def test_servos_extensive(exit = True): # Runs all constant servo positions for arm and claw. Not updated.
print "Testing servos extensively\n"
m.claw_slow(c.STARTING_CLAW_POS)
m.arm_slow(c.STARTING_ARM_POS)
m.wait()
m.claw_slow(c.CLAW_OPEN_POS)
m.wait()
m.claw_slow(c.CLAW_CLOSE_POS)
m.wait()
m.claw_slow(c.CLAW_SECOND_CRATE_GRAB_POS)
m.wait()
m.claw_slow(c.BOTGUY_CLAW_CLOSE_POS)
m.wait()
m.arm_slow(c.ARM_UP_POS)
m.wait()
m.arm_slow(c.ARM_DOWN_POS)
m.wait()
m.arm_slow(c.ARM_SECOND_CRATE_UP_POS)
m.wait()
m.arm_slow(c.ARM_SECOND_CRATE_GRAB_POS)
m.wait()
m.arm_slow(c.ARM_DOWN_POS)
m.wait()
print "Testing complete."
if exit == True:
print "Exiting...\n"
exit(86)
def setup():
# Enables servos and sets them to predefined starting positions. This goes before every run
print "Starting setup()"
if c.IS_MAIN_BOT:
print "I am the main bot"
elif c.IS_CLONE_BOT:
print "I am the clone bot"
else:
print "Error in bot determination"
exit(86)
if c.STARTING_CLAW_POS > c.MAX_SERVO_POS or c.STARTING_CLAW_POS < c.MIN_SERVO_POS or c.STARTING_ARM_POS > c.MAX_SERVO_POS or c.STARTING_ARM_POS < c.MIN_SERVO_POS :
print "Invalid desired servo position\n"
exit(86)
graphics_close()
ao()
enable_servo(c.CLAW_SERVO)
enable_servo(c.ARM_SERVO)
set_servo_position(c.CLAW_SERVO, c.STARTING_CLAW_POS)
set_servo_position(c.ARM_SERVO, c.STARTING_ARM_POS)
msleep(1000)
print "Set claw to starting position of %d" % c.STARTING_CLAW_POS
print "Set arm to starting position of %d" % c.STARTING_ARM_POS
m.claw_slow(c.CLAW_PARALLEL_CLOSE_POS)
m.wait()
m.claw_slow(c.CLAW_OPEN_POS)
m.wait()
console_clear()
print "Setup complete\n\n"
def get_crates():
print "Starting get_crates()"
print "Bot in starting box\n"
f.drive_through_two_lines_third()
f.right_point_turn_until_black()
f.lfollow_right_until_left_senses_black_smooth_amount(
.5, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.5 * c.BASE_LM_POWER),
int(.5 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_right_until_left_senses_black_smooth_amount(
.5, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.7 * c.BASE_LM_POWER),
int(.7 * c.BASE_RM_POWER), c.BASE_LM_POWER, c.BASE_RM_POWER, False)
f.lfollow_right_until_left_senses_black_smooth_amount(
10, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.9 * c.BASE_LM_POWER),
int(.9 * c.BASE_RM_POWER), c.BASE_LM_POWER, c.BASE_RM_POWER, False)
print "Bot on center tee\n"
if c.IS_MAIN_BOT:
m.drive_tics(1007, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
m.drive_tics(1120, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_third_senses_white(10, 0, 0, False)
f.right_point_turn_until_third_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.left_backwards_until_black()
f.right_backwards_until_black()
m.open_claw()
m.arm_slow(c.ARM_DOWN_POS)
m.claw_slow(c.CLAW_LESS_OPEN_POS)
m.backwards(1400)
print "Bot driving backwards to get crates\n"
m.close_claw()
print "\n\nFinished getting crates\n\n"
def test_servos(exit = True):
# Used to see if basic servo commands and constants function as intended.
print "Testing servos\n"
m.claw_slow(c.CLAW_CLOSE_POS)
m.wait() # Using wait() instead of msleep() to make sure wheels are off.
m.claw_slow(c.CLAW_OPEN_POS)
m.wait()
m.arm_slow(c.ARM_DOWN_POS)
m.wait()
m.arm_slow(c.ARM_HIGH_POS)
m.wait()
print "Testing complete."
