def chu_trinh_5_3_4_5():
print_log("vao chu trinh chu_trinh_5_3_4_5")
resetTime()
while delayTime(2):
if exitFunction():
return
if not delayTime(1.5) and car.car_Co2Line():
break
car.car_ChayTheoGoc(speed=16, steer=50)
sleep(0.01)
while car.carval.imu_angle > -330:
if exitFunction():
return
if car.carval.line_right_curve < -35:
car.car_BamPhai(speed=18, num=car.carval.line_right_curve / 2)
else:
car.car_BamPhai(speed=18, num=0, division=1, defAng=-5)
sleep(0.01)
print_log("chu_trinh_5_3_4_5: chay & kiem tra parking")
while car.carval.parking == -1:
if exitFunction():
return
car.car_BamPhai(speed=20, num=-30)
sleep(0.01)
def chu_trinh_1_2():
# -------- Chạy mù qua tuyết 1s -------- #
print_log("chu_trinh_1_2: Qua tuyet")
resetTime()
while delayTime(1.2):
if exitFunction():
print_log('Exit')
return
car.car_ChayTheoGoc(speed=15, steer=0)
sleep(0.01)
def left_to_right(speed=13):
resetTime()
while delayTime(1):
if exitFunction():
return
car.car_BamTrai(speed=speed)
carSwitchToRightLane(speed=speed)
resetTime()
while delayTime(2):
if exitFunction():
return
car.car_BamPhai(speed=speed)
def chu_trinh_2_5():
# -------- Khi có line phải, bám giữa qua đường cong 2 - 5 -------- #
print_log("chu_trinh_2_5: Bam giua")
while car.carval.imu_angle > -190 or car.car_CoLinePhai():
if exitFunction():
return
car.car_BamGiua(speed=18)
sleep(0.01)
print_log("chu_trinh_2_5: BamTrai")
while car.car_CoLinePhai():
if exitFunction():
return
car.car_BamTrai(speed=16, defAng=5)
sleep(0.01)
resetImuAngle()
print_log("chu_trinh_2_5: Re phai")
# -------- Rẽ phải 70 độ vào đường 2 chiều -------- #
while car_CuaTheoGocImu(imu_angle=70, speed=15, car_steer=60):
if exitFunction():
return
sleep(0.01)
resetTime()
print_log("chu_trinh_2_5: Bam phai bien bao")
# -------- Bám phải đến biển báo -------- #
while delayTime(1.2):
if exitFunction():
return
if not delayTime(0.20) and car.carval.line_right_curve > 10:
break
car.car_BamPhai(speed=12, defAng=-25)
sleep(0.01)
print_log("chu_trinh_2_5: Chay mu")
resetTime()
while delayTime(0.2):
if exitFunction():
return
car.car_ChayTheoGoc(speed=12, steer=0)
sleep(0.01)
def chu_trinh_5_1():
# -------- Chờ phất cờ -------- #
waitSensorRelease()
print_log("chu_trinh_5_1: Chay thang bam phai")
resetTime()
while delayTime(3.3):
if exitFunction():
print_log('Exit')
return
if car.car_CoLinePhai() and car.carval.line_right_angle < 5:
car.car_BamPhai(speed=20, num=-40, division=5)
else:
carRun_imu(target_imu=0, speed=18)
sleep(0.01)
while car.car_CoLineTrai():
if exitFunction():
print_log('Exit')
return
car.car_BamPhai(speed=18, num=-30)
sleep(0.01)
print_log("chu_trinh_5_1: Re trai")
resetTime()
while carRun_imu(target_imu=-60, speed=15, car_steer=-60):
if exitFunction():
print_log('Exit')
return
sleep(0.01)
# -------- Chạy thẳng 0.22s cho xe nằm thẳng với đường để chạy mù qua tuyết -------- #
resetTime()
while delayTime(0.22):
if exitFunction():
print_log('Exit')
return
car.car_BamGiua(speed=15)
sleep(0.01)
if yard.san == 'Test':
if yard.ham == 'Climb Left':
test_san.bam_trai(speed=11)
if yard.ham == 'Climb Mid':
test_san.bam_giua(speed=11)
if yard.ham == 'Climb Right':
test_san.bam_phai(speed=11)
if yard.ham == 'Switch To Left':
test_san.right_to_left()
if yard.ham == 'Switch To Right':
test_san.left_to_right()
car.car_Brake()
resetTime()
if loop:
# ------- Dừng 3s theo yêu cầu BTC ------- #
while delayTime(3):
if exitFunction():
car.carval.is_running = False
car.car_setLed(False)
break
sleep(0.01)
car.car_setLed(False)
else:
car.carval.is_running = False
car.car_setLed(False)
else: