def take_slide_to_home():
shared_all.turn_arc(distance = 90 ,angle = 50 , speed_mm_s=100)
shared_all.turn_arc(distance = 160 ,angle = -90 , speed_mm_s=100)
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=2200, robot_distance_mm=400, robot_turn_angle=15,
motor=rack_motor, crane_angle=-15)
def putcube():
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=30,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=-80)
shared_all.move_straight(distance_mm=60, speed_mm_s=-90)
def runtrial():
shared_all.move_straight(distance_mm=70, speed_mm_s=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=-90)
shared_all.turn_to_angle(gyro=gyro, target_angle=45) # turn to face south
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
speed_mm_s=100)
shared_all.turn_to_angle(gyro=gyro, target_angle=-45)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=800,
speed_mm_s=300,
target_angle=-45)
shared_all.turn_arc(distance=50, angle=-60,
speed_mm_s=100) # turn in an arc
shared_all.turn_to_angle(gyro=gyro, target_angle=150) # turn to face south
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=400,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=60)
shared_all.move_crane_to_top(crane_motor)
shared_all.move_to_obstacle(obstacle_sensor=ultrasound,
stop_on_obstacle_at=80,
speed_mm_s=-100)
def push_small_tire(adjust_for_mission=0):
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=1900,
robot_distance_mm=30,
robot_turn_angle=-35,
motor=rack_motor,
crane_angle=-5)
shared_all.move_crane_to_top(rack_motor)
shared_all.turn_to_direction(gyro=gyro, target_angle=-70)
shared_all.turn_arc(distance=90, angle=-20, speed_mm_s=140)
def level2crane():
shared_all.move_rack_to_floor()
shared_all.log_string('Moved racktotop')
shared_all.move_crane_up(motor=rack_motor, degrees=40)
shared_all.turn(angle=20)
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=20,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=190)
shared_all.move_straight(distance_mm=40, speed_mm_s=-90)
shared_all.move_crane_down(motor=rack_motor, degrees=90)
shared_all.log_string('MOtor is ' + str(crane_motor))
def level1crane():
shared_all.move_crane_to_floor(motor=crane_motor)
shared_all.move_crane_up(motor=crane_motor, degrees=35)
shared_all.move_straight(distance_mm=60, speed_mm_s=90)
shared_all.move_crane_down(motor=crane_motor, degrees=15)
shared_all.move_straight(distance_mm=8, speed_mm_s=90)
shared_all.drive_raising_crane(duration_ms=700,
robot_distance_mm=-10,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=120)
shared_all.move_crane_down(motor=crane_motor, degrees=30)
shared_all.move_straight(distance_mm=30, speed_mm_s=-90)
def rack_push_up():
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=-40,
robot_turn_angle=8,
motor=rack_motor,
crane_angle=90)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=40,
robot_turn_angle=8,
motor=rack_motor,
crane_angle=70)
shared_all.move_rack_to_floor()
def run():
shared_all.move_crane_to_top(motor=crane_motor)
while True:
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=60,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=-45)
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=-60,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=45)
def run():
shared_all.move_rack_to_floor()
# shared_all.move_crane_up( motor = rack_motor, degrees = 30)
shared_all.move_straight(distance_mm=55, speed_mm_s=100)
while shared_all.did_motor_stall(motor =rack_motor , max_degrees =30 , speed = 80):
shared_all.log_string('Stalled')
shared_all.move_straight(distance_mm=4, speed_mm_s=-20)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=30, robot_turn_angle=0,
motor=rack_motor, crane_angle=75)
shared_all.turn_arc(distance = 60 ,angle = -7 , speed_mm_s=100)
def runold ():
shared_all.move_rack_to_floor ()
shared_all.move_straight(distance_mm=60, speed_mm_s=120)
while shared_all.did_motor_stall(motor =rack_motor , max_degrees =50 , speed = 320):
# log_string('stalled - step back')
shared_all.move_reverse(max_distance=6, speed_mm_s=20)
shared_all.move_crane_to_angle(motor=rack_motor, target_angle=90)
shared_all.drive_raising_crane (duration_ms=900, robot_distance_mm=80, robot_turn_angle=0,
motor=rack_motor, crane_angle=-20)
shared_all.move_crane_to_angle(motor=rack_motor, target_angle=120)
shared_all.move_reverse(max_distance=20, speed_mm_s=100)
def run(adjust_for_mission=0):
