def runtrial():
shared_all.move_straight(distance_mm=70, speed_mm_s=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=-90)
shared_all.turn_to_angle(gyro=gyro, target_angle=45) # turn to face south
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
speed_mm_s=100)
shared_all.turn_to_angle(gyro=gyro, target_angle=-45)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=800,
speed_mm_s=300,
target_angle=-45)
shared_all.turn_arc(distance=50, angle=-60,
speed_mm_s=100) # turn in an arc
shared_all.turn_to_angle(gyro=gyro, target_angle=150) # turn to face south
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=400,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=60)
shared_all.move_crane_to_top(crane_motor)
shared_all.move_to_obstacle(obstacle_sensor=ultrasound,
stop_on_obstacle_at=80,
speed_mm_s=-100)
def turn_arc_90():
shared_all.log_string('Arc turns 90 deg 12 cm')
shared_all.turn_arc(distance=120, angle=90, speed_mm_s=130)
wait(2000)
shared_all.turn_arc(distance=120, angle=-90, speed_mm_s=130)
wait(2000)
def runold(adjust_for_mission=0):
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
max_distance_mm=60)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
alternative_color=Color.YELLOW,
max_distance_mm=170)
shared_all.turn_arc(distance=30, angle=15, speed_mm_s=60)
#lift weight and back up
crane_motor.stop()
shared_all.move_crane_down(motor=crane_motor, degrees=10)
crane_motor.run_time(600, 900)
# shared_all.move_crane_to_floor(crane_motor)
# shared_all.move_crane_up( motor = crane_motor, degrees = 40)
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_straight(distance_mm=70, speed_mm_s=-120)
# turn west and back up
shared_all.turn(-140, speed_deg_s=200)
shared_all.start_moving_crane_to_top(motor=crane_motor)
shared_all.move_straight(distance_mm=70, speed_mm_s=-150)
shared_all.turn_arc(distance=50, angle=60, speed_mm_s=190)
def take_slide_to_home():
shared_all.turn_arc(distance = 90 ,angle = 50 , speed_mm_s=100)
shared_all.turn_arc(distance = 160 ,angle = -90 , speed_mm_s=100)
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=2200, robot_distance_mm=400, robot_turn_angle=15,
motor=rack_motor, crane_angle=-15)
def base_to_basket(adjust_for_mission=0):
shared_all.turn_arc(distance=620, angle=-90, speed_mm_s=230)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK)
shared_all.turn_to_direction(gyro=gyro, target_angle=-90, speed_mm_s=120)
def pullup_to_dance():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=150,
speed_mm_s=180,
target_angle=-90)
shared_all.turn_arc(distance=150, angle=-60, speed_mm_s=130)
shared_all.turn_arc(distance=150, angle=60, speed_mm_s=130)
def row_to_weight_right_angleTurns(adjust_for_mission=0):
shared_all.turn(angle=-40)
shared_all.turn_arc(distance=50, angle=-60, speed_mm_s=80)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=70,
speed_mm_s=160,
target_angle=-90 +
adjust_for_mission)
def push_small_tire(adjust_for_mission=0):
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=1900,
robot_distance_mm=30,
robot_turn_angle=-35,
motor=rack_motor,
crane_angle=-5)
shared_all.move_crane_to_top(rack_motor)
shared_all.turn_to_direction(gyro=gyro, target_angle=-70)
shared_all.turn_arc(distance=90, angle=-20, speed_mm_s=140)
def align(adjust_for_mission=0):
shared_all.turn_to_direction( gyro=gyro, target_angle=180+ adjust_for_mission)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE, alternative_color=Color.WHITE, speed_mm_s=25,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center])
shared_all.move_straight(distance_mm= 60, speed_mm_s= -70)
shared_all.move_crane_to_floor(crane_motor)
shared_all.turn_arc(distance=160, angle=80, speed_mm_s =50)
def run():
shared_all.move_rack_to_floor()
# shared_all.move_crane_up( motor = rack_motor, degrees = 30)
shared_all.move_straight(distance_mm=55, speed_mm_s=100)
while shared_all.did_motor_stall(motor =rack_motor , max_degrees =30 , speed = 80):
shared_all.log_string('Stalled')
shared_all.move_straight(distance_mm=4, speed_mm_s=-20)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=30, robot_turn_angle=0,
motor=rack_motor, crane_angle=75)
shared_all.turn_arc(distance = 60 ,angle = -7 , speed_mm_s=100)
def stepcounter_to_treadmill_reverse(adjust_for_mission=0):
shared_all.move_straight(distance_mm=160, speed_mm_s=150)
shared_all.turn(angle=-10)
shared_all.turn_arc(distance=330, angle=-50, speed_mm_s=-150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=400,
speed_mm_s=-170,
