def align_nearboccia(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=40,
speed_mm_s=120,
target_angle=-90 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_right,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_right])
shared_all.move_straight(distance_mm=7, speed_mm_s=-90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=-137 + adjust_for_mission,
speed_deg_s=80)
if not shared_all.move_to_color_reverse(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=50):
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=55)
shared_all.move_straight(distance_mm=10, speed_mm_s=-100)
def alignatangle(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 170,
speed_mm_s= 130,
target_angle= -130+ adjust_for_mission)
shared_all.turn(angle=110, speed_deg_s=190)
shared_all.turn_to_direction( gyro=gyro, target_angle=10+ adjust_for_mission)
def alignold(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=90,
speed_mm_s=100,
target_angle=-90 +
adjust_for_mission)
# shared_all.turn(-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=85,
speed_mm_s=-120,
target_angle=180 +
adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=75,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.turn_to_direction(gyro=gyro,
target_angle=-135 + adjust_for_mission,
speed_mm_s=80)
def alignheadon(adjust_for_mission=0):
shared_all.turn(180, 210)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
def align_right_turns(adjust_for_mission=0):
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=70)
shared_all.move_straight(distance_mm=100, speed_mm_s=140)
shared_all.move_crane_to_top(crane_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_straight(distance_mm=390, speed_mm_s=-200)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=30,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def base_to_basket(adjust_for_mission=0):
shared_all.turn_arc(distance=620, angle=-90, speed_mm_s=230)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.turn_to_direction(gyro=gyro, target_angle=-90, speed_mm_s=120)
def run():
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm=190,
speed_mm_s=-18,
target_angle=DIRECTION)
# shared_all.move_straight(distance_mm=90, speed_mm_s=-140)
shared_all.turn_to_direction( gyro = gyro, target_angle = DIRECTION)
def align(adjust_for_mission=0):
shared_all.turn_to_direction(gyro=gyro,
target_angle=-133 + adjust_for_mission,
speed_deg_s=80)
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=30)
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 alignreverse(adjust_for_mission=0):
shared_all.turn(angle=-30)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=180)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
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 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 run(adjust_for_mission=0):
shared_all.turn(5)
#
shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
right_motor.run_angle(-90, 50, Stop.BRAKE, True)
left_motor.run_angle(-270, 3 * 360, Stop.BRAKE, True)
shared_all.move_straight(distance_mm=120, speed_mm_s=180)
shared_all.move_straight(distance_mm=20, speed_mm_s=90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
def aligntonorth(adjust_for_mission=0):
shared_all.turn_arc(distance=150, angle=-45, speed_mm_s=170)
shared_all.turn_arc(distance=150, angle=45, speed_mm_s=170)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 20,
speed_mm_s= 110,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN, alternative_color=Color.GREEN)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLUE, alternative_color=Color.BLUE)
shared_all.move_straight(distance_mm=10, speed_mm_s=-80)
def basket_to_bench():
shared_all.turn_arc(distance=90, angle=-55, speed_mm_s=-70)
shared_all.move_crane_to_top(motor=rack_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=120,
speed_mm_s=140,
target_angle=180 +
adjust_for_mission)
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.turn(-60)
def go_long():
shared_all.move_straight(max_distance=1600, speed_mm_s=250)
shared_all.move_to_color(color_sensor=color_sensor_left,
stop_on_color=Color.BLACK, speed_mm_s = 70)
shared_all.move_straight(max_distance=60)
shared_all.turn_to_direction(gyro, target_angle=-90)
shared_all.move_to_color(color_sensor=color_sensor_left,
stop_on_color=Color.RED, speed_mm_s = 70)
shared_all.turn_to_direction(gyro, target_angle=160)
shared_all.move_straight(max_distance=1600, speed_mm_s=250)
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 align_color_and_rightturns(adjust_for_mission=0):
shared_all.move_straight(distance_mm=170, speed_mm_s=120)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 80,
speed_mm_s= -140,
target_angle= -90+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE, alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=110)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 220,
speed_mm_s= 140,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
def alignold(adjust_for_mission=0):
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.move_straight(distance_mm=10, speed_mm_s=70)
shared_all.turn(-90)
shared_all.move_straight(distance_mm=170, speed_mm_s=-170)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=False,
new_gyro_angle=0)
shared_all.move_straight(distance_mm=160, speed_mm_s=150)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
def run(adjust_for_mission=0):
# shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
# left_motor.run_angle( -210, 3*360, Stop.BRAKE, True)
shared_all.turn(5)
#
shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
right_motor.run_angle(-90, 50, Stop.BRAKE, True)
left_motor.run_angle(-270, 3 * 360, Stop.BRAKE, True)
shared_all.move_straight(distance_mm=230, speed_mm_s=180)
# shared_all.move_straight(distance_mm=20, speed_mm_s=90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.turn(90)
shared_all.push_back_reset_gyro(distance_mm=150,
reset_gyro=True,
new_gyro_angle=-90)
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 treadmill_to_row_nearrow(adjust_for_mission=0):
shared_all.turn_arc(distance=110, angle=55,
speed_mm_s=100) # turn in an arc
shared_all.turn(angle=-55, speed_deg_s=120)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
# shared_all.turn_to_direction( gyro=gyro, target_angle=-90+ adjust_for_mission)
shared_all.move_straight(180, -180)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight(distance_mm=70, speed_mm_s=100)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=40)
def align(adjust_for_mission=0):
# shared_all.move_straight(max_distance=700, speed_mm_s=100)
# wait(1000)
# shared_all.move_crane_to_top(crane_motor)
# wait(10)
shared_all.turn(angle=-30)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=90)
# shared_all.move_straight(distance_mm=10, speed_mm_s=30)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=180)
def stepcounter_to_treadmill_forward(adjust_for_mission=0):
# shared_all.turn( angle=-45)
shared_all.turn_arc(distance=200, angle=-65,
speed_mm_s=150) # turn in an arc
shared_all.turn_arc(distance=200, angle=65,
speed_mm_s=150) # turn in an arc
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=170,
speed_mm_s=150,
target_angle=0)
# back up and move at an angle to spine black line
shared_all.turn(angle=40, speed_deg_s=90)
shared_all.move_reverse(max_distance=50, speed_mm_s=110)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=15)
shared_all.move_reverse(max_distance=10, speed_mm_s=80)
shared_all.turn(angle=-40, speed_deg_s=90)
shared_all.turn_to_direction(gyro=gyro, target_angle=0)
def bigtire_to_slide(adjust_for_mission=0):
shared_all.move_straight(distance_mm=40, speed_mm_s=-100)
shared_all.turn_arc(distance=30, angle=30, speed_mm_s=-130)
shared_all.turn_to_direction(gyro=gyro,
target_angle=90 + adjust_for_mission)
def align(adjust_for_mission=0):
shared_all.turn_to_direction( gyro=gyro, target_angle=10+ adjust_for_mission)
def alignold(adjust_for_mission=0):
shared_all.move_straight(distance_mm=180, speed_mm_s=150)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK, alternative_color=Color.BLACK)
shared_all.move_straight(distance_mm=20, speed_mm_s=120)
