def main():
"""
Robot will use two corners on one side of the wall in the arena.
It will try to put all 4 tokens into slots. This gives us 9 points.
"""
option = 2
robot = Robot()
reset_log(robot)
robot.sound = Sound(robot, USING_SOUND)
robot.sound.play('R2D2')
robot.position = Tracker(robot.zone)
set_pins(robot)
slots_x = 2.91 if robot.zone in [0, 3] else 5.09
target_theta = pi / 2 if robot.zone in [0, 3] else 1.5 * pi
if robot.zone in [0, 1]:
dy = 0.9
slot_y_0 = 2.65
else:
dy = -0.9
slot_y_0 = 5.65
while 1:
try:
if option == 1:
put_down(robot)
grab(robot)
token_to_slot(robot, robot.zone)
for i in range(4):
zone = robot.zone if i < 2 else 3 - robot.zone
has_token = get_token_from_corner(robot, zone)
if has_token:
token_to_slot(robot, zone)
elif option == 2:
put_down(robot)
grab(robot)
for i in range(4):
zone = robot.zone if i < 2 else 3 - robot.zone
if i == 0:
move_to_point(robot, slots_x, slot_y_0 + 0.9,
target_theta)
token_to_slot_2(robot)
elif i == 1:
move_to_point(robot, 2, 2)
get_token_from_corner(robot, zone)
move_to_point(robot, slots_x, slot_y_0, target_theta)
token_to_slot_2(robot)
else:
move_to_point(robot, 2, 2)
get_token_from_corner(robot, zone)
slot_y = slot_y_0 + dy * i
move_to_point(robot, slots_x, slot_y, target_theta)
token_to_slot_2(robot)
except:
print_exc()
restart(robot)
def main():
"""
Robot will use two corners on one side of the wall in the arena.
It will try to put all 4 tokens into slots. This gives us 9 points.
"""
option = 2
robot = Robot()
reset_log(robot)
robot.sound = Sound(robot, USING_SOUND)
robot.sound.play('R2D2')
robot.position = Tracker(robot.zone)
set_pins(robot)
slots_x = 2.91 if robot.zone in [0, 3] else 5.09
target_theta = pi/2 if robot.zone in [0, 3] else 1.5*pi
if robot.zone in [0, 1]:
dy = 0.9
slot_y_0 = 2.65
else:
dy = -0.9
slot_y_0 = 5.65
while 1:
try:
if option == 1:
put_down(robot)
grab(robot)
token_to_slot(robot, robot.zone)
for i in range(4):
zone = robot.zone if i < 2 else 3-robot.zone
has_token = get_token_from_corner(robot, zone)
if has_token:
token_to_slot(robot, zone)
elif option == 2:
put_down(robot)
grab(robot)
for i in range(4):
zone = robot.zone if i < 2 else 3-robot.zone
if i == 0:
move_to_point(robot, slots_x, slot_y_0+0.9, target_theta)
token_to_slot_2(robot)
elif i == 1:
move_to_point(robot, 2, 2)
get_token_from_corner(robot, zone)
move_to_point(robot, slots_x, slot_y_0, target_theta)
token_to_slot_2(robot)
else:
move_to_point(robot, 2, 2)
get_token_from_corner(robot, zone)
slot_y = slot_y_0 + dy*i
move_to_point(robot, slots_x, slot_y, target_theta)
token_to_slot_2(robot)
except:
print_exc()
restart(robot)
def __init__(self): SingleThreadAccess.__init__(self) #Make sure the soton class is initiated, so we can connect to motors Robot.__init__(self, wait_start = False) atexit.register(self.stop) #Name the motors, for easy access self.leftMotor = self.motors[0] self.rightMotor = self.motors[1] self._leftSpeed = 0 self._rightSpeed = 0