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)