l1.backward() # forward l2.backward() s1pressed = False s2pressed = False while not (s1pressed and s2pressed): if (s1.isPressed()): s1pressed = True l1.stop() if (s2.isPressed()): s2pressed = True l2.stop() motor_forward(l1, desync_offset) # add desired desync sync_legs(motor1, motor2, ts1, ts2, 400) # 400 desync makes it non-butterfly while True: if (us.getDistance() < 40): motor1.stop() motor2.stop() Tools.delay(1500) move_forward(motor1, motor2, 3000) # due to motor setup, forward is actually backward sync_legs(motor1, motor2, ts1, ts2, 0) # make it stand up snap_jaw(jaw, 3) if (randint(0,1) == 0): turn(motor1, motor2, 4000) sync_legs(motor1, motor2, ts1, ts2, 0) Tools.delay(1500) sync_legs(motor1, motor2, ts1, ts2, 400) # make it non butterfly else: turn(motor2, motor1, 4000) sync_legs(motor1, motor2, ts1, ts2, 0) Tools.delay(1500)
gunmotor = Motor(MotorPort.A) motor1 = Motor(MotorPort.B) motor2 = Motor(MotorPort.C) us = UltrasonicSensor(SensorPort.S4) robot.addPart(gunmotor) robot.addPart(motor1) robot.addPart(motor2) robot.addPart(us) def start_turn(m1, m2): m1.stop() m2.stop() m1.backward() m2.forward() def stop(m1, m2, t): m1.stop() m2.stop() Tools.delay(t) start_turn(motor1, motor2) while true: if (us.getDistance() < 80): stop(motor1, motor2, 500) gunmotor.forward() Tools.delay(1000) gunmotor.stop() start_turn(motor1, motor2) Tools.delay(400) # don't shoot again for awhile Tools.delay(20)
start_forward(motor1, motor2) last_us_distance = -1 while True: t1 = ts1.isPressed() t2 = ts2.isPressed() if (t1 and t2): move_backward(motor1, motor2, 500) turn(motor1, motor2, 400) start_forward(motor1, motor2) else: if t1: move_backward(motor1, motor2, 1000) turn(motor2, motor1, 800) start_forward(motor1, motor2) elif t2: move_backward(motor1, motor2, 1000) turn(motor1, motor2, 800) start_forward(motor1, motor2) # if something appears close to sensor suddenly if (last_us_distance != -1 and last_us_distance - us.getDistance() > 50): stopfor(motor1, motor2, 1000) # shoot it! gunmotor.forward() Tools.delay(1000) gunmotor.stop() start_forward(motor1, motor2) last_us_distance = us.getDistance(); Tools.delay(20)
robot.addPart(ts2) robot.addPart(us) def back_away(m1, m2, t): m1.stop() m2.stop() m1.backward m2.backward() Tools.delay(t) m1.stop() m2.stop() def shoot(m, t): m.forward() Tools.delay(t) m.stop() for i in range(5): # wait until something approaches while(us.getDistance() > 80): Tools.delay(20) # back away when it does back_away(m1, m2, 1000) if ts1.isPressed() or ts2.isPressed(): # shoot if backed against wall! shoot(gunmotor, 1000) # after we're forced back 5 times # we just open fire! shoot(gunmotor, 10000) robot.exit()
m1.stop() m2.stop() m1.backward() m2.forward() def stop(m1, m2, t): m1.stop() m2.stop() Tools.delay(t) def move_forward(m1, m2, t): m1.stop() m2.stop() m1.forward() m2.forward() Tools.delay(t) # start turning start_turn(motor1, motor2) # find largest us value largest_us_value = 0 for i in range(20): us_value = us.getDistance() if (us_value > largest_us_value): largest_us_value = us_value Tools.delay(20) # spin until facing direction of largest us value while (us.getDistance() < largest_us_value): continue # move in the discovered direction like a boss move_forward(5000)