
f.right_point_turn_until_third_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
else:
print "What zone am I in again? I have no idea. This is an error message"
print "You already know I'm guessing it's in that right zone tho\n"
exit(86)
f.left_backwards_until_black()
f.right_backwards_until_black()
m.open_claw(c.CLAW_BOTGUY_OPEN_POS)
m.arm_slow(c.ARM_DOWN_POS)
#f.right_point_turn_until_third_senses_black() # To do: Run more tests on this command
f.lfollow_backwards_smooth(4.5)
m.arm_slow(c.ARM_UP_POS)
m.backwards(490)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.close_claw(c.CLAW_CLOSE_POS)
m.arm_slow(c.ARM_DOWN_POS)
m.backwards(100)
m.close_claw(c.BOTGUY_CLAW_CLOSE_POS)
print "Finished getting botguy\n\n"
def get_farther_high_poms():
print "Starting get_farther_high_poms()"
f.forwards_until_line_fcliffs()
f.align_close_cliffs()
m.arm_slow(c.ARM_UP_POS, 2, 1)
f.right_point_turn_until_lfcliff_senses_black()
f.right_point_turn_until_lfcliff_senses_white()
f.lfollow_lfcliff_smooth_until_rfcliff_senses_black()
f.forwards_until_white_rfcliff()
f.right_point_turn_until_rfcliff_senses_black(2)
f.right_point_turn_until_lfcliff_senses_black(2)
f.right_point_turn_until_rfcliff_senses_white(2)
f.right_point_turn_until_rfcliff_senses_black(2)
f.backwards_until_black_lfcliff()
# m.turn_right(int(0.5 * c.RIGHT_TURN_TIME), 2 * c.BASE_LM_POWER, -2 * c.BASE_RM_POWER)
# m.turn_right(int(0.5 * c.RIGHT_TURN_TIME), 2 * c.BASE_LM_POWER, -2 * c.BASE_RM_POWER)
m.backwards(1650)
m.turn_right()
f.forwards_until_line_fcliffs()
f.align_close_fcliffs()
collect_poms()
def get_frisbee():
print "Starting get_frisbee()"
m.arm_slow(c.ARM_UP_POS, 2, 1)
m.backwards(900)
m.arm_slow(c.ARM_FRISBEE_GRAB_POS, 2, 1)
m.forwards(2000)
m.arm_slow(c.ARM_FRISBEE_DROP_POS, 4, 1)
m.turn_left(
int(c.LEFT_TURN_TIME /
5)) # An 18 degree wiggle back and forth to shake frisbee loose
m.turn_right(int(c.RIGHT_TURN_TIME / 5))
m.backwards(1000)
m.lift_arm(c.ARM_FRISBEE_FARTHER_DROP_POS)
def deliver_first_crate():
print "Starting first_crate_delivery()"
m.drive(500)
if crate_zone == c.LEFT:
print "Starting deliver_left()"
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_left_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_left_senses_white(10, 0, 0, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.lfollow_left_until_right_senses_black_smooth(7)
if c.IS_MAIN_BOT:
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME, 0, 0,
False)
f.right_point_turn_until_white(1, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
else: # Clone bot
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME)
elif crate_zone == c.MIDDLE:
print "Starting deliver_middle()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
f.drive_until_white_left()
f.right_forwards_until_left_senses_black(10, 0, False)
f.right_forwards_until_left_senses_white(10, c.BASE_RM_POWER)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, 0, 0, False)
#f.left_forwards_until_black()
f.drive_until_white_right(2, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
if c.IS_MAIN_BOT:
f.lfollow_left_inside_line_smooth(2.5, c.BASE_LM_POWER,
c.BASE_RM_POWER)
else: # Clone bot
f.lfollow_left_inside_line_smooth(2.7, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_left()
f.align_in_zone_safely()
f.drive_through_line_third(10, 0, 0, False)
m.drive(700, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
elif crate_zone == c.RIGHT:
print "Starting deliver_right()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
f.left_point_turn_until_black_after(c.LEFT_TURN_TIME, 0, 0, False)
f.left_point_turn_until_white(1, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER)
m.backwards(200)
m.arm_slow(c.ARM_DOWN_POS)
msleep(300) # This pause helps keep the second crate from tipping over
m.claw_slow(c.CLAW_LARGE_OPEN_POS)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.backwards(500)
print "First crate delivered\n\n"
def put_botguy_in_correct_zone():
approach_t()
f.right_point_turn_until_third_senses_black(.2)
print "Starting deliver_botguy()"
if botguy_zone == c.LEFT:
print "Starting deliver_left()"
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_left_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_left_senses_white(10, 0, 0, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.lfollow_left_until_right_senses_black_smooth(7)
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME, 0, 0, False)
m.turn_right(int(c.RIGHT_TURN_TIME / 2), c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
elif botguy_zone == c.MIDDLE:
print "Starting deliver_middle()"
f.drive_until_white_third(5, 0, 0, False)
m.drive(300, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_black(10, 0, 0, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.backwards_through_line_left()
f.align_close()
if False: # crate_zone == c.LEFT:
m.turn_right(int(c.RIGHT_TURN_TIME / 8))
m.backwards(900)
m.turn_right(int(c.RIGHT_TURN_TIME / 10))
elif False: # crate_zone == c.RIGHT:
m.turn_left(int(c.LEFT_TURN_TIME / 8))
m.backwards(900)
m.turn_left(int(c.LEFT_TURN_TIME / 20))
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.backwards(1000)
elif botguy_zone == c.RIGHT:
print "Starting deliver_right()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
m.turn_left(c.LEFT_TURN_TIME, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER,
-1 * c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.turn_left(c.LEFT_TURN_TIME, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER,
-1 * c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.turn_left(int(c.LEFT_TURN_TIME / 2), -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 3, 1)
m.backwards(300)
print "Botguy delivered\n\n"
def deliver_second_crate():
print "Starting second_crate_delivery()"
m.drive(250)
m.arm_slow(c.ARM_SECOND_CRATE_GRAB_POS, 2, 1)
m.backwards(100)
m.claw_slow(c.CLAW_SECOND_CRATE_GRAB_POS, 3, 1)
m.lift_arm(c.ARM_SECOND_CRATE_UP_POS)
m.wait(100)
if crate_zone == c.LEFT:
f.left_point_turn_until_black()
if c.IS_MAIN_BOT:
f.lfollow_left_smooth_amount(.7, c.BASE_LM_POWER, c.BASE_RM_POWER,
int(.5 * c.BASE_LM_POWER),
int(.5 * c.BASE_RM_POWER), 0, 0,
False)
f.lfollow_left_smooth(.8, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
f.lfollow_left_smooth(1.5)
f.left_point_turn_until_right_senses_black()
f.lfollow_right_inside_line_until_left_senses_black_smooth_amount(
1, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_right_inside_line_until_left_senses_black_smooth(
10, 0, 0, False)
m.drive(150, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_right()
f.align_in_zone_safely()
elif crate_zone == c.MIDDLE:
f.right_point_turn_until_black()
f.lfollow_right_smooth(1.5)
f.right_point_turn_until_left_senses_black()
f.lfollow_left_inside_line_until_right_senses_black_smooth_amount(
1, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, 0, 0, False)
m.drive(180, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.right_point_turn_until_black(5, 0, 0, False)
f.right_point_turn_until_white(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_black(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
m.turn_right(c.RIGHT_TURN_TIME, c.BASE_LM_POWER, -1 * c.BASE_RM_POWER,
c.BASE_LM_POWER, -1 * c.BASE_RM_POWER)
f.align_in_zone_safely()
elif crate_zone == c.RIGHT:
f.drive_until_white_third(10, 0, 0, False)
m.drive(300, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.right_point_turn_until_black()
f.lfollow_right(3)
f.right_point_turn_until_left_senses_black()
f.lfollow_left_inside_line_until_right_senses_black_smooth_amount(
2, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.drive(200, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_left()
f.align_in_zone_safely()
f.drive_through_line_third(10, 0, 0, False)
m.drive(800, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.arm_slow(c.ARM_SECOND_CRATE_DEPOSIT_POS, 2, 1)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.backwards(600)
msleep(10)
m.drive(200)
m.arm_slow(c.ARM_HIGH_POS, 2, 1)
print "Second crate delivered\n\n"
def test_servos_extensive(exit = True): # Runs all constant servo positions for arm and claw. Not updated.