# shared_all.turn_to_direction( gyro=gyro, target_angle=10)
shared_all.move_rack_to_floor()
shake()
#pull bsck
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-120, robot_turn_angle=-10,
motor=rack_motor, crane_angle=-40)
#release
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=5, robot_turn_angle=0,
motor=rack_motor, crane_angle=15)
shared_all.move_crane_up(rack_motor, 180)
shared_all.move_rack_to_top()
def run():
shared_all.move_crane_down(rack_motor, 70)
shared_all.move_hook_to_floor()
shared_all.move_straight(distance_mm=20, speed_mm_s=-50)
shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-20, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-70, robot_turn_angle=0,
motor=rack_motor, crane_angle=30)
shared_all.move_straight(distance_mm=40, speed_mm_s=-130)
shared_all.move_crane_up(rack_motor, 30)
#backup
shared_all.move_straight(distance_mm=600, speed_mm_s=-200)
def run():
##lift
shared_all.move_crane_down(crane_motor, 10)
shared_all.drive_raising_crane(duration_ms=600, robot_distance_mm=0, robot_turn_angle=0,
motor=crane_motor, crane_angle=110)
shared_all.move_crane_down(crane_motor, 80)
#knock
shared_all.move_straight(distance_mm=18, speed_mm_s=-90)
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=10, robot_turn_angle=-30,
motor=crane_motor, crane_angle=-20)
#backup
shared_all.start_moving_crane_to_angle(crane_motor, 70)
shared_all.turn_to_direction(gyro=gyro, target_angle=-85)
shared_all.move_straight(distance_mm=60, speed_mm_s=-120)
def runfacing():
shared_all.move_crane_down(rack_motor, 70)
shared_all.move_hook_to_floor()
shared_all.move_straight(distance_mm=20, speed_mm_s=-50)
shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-30, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-90, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
# shared_all.move_straight(distance_mm=40, speed_mm_s=130)
shared_all.move_crane_up(rack_motor, 70)
shared_all.move_straight(distance_mm=500, speed_mm_s=-200)
shared_all.move_rack_to_top()
# shared_all.calibrate_gyro(new_gyro_angle=-45)
# alignfacing()
# runfacing()
def level1():
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.move_rack_to_floor()
shared_all.turn(angle=-10, speed_deg_s=90)
shared_all.move_straight(distance_mm=90, speed_mm_s=90)
shared_all.turn(angle=20, speed_deg_s=90)
# rack_motor.stop(Stop.BRAKE)
# cntr=0
# while cntr < 4 and shared_all.did_motor_stall(motor =rack_motor , max_degrees =80 , speed = 320):
# shared_all.log_string('Mtr stalled')
# shared_all.move_crane_down(rack_motor, 5)
# shared_all.log_string('mved crane down')
# shared_all.move_rack_to_floor()
# shared_all.move_straight(distance_mm=6, speed_mm_s=20)
# cntr +=1
# shared_all.move_rack_to_floor()
# shared_all.move_crane_down(rack_motor, 5)
# rack_motor.run_time(720, 900)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=-40,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=80)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=0,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=50)
shared_all.drive_raising_crane(duration_ms=900,
robot_distance_mm=20,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=15)
# back up while lowering slightly
shared_all.drive_raising_crane(duration_ms=800,
robot_distance_mm=-70,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=-20)
shared_all.move_rack_to_floor()
shared_all.move_straight(distance_mm=60, speed_mm_s=-90)
shared_all.move_rack_to_top()
def runold(adjust_for_mission=0):
shared_all.turn_to_direction( gyro=gyro, target_angle=-37+ adjust_for_mission)
shared_all.move_rack_to_floor()
shake()
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-80, robot_turn_angle=-20,
motor=rack_motor, crane_angle=-5)
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=25, robot_turn_angle=-50,
motor=rack_motor, crane_angle=-5)
shared_all.turn(8)
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-10, robot_turn_angle=0,
motor=rack_motor, crane_angle=110)
def runfacingnorth():
shared_all.move_rack_to_floor()
shake()
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=10, robot_turn_angle=-70,
motor=rack_motor, crane_angle=-15)
def runold2 ():
shared_all.move_straight(distance_mm=550, speed_mm_s=160)
shared_all.move_crane_to_floor(motor=rack_motor)
shared_all.drive_raising_crane(duration_ms=50, robot_distance_mm=-37, robot_turn_angle=0,
motor=rack_motor, crane_angle=80)
shared_all.move_straight (distance_mm=550, speed_mm_s=-160)