def do_lift_basket():
robot.straight(180)
robot.straight(-10)
robot.turn(16)
robot.straight(15)
#common.arm.run_until_stalled(100)
robot.straight(-13)
# The arm keeps stalling here..........??
# want to check 3 things
# - is it stalled
# - is it too high
# maybe loop
# - goal is high enough
# - lift up until goal.. or stalled
# - if not at goal then move down and try again
# common.arm.run_until_stalled(-100)
#common.arm.run_angle(100, 104, Stop.BRAKE)
common.arm.run_angle(130, 104, Stop.BRAKE)
common.arm.run_until_stalled(-400)
robot.straight(-60)
def do_pullup():
# lift arm up to get ready
common.arm.run_angle(500, 250, Stop.BRAKE)
# drive up close to pullup bar
robot.straight(320)
# do the pull up
common.arm.run_angle(-500, 250, Stop.BRAKE)
def do_boccia():
# todo: drive here and line up
robot.straight(-30)
robot.turn(22)
common.arm.run_until_stalled(200)
robot.straight(-50)
common.arm.run_until_stalled(-600)
robot.turn(-90)
def turn_from_white_bar_to_arch():
robot.turn(-20)
robot.straight(110)
robot.turn(-20)
#robot.straight(50)
robot.straight(120)
#robot.drive(140, -65)
robot.reset()
#robot.drive(100, -60)
robot.drive(40, 0)
mover.wait_for_color_on_right_line_sensor(Color.BLACK)
# park it on the line pointing in the right direction
robot.straight(50)
robot.turn(10)
robot.straight(30)
robot.turn(10)
robot.straight(30)
robot.turn(15)
robot.stop()
def do_smash_bench():
robot.turn(125)
#mover.drive_to_white(-100)
robot.straight(-300)
# tried sensor, but sometimes it did not hit.
#mover.drive_to_white_black_white(-100)
robot.straight(100)
robot.turn(40)
robot.straight(-700)
def drive_to_north_line_after_treadmill():
robot.straight(-100)
#mover.drive_to_white_black_white_left_color_sensor(-100)
robot.turn(-45)
robot.straight(100)
# smash againt back wall?
robot.turn(-45)
robot.straight(100)
robot.turn(-15)
robot.drive(-200, 0)
wait(1500)
robot.stop()
# forward some
robot.straight(140)
mover.drive_to_white_black_white_left_color_sensor(130)
def drive_home_from_weights():
robot.turn(-45)
mover.turn_ccw_until_right_sensor_white()
ev3.speaker.beep()
robot.turn(-30)
ev3.speaker.beep()
mover.follow_distance_left_sensor(400)
ev3.speaker.beep()
robot.straight(500)
robot.turn(-45)
robot.straight(400)
robot.turn(45)
robot.straight(700)
def do_weights_from_north_line():
robot.turn(-45)
robot.straight(110)
robot.turn(45)
# now facing north
# now angle to weights and run into it
common.arm.run_until_stalled(400)
# This turn and drive does not always work
robot.turn(34)
robot.straight(200)
# smash and back up
common.arm.run_until_stalled(-200)
robot.straight(-120)
def wiggle_step():
for x in range (9):
robot.straight(-16)
robot.turn(-0.68)
# slow wiggle works better
robot.stop()
robot.settings(straight_speed=95)
robot.straight(29)
# faster again
robot.stop()
robot.settings(straight_speed = mover.ROBOT_STRAIGHT_SPEED)
# back up until we get to white bar
mover.drive_to_white_on_right_line_sensor(-100)
robot.straight(-80) # a little more to clear the step machine
def drive_under_pullup_bar():
# drive forward until the robot finds a line
mover.drive_to_line()
ev3.speaker.beep()
mover.follow_on_right_until_white_black_white_on_left()
ev3.speaker.beep()
# back up and make final left turn to find new line
robot.straight(-20)
robot.turn(-80)
ev3.speaker.beep()
mover.drive_to_line()
ev3.speaker.beep()
# Drive under pullup bar and back again
mover.follow_distance(200, 120)
robot.straight(320)
robot.straight(-450)
def do_rowing_after_treadmill():
robot.turn(-45)
robot.straight(100)