import sys
import vex
import math
from math import *
from vex import *
brain = vex.Brain();
motor_right = vex.Motor(vex.Ports.PORT2, vex.GearSetting.RATIO18_1, True)
motor_left = vex.Motor(vex.Ports.PORT1, vex.GearSetting.RATIO18_1, False)
con = vex.Controller(vex.ControllerType.PRIMARY)
con.set_deadband(10) #so that slight motion of controller does not disturb anything
dt = vex.Drivetrain(motor_left, motor_right, 319.1764, 292.1, vex.distanceUnits.mm)
knock_flags()
def knock_flags():
# set our standard velocity
dt.setVelocity(20,vex.velocityUnits.pct)
# advance four feet
dt.driveFor(vex.directionType.fwd,48,vex.distanceUnits.in)
vex.sleep(1)
'''
# retreat two feet
dt.driveFor(vex.directionType.rev,24,vex.distanceUnits.in)
vex.sleep(1)
brain = vex.Brain()
controller = vex.Controller(vex.ControllerType.PRIMARY)
twoBar = vex.Motor(vex.Ports.PORT1, vex.GearSetting.RATIO18_1, False)
leftMotor = vex.Motor(vex.Ports.PORT14, vex.GearSetting.RATIO18_1, False)
rightMotor = vex.Motor(vex.Ports.PORT15, vex.GearSetting.RATIO18_1, True)
flywheelOne = vex.Motor(vex.Ports.PORT9, vex.GearSetting.RATIO18_1, True)
flywheelTwo = vex.Motor(vex.Ports.PORT10, vex.GearSetting.RATIO18_1, False)
intake = vex.Motor(vex.Ports.PORT16, vex.GearSetting.RATIO18_1, False)
loader = vex.Motor(vex.Ports.PORT11, vex.GearSetting.RATIO18_1, False)
sonar = vex.Sonar(brain.three_wire_port.c)
sonarLeft = vex.Sonar(brain.three_wire_port.e)
sonarRight = vex.Sonar(brain.three_wire_port.g)
dt = vex.Drivetrain(leftMotor, rightMotor, wheelTravel, trackWidth,
vex.DistanceUnits.MM)
# Robot Class -----------------------------------------------------------------
class Robot:
x = 0 # x coordinate
y = 0 # y coordinate
angle = 0 # current angle of the robot
# object instantiation
def __init__(self, dt, turn, speed):
self.drivetrain = dt #sets the drivetrain variable
self.turnSpeed = turn
""" import vex import sys #region config brain = vex.Brain() flipper = vex.Motor(vex.Ports.PORT8, vex.GearSetting.RATIO18_1, False) flywheel_ = vex.Motor(vex.Ports.PORT9, vex.GearSetting.RATIO18_1, False) flywheel2 = vex.Motor(vex.Ports.PORT10, vex.GearSetting.RATIO18_1, True) rightFront_ = vex.Motor(vex.Ports.PORT11, vex.GearSetting.RATIO18_1, True) rightBack = vex.Motor(vex.Ports.PORT12, vex.GearSetting.RATIO18_1, True) leftFront = vex.Motor(vex.Ports.PORT13, vex.GearSetting.RATIO18_1, False) intake = vex.Motor(vex.Ports.PORT14, vex.GearSetting.RATIO18_1, False) leftBack = vex.Motor(vex.Ports.PORT15, vex.GearSetting.RATIO18_1, False) DRC = vex.Drivetrain(rightBack, leftBack, 319.1764, 292.1, vex.DistanceUnits.MM) DRC_Controler = vex.Controller(vex.ControllerType.PRIMARY) #endregion config on = None direction = None competition = vex.Competition() def auto(): global on, direction on = 1 direction = 1 DRC.set_velocity(75, vex.VelocityUnits.PCT) DRC.drive_for(vex.DirectionType.REV, 47, vex.DistanceUnits.IN) intake.rotate_for_time(vex.DirectionType.FWD, 0.5, vex.TimeUnits.SEC)
"""__CONFIG__
{"version":20,"widgetInfos":[{"hwid":"1","name":"rearLeft","typeName":"motor","extraConfig":{"gearSetting":1,"reverse":true},"bufferIndex":0},{"hwid":"2","name":"rearRight_","typeName":"motor","extraConfig":{"gearSetting":1,"reverse":false},"bufferIndex":1},{"hwid":"triport_adi","name":"triport_22","typeName":"triport","extraConfig":null,"bufferIndex":2},{"hwid":"drivetrain","name":"dt","typeName":"drivetrain","extraConfig":{"leftMotorHwId":"1","rightMotorHwId":"2","wheelTravel":319.1764,"trackWidth":320.675},"bufferIndex":3},{"hwid":"controller","name":"con","typeName":"controller_one","extraConfig":null,"bufferIndex":4},{"hwid":"Axis1","name":"axis1","typeName":"controller_axis","extraConfig":null,"bufferIndex":5},{"hwid":"Axis2","name":"axis2","typeName":"controller_axis","extraConfig":null,"bufferIndex":6},{"hwid":"Axis3","name":"axis3","typeName":"controller_axis","extraConfig":null,"bufferIndex":7},{"hwid":"Axis4","name":"axis4","typeName":"controller_axis","extraConfig":null,"bufferIndex":8},{"hwid":"ButtonL1","name":"buttonL1","typeName":"controller_button","extraConfig":null,"bufferIndex":9},{"hwid":"ButtonL2","name":"buttonL2","typeName":"controller_button","extraConfig":null,"bufferIndex":10},{"hwid":