def Recaler_Coquillage(ser,team,configuration): if configuration==1: functions.move_push(ser,0.1,team*(-0.5),0.3) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.4,team*(-0.3),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) elif (configuration==2) or (configuration==3): functions.move_push(ser,0.38,team*(-0.58),0.3) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) elif (configuration==4) or (configuration==5): functions.move_push(ser,0.35,team*(-0.4),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Coquillage en place !"
def Fermeture_Portes(ser,team):
functions.open_full_bras(ser)
### Fermeture des portes
functions.move_push(ser,0.33,team*(0.79),0.3)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.enable_sicks(ser,'0')
functions.move_push(ser,0.35,team*(0.79),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,0.2,0)
sleep(0.2)
### RECUL & FERMETURE DES BRAS
functions.move_push(ser,0.35,team*0.6,0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.enable_sicks(ser,'F')
functions.close_bras(ser)
print "Les Portes sont fermees, +20 potentiels mon capitaine."
def Prise_Petit_Tas_De_Sable(ser,team,configuration): functions.set_speed(ser,0.4) #################################### #### PRISE DU MINI TAS DE SABLE #### ### Ouverture des bras functions.open_bras(ser) sleep(0.2) ### PRISE DU SABLE ET POSE DANS LA ZONE DE CONSTRUCTION functions.move_push(ser,1.1,0,0.2) functions.enable_sicks(ser,'0') answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,1.1,0,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) functions.set_speed(ser,0) ### On enleve la limite de vitesse sleep(0.2) ### RECUL if configuration==1: functions.move_push(ser,0.85,0,0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) else : functions.move_push(ser,0.60,0,0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### FERMETURE DES BRAS functions.enable_sicks(ser,'F') functions.close_bras(ser) print "Prise du Petit Tas fait : +16 points potentiels !"
def Homologation(ser,team): functions.set_angle(ser,team*45) # Deplacement functions.move_pos(ser,0.15,team*0.59) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'0') while answer!="$END9": functions.move_pos(ser,0,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0,team*(-0.6)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser)
#!/usr/bin/env python3
import serial
import functions
ser = serial.Serial("/dev/ttyUSB0")
ser.setBaudrate(57600)
functions.reset_pic()
functions.init_ax(ser)
# Attente du start
answer = functions.get_ans(ser)
while answer != "$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 != "$DONE;":
if (functions.Sicks == 0):
functions.move_pos(ser, 0.1, 0)
answer = functions.get_ans(ser)
# Rotation
if team == 'g':
functions.rotate(ser, 0.785)
else:
#!/usr/bin/env python3
import serial
import functions
import Functions_battle
from time import sleep
ser = serial.Serial("/dev/ttyAMA0", 57600)
functions.reset_pic()
functions.init_ax(ser)
# Attente du start
print "waiting for start"
answer = functions.get_ans(ser)
while answer != "$STRT;":
answer = functions.get_ans(ser)
print answer
# demande de l'equipe
team = 0
while team == 0:
team = functions.ask_team(ser)
configuration = 5
while configuration == 0:
configuration = functions.ask_conf(ser)
ReDo = 0
###############################
## DEBUT DE ROUTINE DE MATCH ##
#!/usr/bin/env python3
import serial
import functions
import Functions_battle
from time import sleep
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 != "$STRT;":
answer = functions.get_ans(ser)
print answer
# demande de l'equipe
team = 0
while team==0 :
team = functions.ask_team(ser)
configuration = 4
while configuration==0:
configuration = functions.ask_conf(ser)
ReDo = 0;
###############################
## DEBUT DE ROUTINE DE MATCH ##
def Homologation(ser,team): functions.set_speed(ser,0.2) functions.set_speed(ser,1) functions.open_bras(ser) functions.move_pos(ser,0.85,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.4,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*1.5708) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.4,team*0.45) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) while answer !='$END9;': functions.move_pos(ser,1.1,team*0.45) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.2,team*0.45) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser)
def Prise_Coquillages_2(ser,team,configuration):
### LA CONFIGURATION 1 A UNE SEULE PRISE DE COQUILLAGES ###
if configuration==2: ### CONFIGURATION 2 ###
### RECALAGE AVANT DEPART
functions.rotate(ser,0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_speed(ser,-0.1,0)
sleep(0.3)
functions.set_x(ser,0)
functions.set_t(ser,0)
### On va au fond du board
functions.move_push(ser,0.4,team*(-0.8),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.7,team*(-0.82),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,2.2,team*(-0.8),0.25)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
### On ramene tout sur le passage
functions.move_push(ser,1.6,team*(-0.7),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.6,team*(-0.68),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.2,team*(-0.6),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
### On fait le tour pour tout pousser dans la serviette de depart.
functions.move_push(ser,0.4,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.07,team*(-0.65),0.05)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.07,team*(0.1),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +12 points potentiels."
if configuration==3: ### CONFIGURATION 3 ###
functions.move_push(ser,0.5,team*(-0.5),0.15)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.5,team*(-1),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.15,team*(-0.7),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.12,team*(0.05),0.25)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +10 points potentiels."
