def winTheChallenge():
robot.turnRightDeg(90)
if position=="middle":
routineMid()
if position=="left":
routineLeft()
if position == "right":
routineRight()
print "WINNERS FROM LEEDSGHLEY"
def winTheChallenge():
robot.turnRightDeg(90)
if position == "middle":
routineMid()
if position == "left":
routineLeft()
if position == "right":
routineRight()
print "WINNERS FROM LEEDSGHLEY"
def routineLeft():
robot.sonarSpin(-angle)
robot.followWallLeft(half/2, diswall)
robot.sonarSpin(90+angle)
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(-(90+angle))
robot.followWallLeft(distance,diswall)
robot.turnRightDeg(90)
robot.sonarSpin(-(90-angle)) #
runToWallAt21()
# robot.forward(42)
print "!! I AM AT POINT 2 !!"
time.sleep(1)
robot.forward(-42)
robot.turnLeftDeg(90)
robot.sonarSpin(90-angle)
robot.followWallLeft(half-earlystop, diswall)
robot.sonarSpin(-(90-angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin((90-angle)) #turn back for wall following
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
time.sleep(1)
robot.sonarSpin(2*angle)
robot.followWallBackwards(small,diswall)
robot.turnLeftDeg(90)
robot.followWallBackwards(full-earlystop, diswall)
robot.sonarSpin((90-angle)) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90-angle)) #turn back for wall following
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
def routineLeft():
robot.sonarSpin(-angle)
robot.followWallLeft(half / 2, diswall)
robot.sonarSpin(90 + angle)
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(-(90 + angle))
robot.followWallLeft(distance, diswall)
robot.turnRightDeg(90)
robot.sonarSpin(-(90 - angle)) #
runToWallAt21()
# robot.forward(42)
print "!! I AM AT POINT 2 !!"
time.sleep(1)
robot.forward(-42)
robot.turnLeftDeg(90)
robot.sonarSpin(90 - angle)
robot.followWallLeft(half - earlystop, diswall)
robot.sonarSpin(-(90 - angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin((90 - angle)) #turn back for wall following
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
time.sleep(1)
robot.sonarSpin(2 * angle)
robot.followWallBackwards(small, diswall)
robot.turnLeftDeg(90)
robot.followWallBackwards(full - earlystop, diswall)
robot.sonarSpin((90 - angle)) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90 - angle)) #turn back for wall following
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
def routineRight():
robot.sonarSpin(angle)
robot.followWallBackwards(half/2, diswall)
robot.sonarSpin(-(90+angle))
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(90+angle)
robot.followWallBackwards(distance, diswall)
robot.turnRightDeg(90)
#turn sonar to wall and take measurement
robot.sonarSpin(-(90+angle)) # i am looking at small wall
runToWallAt21()
print "!! I AM AT POINT 2 !!"
time.sleep(1)
robot.forward(-42)
robot.turnLeftDeg(90)
robot.sonarSpin(90+angle)# turn back to look at left wall
robot.followWallBackwards(half-earlystop, diswall)
robot.sonarSpin(90-angle) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90-angle)) #turn back for wall following
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
time.sleep(1)
robot.sonarSpin(-(angle*2))
robot.followWallLeft(small,diswall)
robot.turnRightDeg(90)
robot.followWallLeft(full-earlystop, diswall)
robot.sonarSpin(-(90-angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin(90-angle) #turn back for wall following
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
def routineRight():
robot.sonarSpin(angle)
robot.followWallBackwards(half / 2, diswall)
robot.sonarSpin(-(90 + angle))
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(90 + angle)
robot.followWallBackwards(distance, diswall)
robot.turnRightDeg(90)
#turn sonar to wall and take measurement
robot.sonarSpin(-(90 + angle)) # i am looking at small wall
runToWallAt21()
print "!! I AM AT POINT 2 !!"
time.sleep(1)
robot.forward(-42)
robot.turnLeftDeg(90)
robot.sonarSpin(90 + angle) # turn back to look at left wall
robot.followWallBackwards(half - earlystop, diswall)
robot.sonarSpin(90 - angle) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90 - angle)) #turn back for wall following
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
time.sleep(1)
robot.sonarSpin(-(angle * 2))
robot.followWallLeft(small, diswall)
robot.turnRightDeg(90)
robot.followWallLeft(full - earlystop, diswall)
robot.sonarSpin(-(90 - angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin(90 - angle) #turn back for wall following
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
from robot import robot robot = robot() for a in range(4): for b in range(4): robot.forward(10) robot.turnRightDeg(90) robot.terminate()
from robot import robot
robot = robot()
for a in range(4):
for b in range(4):
robot.forward(10)
robot.turnRightDeg(90)
robot.terminate()
