def calibrate(port):
print "Press A button with light on"
while not a_button_clicked():
if digital(13):
DEBUG()
lightOn = analog(port)
print "On value =", lightOn
if lightOn > 200:
print "Bad calibration"
return False
print "Press B button with light off"
while not b_button_clicked():
if digital(13):
DEBUG()
lightOff = analog(port)
print "Off value =", lightOff
if lightOff < 3000:
print "Bad calibration"
return False
if (lightOff - lightOn) < 2000:
print "Bad calibration"
return False
c.startLightThresh = (lightOff - lightOn) / 2
print "Good calibration! ", c.startLightThresh
return True
def calibrate(port):
print("Press LEFT button with light on")
while not w.left_button():
pass
while w.left_button():
pass
lightOn = w.analog(port)
print("On value =", lightOn)
if lightOn > 4000:
print("Bad calibration")
return False
w.msleep(1000)
print("Press RIGHT button with light off")
while not w.right_button():
pass
while w.right_button():
pass
lightOff = w.analog(port)
print("Off value =", lightOff)
if lightOff < 1000:
print("Bad calibration")
return False
if (lightOff - lightOn) < 1:
print("Bad calibration")
return False
startLightThresh = (lightOff + lightOn) / 2
print("Good calibration! ", startLightThresh)
print('{} {} {}'.format(lightOff, lightOn, startLightThresh))
return startLightThresh
def calibrate(port):
print("Press LEFT button with light on")
while not w.left_button():
pass
while w.left_button():
pass
lightOn = w.analog(port)
print("On value =", lightOn)
if lightOn > 200:
print("Bad calibration")
return False
msleep(1000)
print("Press RIGHT button with light off")
while not w.right_button():
pass
while w.right_button():
pass
lightOff = w.analog(port)
print("Off value =", lightOff)
if lightOff < 3000:
print("Bad calibration")
return False
if (lightOff - lightOn) < 2000:
print("Bad calibration")
return False
c.startLightThresh = (lightOff - lightOn) / 2
print("Good calibration! ", c.startLightThresh)
return True
def setupLineFollow(): d.driveUntilBlack(100) while w.analog(c.largeTopHat) > c.LARGE_TOPHAT_LINE: d.forward(100, 1) while w.analog(c.largeTopHat) < c.LARGE_TOPHAT_LINE: d.spinLeft(100, 1) d.lineFollowUntilTape()
def calibrate(port):
print "Press LEFT button with light on"
while not left_button():
pass
lightOn = analog(port)
print "On value =", lightOn
if lightOn > 200:
print "Bad calibration"
return False
msleep(1000)
print "Press RIGHT button with light off"
while not right_button():
pass
lightOff = analog(port)
print "Off value =", lightOff
if lightOff < 3000:
print "Bad calibration"
return False
if (lightOff - lightOn) < 2000:
print "Bad calibration"
return False
c.startLightThresh = (lightOff - lightOn) / 2
print "Good calibration! ", c.startLightThresh
return True
def calibrate(port):
display("Press LEFT button with light on")
while not left_button():
pass
while left_button():
pass
lightOn = analog(port)
display("On value =" + str(lightOn))
if lightOn > 200:
display("Bad calibration")
return False
msleep(1000)
display("Press RIGHT button with light off")
while not right_button():
pass
while right_button():
pass
lightOff = analog(port)
display("Off value =" + str(lightOff))
if lightOff < 3000:
display("Bad calibration")
return False
if (lightOff - lightOn) < 2000:
display("Bad calibration")
return False
c.startLightThresh = (lightOff - lightOn) / 2
display("Good calibration! " + str(c.startLightThresh))
return True
def line_follow():
while True:
if (analog(IR_SENSOR_PORT) >= BLACK_THRESHOLD):
move_forwards_for_time(100,100)
turn_left_for_time(100,100)
if (analog(IR_SENSOR_PORT) < BLACK_THRESHOLD):
turn_right_for_time(100,100)
def skipLine(speed, sensor, line, lines):
"""Speed: How fast we want to go\n
Sensor: Which tophat to use\n
Line: Which line to use\n
Lines: how many we want to skip"""
for _ in range(0, lines):
while w.analog(sensor) > line: # is on line
drive_noblock(speed)
while w.analog(sensor) < line: # isnt on line
drive_noblock(speed)
stop()
def smoothLineFollowLeft(time, speed):
#Max speed is 80
#Proportional adjustment LF
sec = seconds() + time
while seconds() < sec:
num = ((w.analog(4) - 1500) / 75)
d.driveTimed(speed - num, speed + num, 10)
def calibrate6():
global lAdjust
lAdjust = 1
while True:
drive_speed(3, 50)
if analog(0) > 1500:
lAdjust = lAdjust + 0.05
while not digital(13):
pass
msleep(500)
elif analog(0) < 1000:
lAdjust = lAdjust - 0.05
