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_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 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 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 test_movement(
): # Used to see if movements and their defaults function as intended
print "Testing movement\n"
m.forwards()
msleep(
500
) # Using msleep() instead of wait() to make sure each command turns off its wheels
m.backwards()
msleep(500)
m.turn_left()
msleep(500)
m.turn_right()
msleep(500)
print "Testing complete. Exiting...\n"
exit(86)