if exit == True:
print "Exiting...\n"
exit(86)
def deliver_first_crate():
print "Starting first_crate_delivery()"
m.drive(500)
if crate_zone == c.LEFT:
print "Starting deliver_left()"
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_left_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_left_senses_white(10, 0, 0, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.lfollow_left_until_right_senses_black_smooth(7)
if c.IS_MAIN_BOT:
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME, 0, 0,
False)
f.right_point_turn_until_white(1, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
else: # Clone bot
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME)
elif crate_zone == c.MIDDLE:
print "Starting deliver_middle()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
f.drive_until_white_left()
f.right_forwards_until_left_senses_black(10, 0, False)
f.right_forwards_until_left_senses_white(10, c.BASE_RM_POWER)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, 0, 0, False)
#f.left_forwards_until_black()
f.drive_until_white_right(2, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
if c.IS_MAIN_BOT:
f.lfollow_left_inside_line_smooth(2.5, c.BASE_LM_POWER,
c.BASE_RM_POWER)
else: # Clone bot
f.lfollow_left_inside_line_smooth(2.7, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_left()
f.align_in_zone_safely()
f.drive_through_line_third(10, 0, 0, False)
m.drive(700, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
elif crate_zone == c.RIGHT:
print "Starting deliver_right()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
f.left_point_turn_until_black_after(c.LEFT_TURN_TIME, 0, 0, False)
f.left_point_turn_until_white(1, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER)
m.backwards(200)
m.arm_slow(c.ARM_DOWN_POS)
msleep(300) # This pause helps keep the second crate from tipping over
m.claw_slow(c.CLAW_LARGE_OPEN_POS)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.backwards(500)
print "First crate delivered\n\n"
def put_botguy_in_correct_zone():
approach_t()
f.right_point_turn_until_third_senses_black(.2)
print "Starting deliver_botguy()"
if botguy_zone == c.LEFT:
print "Starting deliver_left()"
f.snap_to_line_left()
f.lfollow_left_until_right_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_left_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.right_point_turn_until_left_senses_white(10, 0, 0, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_white(10, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
f.lfollow_left_until_right_senses_black_smooth(7)
f.right_point_turn_until_black_after(c.RIGHT_TURN_TIME, 0, 0, False)
m.turn_right(int(c.RIGHT_TURN_TIME / 2), c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
elif botguy_zone == c.MIDDLE:
print "Starting deliver_middle()"
f.drive_until_white_third(5, 0, 0, False)
m.drive(300, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_black(10, 0, 0, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.backwards_through_line_left()
f.align_close()
if False: # crate_zone == c.LEFT:
m.turn_right(int(c.RIGHT_TURN_TIME / 8))
m.backwards(900)
m.turn_right(int(c.RIGHT_TURN_TIME / 10))
elif False: # crate_zone == c.RIGHT:
m.turn_left(int(c.LEFT_TURN_TIME / 8))
m.backwards(900)
m.turn_left(int(c.LEFT_TURN_TIME / 20))
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.backwards(1000)
elif botguy_zone == c.RIGHT:
print "Starting deliver_right()"
f.snap_to_line_right()
f.lfollow_right_until_left_senses_black_smooth(13, c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.lfollow_right_smooth(1, c.BASE_LM_POWER, c.BASE_RM_POWER)
f.left_point_turn_until_right_senses_white(10, 0, 0, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_black(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, False)
f.left_point_turn_until_right_senses_white(10, -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.lfollow_right_until_left_senses_black_smooth(7)
m.turn_left(c.LEFT_TURN_TIME, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER,
-1 * c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.turn_left(c.LEFT_TURN_TIME, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER,
-1 * c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.turn_left(int(c.LEFT_TURN_TIME / 2), -1 * c.BASE_LM_POWER,
c.BASE_RM_POWER, -1 * c.BASE_LM_POWER, c.BASE_RM_POWER)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 3, 1)
m.backwards(300)
print "Botguy delivered\n\n"
def deliver_second_crate():
print "Starting second_crate_delivery()"
m.drive(250)
m.arm_slow(c.ARM_SECOND_CRATE_GRAB_POS, 2, 1)
m.backwards(100)
m.claw_slow(c.CLAW_SECOND_CRATE_GRAB_POS, 3, 1)
m.lift_arm(c.ARM_SECOND_CRATE_UP_POS)
m.wait(100)
if crate_zone == c.LEFT:
f.left_point_turn_until_black()
if c.IS_MAIN_BOT:
f.lfollow_left_smooth_amount(.7, c.BASE_LM_POWER, c.BASE_RM_POWER,
int(.5 * c.BASE_LM_POWER),
int(.5 * c.BASE_RM_POWER), 0, 0,
False)
f.lfollow_left_smooth(.8, c.BASE_LM_POWER, c.BASE_RM_POWER)
else: # Clone bot
f.lfollow_left_smooth(1.5)
f.left_point_turn_until_right_senses_black()
f.lfollow_right_inside_line_until_left_senses_black_smooth_amount(
1, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_right_inside_line_until_left_senses_black_smooth(
10, 0, 0, False)
m.drive(150, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_right()
f.align_in_zone_safely()
elif crate_zone == c.MIDDLE:
f.right_point_turn_until_black()
f.lfollow_right_smooth(1.5)
f.right_point_turn_until_left_senses_black()
f.lfollow_left_inside_line_until_right_senses_black_smooth_amount(
1, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, 0, 0, False)
m.drive(180, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.right_point_turn_until_black(5, 0, 0, False)
f.right_point_turn_until_white(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_black(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
f.right_point_turn_until_left_senses_black(5, c.BASE_LM_POWER,
-1 * c.BASE_RM_POWER, False)
m.turn_right(c.RIGHT_TURN_TIME, c.BASE_LM_POWER, -1 * c.BASE_RM_POWER,
c.BASE_LM_POWER, -1 * c.BASE_RM_POWER)
f.align_in_zone_safely()
elif crate_zone == c.RIGHT:
f.drive_until_white_third(10, 0, 0, False)
m.drive(300, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
f.right_point_turn_until_black()
f.lfollow_right(3)
f.right_point_turn_until_left_senses_black()
f.lfollow_left_inside_line_until_right_senses_black_smooth_amount(
2, c.BASE_LM_POWER, c.BASE_RM_POWER, int(.4 * c.BASE_LM_POWER),
int(.4 * c.BASE_RM_POWER), 0, 0, False)
f.lfollow_left_inside_line_until_right_senses_black_smooth(
10, c.BASE_LM_POWER, c.BASE_RM_POWER, False)
m.drive(200, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.turn_left()
f.align_in_zone_safely()
f.drive_through_line_third(10, 0, 0, False)
m.drive(800, c.BASE_LM_POWER, c.BASE_RM_POWER, c.BASE_LM_POWER,
c.BASE_RM_POWER)
m.arm_slow(c.ARM_SECOND_CRATE_DEPOSIT_POS, 2, 1)
m.claw_slow(c.CLAW_LARGE_OPEN_POS, 3, 1)
m.arm_slow(c.ARM_PUSH_CRATE_POS, 2, 1)
m.backwards(600)
msleep(10)
m.drive(200)
m.arm_slow(c.ARM_HIGH_POS, 2, 1)
print "Second crate delivered\n\n"