elif configuration==4: ### CONFIGURATION 4 A MODIFIER ###
functions.move_push(ser,0.35,team*(-0.85),0.2)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0.9,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.1,team*(-0.85),0.1)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.3,team*(-0.85),0)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,team*5)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.rotate(ser,180)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,1.7,team*(-0.85),0)
functions.rotate(ser,team*10)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
functions.move_push(ser,0,0,0.05)
answer = functions.get_ans(ser)
while answer != "$DONE;":
answer = functions.get_ans(ser)
print "Ce sont pas des moules mais on s en contentera ! +10 points potentiels."
def Prise_Coquillages_1(ser,team,configuration): if configuration==1: ### CONFIGURATION 1 OK ### functions.move_push(ser,0.35,team*(-0.85),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.15,team*(-0.7),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.1,team*(0.05),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Ce sont pas des moules mais on s en contentera ! +8 points potentiels." elif configuration==3: ### CONFIGURATION 3 A MODIFIER ### functions.move_push(ser,1.6,team*(-0.7),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.6,team*(-0.68),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.05,team*(0.05),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) elif (configuration==2) or (configuration==4) or (configuration==5):### OK ### functions.move_push(ser,0.90,team*(-0.85),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.4,team*(-0.85),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.07,team*(-0.65),0.05) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.07,team*(0.1),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser)
def Prise_Poissons(ser,team): functions.move_push(ser,0.3,team*(-0.88),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### Placement en centre de bassin et deploiement des bras functions.move_push(ser,0.55,team*(-0.90),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.deploy_fish(ser) ### Rotation pour s'aligner avec la mer functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### Changement de vitesse max functions.set_speed(ser,0.2) ### Et 3 pas en avant !! functions.move_pos(ser,0.69,team*(-0.90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### Et 3 pas en arriere !! functions.move_pos(ser,0.47,team*(-0.90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### RANGEMENT DES BRAS POUR LES AMENER AU FILET functions.moveup_fish_av(ser) functions.moveup_fish_ar(ser) sleep(2) ### DEPLACEMENT VERS LE FILET functions.set_speed(ser,0.5) functions.move_push(ser,0.90,team*(-0.85),0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,1.1,team*(-0.90),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### LACHEZ LES POISSON !! functions.rlz_fish(ser) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Avouons-le, la peche a la moule c est mieux... +40 points potentiels."
def Prise_Grand_Tas_De_Sable(ser,team,configuration): ### Rotation vers les blocs de sable functions.move_push(ser,0.83,team*0.5,0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) ### Avancee vers les blocs de sable functions.rotate(ser,team*90) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_pos(ser,0.83,team*0.68) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*90) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### CALAGE SUR LES BLOCS functions.move_speed(ser,0.1,0) sleep(0.5) functions.set_y(ser,team*0.7) sleep(0.01) functions.move_pos(ser,0.83,team*0.7) ### PRISE DES BLOCS functions.catch(ser) sleep(1.2) functions.set_acc(ser,0.4,12,0.9) functions.set_speed(ser,0.2) functions.set_speed_ang(ser,1) ### Recul functions.move_push(ser,0.83,team*0.50,0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### CHEMIN VERS LES ZONE DE CONSTRUCTION functions.move_push(ser,0.35,team*(0.1),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.rotate(ser,team*(-45)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.60,team*(-0.16),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,1.05,team*(-0.4),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### LACHER DU SABLE functions.rotate(ser,team*50) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.open_bras(ser) sleep(1) ### CONTRAINTES DE VITESSE PAR DEFAUT functions.set_speed(ser,0) functions.set_speed_ang(ser,4) if configuration<4: functions.move_push(ser,0.72,team*(-0.8),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.close_bras(ser) functions.move_push(ser,0.72,team*(-0.8),0) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) elif (configuration==4) or (configuration==5): functions.move_push(ser,0.7,team*(-0.65),0.16) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.close_bras(ser) functions.move_push(ser,0.1,team*(-0.6),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) print "Et un tas de sable en plus! Un ! +24 points potentiels."
def Prise_Colonne_De_Sable(ser,team,x,y): functions.move_pos(ser,x,team*y) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'0') functions.rotate(ser,team*(-90)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_pumps(ser) functions.move_speed(ser,-0.2,0) sleep(1) functions.set_speed(ser,0.2) functions.set_speed(ser,1.5) sleep(0.05) functions.enable_US(ser,'9') functions.move_pos(ser,x,team*y-0.1) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.deploy_wings(ser) sleep(1) functions.move_push(ser,0.15,team*(0),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.move_push(ser,0.60,team*(-0.16),0.2) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) ### On s enfonce dans la zone de construction. functions.enable_US(ser,'0') functions.move_push(ser,x-0.3,team*(y-0.75)) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.disable_pumps(ser) functions.close_wings(ser) sleep(0.5) functions.set_speed(ser,0) functions.set_speed(ser,3) sleep(0.05) functions.move_push(ser,0.3,team*(0.2),0.15) answer = functions.get_ans(ser) while answer != "$DONE;": answer = functions.get_ans(ser) functions.enable_US(ser,'F') print "Et une colonne de plus ! Une !"