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 align(): shared_all.move_crane_to_floor( motor=crane_motor) shared_all.move_crane_up( motor=crane_motor, degrees=60) shared_all.move_to_color(color_sensor = color_sensor_right, stop_on_color = Color.GREEN, alternative_color = Color.GREEN, speed_mm_s=40, max_distance_mm=60) shared_all.move_straight(distance_mm=17, speed_mm_s=40)
def run_arp(): shared_all.move_crane_to_top(crane_motor) shared_all.move_crane_to_floor(crane_motor) shared_all.turn(-10) shared_all.move_straight( distance_mm=300, speed_mm_s=-190, )
def align(adjust_for_mission=0): shared_all.turn_to_direction( gyro=gyro, target_angle=180+ adjust_for_mission) shared_all.move_to_color(color_sensor=color_sensor_center, stop_on_color=Color.WHITE, alternative_color=Color.WHITE, speed_mm_s=25, min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center]) shared_all.move_straight(distance_mm= 60, speed_mm_s= -70) shared_all.move_crane_to_floor(crane_motor) shared_all.turn_arc(distance=160, angle=80, speed_mm_s =50)
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 all_cranes(): shared_all.log_string('crane ang start ' + str(crane_motor.angle())) shared_all.move_crane_to_floor(crane_motor) shared_all.log_string('crane ang flr ' + str(crane_motor.angle())) shared_all.start_moving_crane_to_top(motor=crane_motor) shared_all.move_straight(distance_mm=70, speed_mm_s=-50) shared_all.log_string('crane ang top ' + str(crane_motor.angle())) shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=50) shared_all.move_straight(distance_mm=70, speed_mm_s=150) shared_all.log_string('crane ang at 50 ' + str(crane_motor.angle())) shared_all.log_string('arm ang strt ' + str(rack_motor.angle())) shared_all.move_rack_to_top() shared_all.log_string('arm ang top ' + str(rack_motor.angle())) shared_all.move_rack_to_floor() shared_all.log_string('arm ang flr ' + str(rack_motor.angle())) shared_all.move_crane_up(rack_motor, 90) shared_all.log_string('arm ang flr+90 ' + str(rack_motor.angle())) shared_all.move_crane_down(rack_motor, 90) shared_all.log_string('arm ang -90 ' + str(rack_motor.angle())) shared_all.move_rack_to_top() shared_all.log_string('arm ang top ' + str(rack_motor.angle())) shared_all.log_string('crane motor ' + str(crane_motor)) shared_all.log_string('rack motor ' + str(rack_motor)) shared_all.log_string('left motor ' + str(left_motor)) shared_all.log_string('right motor ' + str(right_motor)) shared_all.move_crane_to_floor(crane_motor) crane_motor.reset_angle(0) shared_all.log_string('crane ang flr ' + str(crane_motor.angle())) shared_all.move_crane_to_top(motor=crane_motor) shared_all.log_string('crane ang top ' + str(crane_motor.angle())) shared_all.move_rack_to_floor() rack_motor.reset_angle(0) shared_all.log_string('rack ang flr ' + str(rack_motor.angle())) shared_all.move_rack_to_top() shared_all.log_string('rack ang top ' + str(rack_motor.angle())) shared_all.log_string('rack top ' + str(rack_motor.angle()) + 'crane top ' + str(crane_motor.angle()))
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 do_crane_push(): shared_all.move_crane_to_floor(crane_motor) shared_all.move_crane_up(crane_motor, degrees=135) shared_all.move_straight(max_distance=60) shared_all.turn(angle=-50) # shared_all.move_straight(max_distance=100) shared_all.move_crane_to_floor(crane_motor) shared_all.turn(angle=50) crane_motor.run(40) shared_all.move_straight(max_distance=130, speed_mm_s=50) crane_motor.stop(Stop.BRAKE) shared_all.move_crane_down(crane_motor, degrees=30) shared_all.move_straight(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)""" shared_all.move_reverse(max_distance=350) """worker.move_crane_up(robot, crane_motor, degrees=20)
def gyro_color_test_angled(): shared_all.log_string('Pre-run gyro speed ' + str(shared_all.gyro.speed()) + ' angle:' + str(shared_all.gyro.angle())) shared_all.move_crane_to_floor(crane_motor) shared_all.move_crane_up(crane_motor, degrees=135) shared_all.move_straight(max_distance=800, speed_mm_s=200) shared_all.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle())) shared_all.turn_to_direction(gyro, target_angle=45) shared_all.log_string('post +45 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle())) shared_all.move_to_color(color_sensor=color_sensor_left, stop_on_color=Color.BLACK, speed_mm_s = 70) shared_all.turn_to_direction(gyro, target_angle=90) shared_all.log_string('post +90 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle())) shared_all.move_straight(max_distance=100) shared_all.move_crane_to_floor(crane_motor) shared_all.move_crane_up(crane_motor, degrees=45) shared_all.move_crane_to_floor(crane_motor) shared_all.move_reverse(max_distance=100) shared_all.move_crane_up(crane_motor, degrees=135) shared_all.turn_to_direction(gyro, target_angle=210) shared_all.log_string('post +210 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle())) shared_all.move_straight(max_distance=1300) shared_all.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
def run(): shared_all.move_crane_to_floor(motor=crane_motor) shared_all.move_crane_up(motor=crane_motor, degrees=60) # shared_all.move_crane_down(motor=crane_motor, degrees=30) shared_all.move_straight(distance_mm=1080, speed_mm_s=-300) ## Below lines only for testing ## Comment out when done testing. Do not upload to Git hub without commenting. # shared_all.calibrate_gyro(-45) # align() # run() # def move_straight(duration, speed_mm_s): # robot.drive_time(speed_mm_s, 0, duration) # robot.stop(stop_type=Stop.BRAKE) # move_straight(duration=3000, speed_mm_s=300) # crane_motor=Motor(Port.D, Direction.COUNTERCLOCKWISE, [8,24]) # def move_crane_down( crane_motor, degrees): # crane_motor.run_angle(90, -1 * degrees, Stop.BRAKE) # move_crane_down(crane_motor, 30)
def align(): shared_all.move_crane_to_floor(crane_motor) shared_all.move_straight(distance_mm=100, speed_mm_s=-300) shared_all.move_crane_down(motor=crane_motor, degrees=45) wait(10)
def run(): shared_all.move_crane_to_floor(motor=rack_motor, release_angle=-400) shared_all.turn(angle=-5, speed_deg_s=100) shared_all.move_crane_to_top(motor=rack - motor, release_angle=-400)
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)
def dropcubes(): shared_all.move_crane_to_floor(crane_motor) shared_all.start_moving_crane_to_angle(crane_motor, 70) shared_all.move_straight(distance_mm=300, speed_mm_s=-190)