import serial
import functions
ser = serial.Serial("/dev/ttyUSB0")
ser.setBaudrate(57600)
functions.reset_pic()
functions.init_ax(ser)
# Attente du start
answer = functions.get_ans(ser)
while answer != "$STRT;":
answer = functions.get_ans(ser)
# Demande de l'équipe
team = functions.ask_team(ser)
# Déplacement
functions.move_pos(ser, 0.1, 0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
if (functions.Sicks == 0):
functions.move_pos(ser, 0.1, 0)
answer = functions.get_ans(ser)
# Rotation
if team == 'g':
functions.rotate(ser, 0.785)
else:
functions.rotate(ser, 5.495)
answer = functions.get_ans(ser)
ser = serial.Serial("/dev/ttyAMA0",57600)
functions.reset_pic()
functions.init_ax(ser)
# Attente du start
print "waiting for start"
answer = functions.get_ans(ser)
while answer != "$STRT;":
answer = functions.get_ans(ser)
print answer
# demande de l'equipe
team = 0
while team==0 :
team = functions.ask_team(ser)
configuration = 4
while configuration==0:
configuration = functions.ask_conf(ser)
ReDo = 0;
###############################
## DEBUT DE ROUTINE DE MATCH ##
###############################
IsDone = Functions_battle.Prise_Petit_Tas_De_Sable(ser,team,configuration)
# if IsDone > ReDo:
# ReDo = IsDone
IsDone = Functions_battle.Recaler_Coquillage(ser,team,configuration)
IsDone = Functions_battle.Fermeture_Portes(ser,team)