print "Testing servos extensively\n"
m.claw_slow(c.STARTING_CLAW_POS)
m.arm_slow(c.STARTING_ARM_POS)
m.wait()
m.claw_slow(c.CLAW_OPEN_POS)
m.wait()
m.claw_slow(c.CLAW_CLOSE_POS)
m.wait()
m.claw_slow(c.CLAW_SECOND_CRATE_GRAB_POS)
m.wait()
m.claw_slow(c.BOTGUY_CLAW_CLOSE_POS)
m.wait()
m.arm_slow(c.ARM_UP_POS)
m.wait()
m.arm_slow(c.ARM_DOWN_POS)
m.wait()
m.arm_slow(c.ARM_SECOND_CRATE_UP_POS)
m.wait()
m.arm_slow(c.ARM_SECOND_CRATE_GRAB_POS)
m.wait()
m.arm_slow(c.ARM_DOWN_POS)
m.wait()
print "Testing complete."
if exit == True:
print "Exiting...\n"
exit(86)
def check_zones_full():
print "Checking zones"
msleep(25)
ao()
m.arm_slow(c.ARM_HIGH_POS, 2, 1)
camera_open()
initialize_camera()
console_clear()
graphics_open(480, 260)
graphics_fill(255, 255, 255)
graphics_update()
a.crate_zone = 30
a.botguy_zone = 30
if get_object_area(c.YELLOW,
0) > 50: # Testing to see if middle zone is yellow
print "The middle zone is yellow.\n"
a.crate_zone = c.MIDDLE
graphics_rectangle_fill(160, 0, 320, 260, 255, 255, 0) # Yellow
graphics_update()
elif get_object_area(c.RED, 0) > 50:
a.botguy_zone = c.MIDDLE
graphics_rectangle_fill(160, 0, 320, 260, 255, 0, 0) # Red
graphics_update()
print "The middle zone is red.\n"
else:
print "The middle is not red nor yellow.\n"
graphics_rectangle_fill(160, 0, 320, 260, 0, 255, 0) # Green
graphics_update()
m.turn_left(400) # Checking the left zone
msleep(25)
ao()
initialize_camera()
if get_object_area(c.YELLOW,
0) > 100: # Testing to see if left zone is yellow
print "The left zone is yellow.\n"
graphics_rectangle_fill(0, 0, 160, 260, 255, 255, 0) # Yellow
graphics_update()
if a.crate_zone == 30:
a.crate_zone = c.LEFT
else:
print "ERROR. The wallaby sensed yellow for the left zone and the middle zone.\n"
elif get_object_area(c.RED, 0) > 100:
print "The left zone is red\n"
graphics_rectangle_fill(0, 0, 160, 260, 255, 0, 0) # Red
graphics_update()
if a.botguy_zone == 30:
a.botguy_zone = c.LEFT
else:
print "ERROR. The wallaby sensed red for the left zone and the middle zone.\n"
else:
print "The left zone is neither red nor yellow.\n"
graphics_rectangle_fill(0, 0, 160, 260, 0, 255, 0) # Green
graphics_update()
if a.crate_zone == 30: # If the crate zone has not been set yet.
a.crate_zone = c.RIGHT
graphics_rectangle_fill(320, 0, 480, 260, 255, 255, 0) # Yellow
graphics_update()
print "The right zone is yellow.\n"
elif a.botguy_zone == 30:
if a.crate_zone == c.RIGHT:
print "Code failure"
else:
a.botguy_zone = c.RIGHT
graphics_rectangle_fill(320, 0, 480, 260, 255, 0, 0) # Red
graphics_update()
print "The right zone is red. \n"
else:
print "The right zone is neither red nor yellow."
graphics_rectangle_fill(320, 0, 480, 260, 0, 255, 0) # Green
graphics_update()
if a.botguy_zone == 30:
if a.crate_zone == c.RIGHT:
a.botguy_zone = c.LEFT
graphics_rectangle_fill(0, 0, 160, 260, 255, 0, 0) # Red
graphics_update()
print "We are guessing that the left zone is red. \n"
else:
a.botguy_zone = c.RIGHT
graphics_rectangle_fill(320, 0, 480, 260, 255, 0, 0)
graphics_update()
print "We are guessing that the right zone is red. \n"
f.left_forwards_until_black(
) # The left tophat can end up on white - Jet 6-27-18
f.align_far()
camera_close()
graphics_close()
print "Crate zone: " + str(a.crate_zone)
print "Botguy zone: " + str(a.botguy_zone)
print "~fin~\n\n\n"
