def align_right_turns(adjust_for_mission=0):
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=70)
shared_all.move_straight(distance_mm=100, speed_mm_s=140)
shared_all.move_crane_to_top(crane_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_straight(distance_mm=390, speed_mm_s=-200)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=30,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def treadmill_to_row_withalign(adjust_for_mission=0):
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
shared_all.move_straight(distance_mm=120, speed_mm_s=100)
shared_all.turn(angle=90, speed_deg_s=140)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=100,
speed_mm_s=-160,
target_angle=-90)
shared_all.push_back_reset_gyro(distance_mm=40,
reset_gyro=True,
new_gyro_angle=-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=270,
speed_mm_s=180,
target_angle=-90)
shared_all.turn(angle=90, speed_deg_s=120)
shared_all.move_reverse(max_distance=40, speed_mm_s=100)
def weight_to_phoneold(adjust_for_mission=0):
shared_all.push_back_reset_gyro(distance_mm=70,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=310,
speed_mm_s=180,
target_angle=180 +
adjust_for_mission)
def alignold(adjust_for_mission=0):
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.move_straight(distance_mm=10, speed_mm_s=70)
shared_all.turn(-90)
shared_all.move_straight(distance_mm=170, speed_mm_s=-170)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=False,
new_gyro_angle=0)
shared_all.move_straight(distance_mm=160, speed_mm_s=150)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
def run(adjust_for_mission=0):
# shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
# left_motor.run_angle( -210, 3*360, Stop.BRAKE, True)
shared_all.turn(5)
#
shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
right_motor.run_angle(-90, 50, Stop.BRAKE, True)
left_motor.run_angle(-270, 3 * 360, Stop.BRAKE, True)
shared_all.move_straight(distance_mm=230, speed_mm_s=180)
# shared_all.move_straight(distance_mm=20, speed_mm_s=90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.turn(90)
shared_all.push_back_reset_gyro(distance_mm=150,
reset_gyro=True,
new_gyro_angle=-90)
def row_to_weight_curved(adjust_for_mission=0):
shared_all.turn(angle=-55)
shared_all.move_straight(distance_mm=280, speed_mm_s=170)
# shared_all.move_to_color(color_sensor=color_sensor_center,
# stop_on_color=Color.BLACK, alternative_color=Color.BLACK,
# max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
# max_distance_mm=70)
shared_all.turn(angle=-75, speed_deg_s=180)
# shared_all.turn_arc(distance=100 , angle=-70, speed_mm_s=150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=230,
speed_mm_s=-160,
target_angle=-170 +
adjust_for_mission)
shared_all.push_back_reset_gyro(distance_mm=50,
reset_gyro=True,
new_gyro_angle=180)
def treadmill_to_row_nearrow(adjust_for_mission=0):
shared_all.turn_arc(distance=110, angle=55,
speed_mm_s=100) # turn in an arc
shared_all.turn(angle=-55, speed_deg_s=120)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
# shared_all.turn_to_direction( gyro=gyro, target_angle=-90+ adjust_for_mission)
shared_all.move_straight(180, -180)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight(distance_mm=70, speed_mm_s=100)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=40)
import basket shared_all.calibrate_gyro() INITIAL_ANGLE=0 ADJUST_FOR_MISSION=0 - INITIAL_ANGLE bus_service_1.base_to_stepcounter() stepcounter.step() bus_service_1.stepcounter_to_treadmill() bus_service_1.align_for_treadmill() treadmill.treadon(ADJUST_FOR_MISSION) bus_service_1.treadmill_to_row() shared_all.push_back_reset_gyro(distance_mm = 80, reset_gyro = True, new_gyro_angle =0 ) adjust_for_mission=90 bus_service_1.align_to_row(adjust_for_mission) row.row() bus_service_1.push_tires() bus_service_1.row_to_weight() bus_service_1.align_to_weight() weight.raise_weight() shared_all.push_back_reset_gyro(distance_mm = 60, reset_gyro = True, new_gyro_angle =0 ) adjust_for_mission=180 bus_service_1.weight_to_phone() bus_service_1.align_to_phone() flip.shift_phone(ADJUST_FOR_MISSION) flip.flip_small()