target_angle=180)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=180)
def aligntonorth(adjust_for_mission=0):
shared_all.turn_arc(distance=150, angle=-45, speed_mm_s=170)
shared_all.turn_arc(distance=150, angle=45, speed_mm_s=170)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 20,
speed_mm_s= 110,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN, alternative_color=Color.GREEN)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLUE, alternative_color=Color.BLUE)
shared_all.move_straight(distance_mm=10, speed_mm_s=-80)
def basket_to_bench():
shared_all.turn_arc(distance=90, angle=-55, speed_mm_s=-70)
shared_all.move_crane_to_top(motor=rack_motor)
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.WHITE,
alternative_color=Color.WHITE)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=120,
speed_mm_s=140,
target_angle=180 +
adjust_for_mission)
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.turn(-60)
def row_to_weight_pushdown(adjust_for_mission=0):
shared_all.turn(angle=-40)
shared_all.turn_arc(distance=50, angle=-60, speed_mm_s=80)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=70,
speed_mm_s=160,
target_angle=-90 +
adjust_for_mission)
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=120)
def phone_to_slide(adjust_for_mission=0):
shared_all.turn_arc(distance=60, angle=-10, speed_mm_s=-90)
shared_all.move_straight(distance_mm=40, speed_mm_s=-100)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=250,
speed_mm_s=200,
target_angle=180 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
speed_mm_s=25,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=140)
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)
def stepcounter_to_treadmill_forward(adjust_for_mission=0):
# shared_all.turn( angle=-45)
shared_all.turn_arc(distance=200, angle=-65,
speed_mm_s=150) # turn in an arc
shared_all.turn_arc(distance=200, angle=65,
speed_mm_s=150) # turn in an arc
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=170,
speed_mm_s=150,
target_angle=0)
# back up and move at an angle to spine black line
shared_all.turn(angle=40, speed_deg_s=90)
shared_all.move_reverse(max_distance=50, speed_mm_s=110)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=15)
shared_all.move_reverse(max_distance=10, speed_mm_s=80)
shared_all.turn(angle=-40, speed_deg_s=90)
shared_all.turn_to_direction(gyro=gyro, target_angle=0)
def turn_smallarc_90():
shared_all.turn_arc(distance=50, angle=90, speed_mm_s=130)
wait(2000)
shared_all.turn_arc(distance=50, angle=-90, speed_mm_s=130)
wait(2000)
def bench_to_base():
shared_all.turn_arc(distance=-250, angle=-30, speed_mm_s=190)
def basket_to_base(adjust_for_mission=0):
shared_all.turn(45)
shared_all.turn_arc(distance=800, angle=40, speed_mm_s=-250)
from robot_setup import BLACK_MAX_INTENSITY
import shared_all
##### Do not change above this line ##########################################
shared_all.log_string('Buttons LEFT_DOWN ' + str(Button.LEFT_DOWN))
shared_all.log_string('Buttons DOWN ' + str(Button.DOWN))
shared_all.log_string('Buttons RIGHT_DOWN ' + str(Button.RIGHT_DOWN))
shared_all.log_string('Buttons LEFT ' + str(Button.LEFT))
shared_all.log_string('Buttons CENTER ' + str(Button.CENTER))
shared_all.log_string('Buttons RIGHT ' + str(Button.RIGHT))
shared_all.log_string('Buttons LEFT_UP ' + str(Button.LEFT_UP))
shared_all.log_string('Buttons UP ' + str(Button.UP))
shared_all.log_string('Buttons BEACON ' + str(Button.BEACON))
shared_all.log_string('Buttons RIGHT_UP ' + str(Button.RIGHT_UP))
while True:
buttons = shared_all.any_button_pressed()
shared_all.log_string('Button pressed ' + str(buttons))
if Button.LEFT in buttons:
shared_all.turn_arc(distance=15, angle=-90, speed_mm_s=130)
if Button.RIGHT in buttons:
shared_all.turn_arc(distance=15, angle=90, speed_mm_s=130)
if Button.UP in buttons:
shared_all.move_straight(distance_mm=200, speed_mm_s=180)
if Button.DOWN in buttons:
shared_all.move_straight(distance_mm=200, speed_mm_s=-180)
def bigtire_to_slide(adjust_for_mission=0):
shared_all.move_straight(distance_mm=40, speed_mm_s=-100)
shared_all.turn_arc(distance=30, angle=30, speed_mm_s=-130)
shared_all.turn_to_direction(gyro=gyro,
target_angle=90 + adjust_for_mission)
def align():
shared_all.turn_arc(distance=120, angle=85, speed_mm_s=50)
def push_tires(adjust_for_mission=0):
shared_all.turn_arc(distance=40, angle=-50,
speed_mm_s=-100) # turn in an arc
shared_all.turn_arc(distance=60, angle=-25,
speed_mm_s=100) # turn in an arc
shared_all.move_straight(distance_mm=130, speed_mm_s=-100)