while not digital(13):
pass
msleep(500)
print lAdjust
def attempt():
enable_servos()
for x in range (0, 60):
if analog (4) > 100:
print "i see something"
else:
print "i don't see anything"
msleep(1000)
def line_follow(distance):
_clear_ticks()
ticks = abs(INCHES_TO_TICKS * distance)
while _right_ticks() <= ticks:
if analog(0) > 1500:
_drive(-40, -30)
else:
_drive(-30, -40)
_drive(0, 0)
def line_follow_forward(distance):
_clear_ticks()
ticks = abs(INCHES_TO_TICKS * distance)
while _right_ticks() <= ticks:
if analog(0) < 2000:
_drive(30, 40)
else:
_drive(40, 30)
_drive(0,0)
def turnUntilLine(speed, direction, sensor, line):
if direction:
driveMotorA(speed * -1, speed)
else:
driveMotorA(speed, speed * -1)
while w.analog(sensor) > line: # not on line
continue
freeze()
stop()
def line_follow_forward_end(port):
i = 0
while (i < 21):
print i
if analog(port) > 1500:
i = 0
drive_timed(30, 80, .02)
else:
i = i + 1
drive_timed(80, 30, .02)
def wait4(port):
print "waiting for light!! "
while analog(port) > c.startLightThresh:
pass
def driveUntilBlack(speed): while w.analog(c.largeTopHat) < c.LARGE_TOPHAT_LINE: driveMotor(speed, speed, 1)
def onBlackFront():
return analog(c.FRONT_TOPHAT) > c.frontLineFollowerGrey
def onBlackBack():
return analog(c.REAR_TOPHAT) > c.frontLineFollowerGrey
def onBlackFront():
return w.analog(c.FRONT_TOPHAT) > c.frontLineFollowerGrey
def onBlack(port):
return analog(port) > c.topHatMidValue
def getET():
return analog(c.ET)
def seeLine():
return analog(0) > 2400
def calibrate2(inches=24, speed=50):
global lAdjust
global INCHES_TO_TICKS
INCHES_TO_TICKS = 0
lAdjust = 1
if inches < 0:
speed = -speed
_clear_ticks()
ticks = abs(INCHES_TO_TICKS * inches)
prevAdjust = -1
while True:
start = seconds()
lStart = start
rStart = start
lTime = -1
rTime = -1
l = False
r = False
i = 0
_clear_ticks()
while not l or not r:
if l and not r:
i = i + 1
elif r and not l:
i = i - 1
if analog(2) > 1500:
if not l:
lTime = seconds() - lStart
l = True
print("LEFT")
if analog(3) > 1500:
if not r:
rTime = seconds() - rStart
r = True
print("RIGHT")
if _right_ticks() == _left_ticks():
_drive(speed, speed)
if _right_ticks() > _left_ticks():
_drive(speed, int(speed / 1.3))
if _left_ticks() > _right_ticks():
_drive(int(speed / 1.3), speed)
lAdjust = rTime / lTime
if prevAdjust != -1:
lAdjust = (lAdjust + prevAdjust) / 2
INCHES_TO_TICKS = ((_left_ticks() + _right_ticks()) / 2) / inches
drive_timed(-50, -50, int(seconds() - start))
print("lTime: " + str(lTime) + "\trTime: " + str(rTime))
print("ROT: " + str(i))
print("ADJ: " + str(lAdjust))
print("I2T: " + str(INCHES_TO_TICKS) + "\n")
if i == 0:
break
wait_for_button()
def onBlackFront():
return w.analog(c.FRONT_TOPHAT) > c.onBlack
def isOnLine(sensor, line):
return True if w.analog(sensor) > line else False
def _wait_4(port):
display("waiting for light!! ")
while analog(port) > c.startLightThresh:
pass
def onBlackFront():
return w.analog(c.FRONT_TOPHAT) > c.TOPHAT_THRESHOLD
def on_black_front():
return analog(c.FRONT_TOPHAT) > c.THRESHOLD_TOPHAT
def _wait_4(port):
print("waiting for light!! ")
while w.analog(port) > c.startLightThresh:
pass
def on_black_front():
return w.analog(c.FRONT_TOPHAT_RIGHT) > c.on_black
def smoothLineFollowLeftCondition(speed):
#Proportional adjustment LF
sec = seconds() + 7
while w.analog(c.LEFT_TOPHAT) < 2000 and seconds() < sec:
num = ((w.analog(4) - 1500) / 75)
d.driveTimed(speed - num, speed + num, 10)
def testET():
x = analog(c.ET)
print("ET = ", x)
def lineFollowUntilTape(): while w.analog(c.smallTopHat) < c.SMALL_TOPHAT_LINE: if w.analog(c.largeTopHat) < c.LARGE_TOPHAT_LINE: veerLeft(50, 1, 10) elif w.analog(c.largeTopHat) > c.LARGE_TOPHAT_LINE: veerRight(50, 1, 10)
def onBlackBack():
return w.analog(c.REAR_TOPHAT) > c.frontLineFollowerGrey
def onBlackLineFollower():
return analog(c.STARBOARD_TOPHAT) > c.topHatMidValue
def wait4(port):
print "waiting for light!! "
while analog(port) > c.startLightThresh:
pass
def on_black_back():
return analog(c.BACK_TOPHAT) > c.THRESHOLD_TOPHAT
def atArmLength():
return analog (c.ET) > c.armLength
def lost_ramp():
return analog(c.ET) < c.THRESHOLD_ET
def atTest():
return analog (4) > 1800
def drive_till_black(left, right):
while analog(FRONT_TOPHAT) < 2000: #c.onBlack:
_drive(left, right)
freeze_motors()
def atCeilingHeight():
return analog (c.ET) > c.ceilingHeight