"ButtonR1","name":"buttonR1","typeName":"controller_button","extraConfig":null,"bufferIndex":11},{"hwid":"ButtonR2","name":"buttonR2","typeName":"controller_button","extraConfig":null,"bufferIndex":12},{"hwid":"ButtonUp","name":"buttonUp","typeName":"controller_button","extraConfig":null,"bufferIndex":13},{"hwid":"ButtonDown","name":"buttonDown","typeName":"controller_button","extraConfig":null,"bufferIndex":14},{"hwid":"ButtonLeft","name":"buttonLeft","typeName":"controller_button","extraConfig":null,"bufferIndex":15},{"hwid":"ButtonRight","name":"buttonRight","typeName":"controller_button","extraConfig":null,"bufferIndex":16},{"hwid":"ButtonX","name":"buttonX","typeName":"controller_button","extraConfig":null,"bufferIndex":17},{"hwid":"ButtonB","name":"buttonB","typeName":"controller_button","extraConfig":null,"bufferIndex":18},{"hwid":"ButtonY","name":"buttonY","typeName":"controller_button","extraConfig":null,"bufferIndex":19},{"hwid":"ButtonA","name":"buttonA","typeName":"controller_button","extraConfig":null,"bufferIndex":20}]}"""
# VEX V5 Python Project
import sys
import vex
from vex import *
#region config
brain = vex.Brain()
rearLeft = vex.Motor(vex.Ports.PORT1, vex.GearSetting.RATIO18_1, True)
rearRight_ = vex.Motor(vex.Ports.PORT2, vex.GearSetting.RATIO18_1, False)
dt = vex.Drivetrain(rearLeft, rearRight_, 319.1764, 320.675,
vex.DistanceUnits.MM)
con = vex.Controller(vex.ControllerType.PRIMARY)
#endregion config
#code
rearLeft.stop(vex.BrakeType.COAST)
rearRight_.stop(vex.BrakeType.COAST)
dt.drive_for(vex.DirectionType.FWD, 100, vex.DistanceUnits.CM, 90,
vex.VelocityUnits.PCT)
rearLeft.stop(vex.BrakeType.COAST)
rearRight_.stop(vex.BrakeType.BRAKE)
rearLeft.rotate_for_time(vex.DirectionType.FWD, 1.5, vex.TimeUnits.SEC, 75,
vex.VelocityUnits.PCT)
dt.drive_for(vex.DirectionType.FWD, 50, vex.DistanceUnits.CM, 75,
vex.VelocityUnits.PCT)
rearRight_.rotate_for_time(vex.DirectionType.FWD, 1.5, vex.TimeUnits.SEC, 75,
vex.VelocityUnits.PCT)
rearLeft.stop(vex.BrakeType.COAST)
dt.drive_for(vex.DirectionType.FWD, 40, vex.DistanceUnits.CM, 75,
# VEX V5 Python-Project with Competition Template
#Imports
import sys
import vex
import math
#Variables
brain = vex.Brain()
dev = vex.Devices()
motor_right = vex.Motor(vex.Ports.PORT11, vex.GearSetting.RATIO18_1, True)
motor_left = vex.Motor(vex.Ports.PORT20, vex.GearSetting.RATIO18_1, False)
motor_claw = vex.Motor(vex.Ports.PORT10, vex.GearSetting.RATIO18_1, True)
motor_arm = vex.Motor(vex.Ports.PORT2, vex.GearSetting.RATIO18_1, True)
con = vex.Controller(vex.ControllerType.PRIMARY)
driveTrain = vex.Drivetrain(motor_left, motor_right, 319.1764, 292.1,
vex.DistanceUnits.CM)
con.set_deadband(10)
print("A welcome change!")
#Procedures
def pre_auton():
# All activities that occur before competition start
# Example: setting initial positions
pass
#*******************************************************************************
def ToCm(value, units):
if units == "FEET":
return value * 12 * 2.54
"""__CONFIG__
{"version":20,"widgetInfos":[{"hwid":"triport_adi","name":"triport_22","typeName":"triport","extraConfig":null,"bufferIndex":0},{"hwid":"drivetrain","name":"dt","typeName":"drivetrain","extraConfig":null,"bufferIndex":1}]}"""
import vex
import sys
#region config
brain = vex.Brain()
left_Wheel = vex.Motor(vex.Ports.PORT1, vex.GearSetting.RATIO18_1, False)
right_Wheel = vex.Motor(vex.Ports.PORT2, vex.GearSetting.RATIO18_1, False)
lyft = vex.Motor(vex.Ports.PORT3, vex.GearSetting.RATIO18_1, False)
top_Left = vex.Motor(vex.Ports.PORT4, vex.GearSetting.RATIO18_1, False)
top_Right = vex.Motor(vex.Ports.PORT5, vex.GearSetting.RATIO18_1, True)
left_Tickler = vex.Motor(vex.Ports.PORT6, vex.GearSetting.RATIO18_1, False)
right_Tickler = vex.Motor(vex.Ports.PORT7, vex.GearSetting.RATIO18_1, False)
dt = vex.Drivetrain(top_Left, top_Right, 319.1764, 292.1, vex.DistanceUnits.MM)
con = vex.Controller(vex.ControllerType.PRIMARY)
#endregion config
# main thread
while True:
right_Wheel.spin(vex.DirectionType.FWD,
(con.axis2.position(vex.PercentUnits.PCT)),
vex.VelocityUnits.PCT)
left_Wheel.spin(vex.DirectionType.FWD,
(con.axis3.position(vex.PercentUnits.PCT)),
vex.VelocityUnits.PCT)
if con.buttonUp.pressing():
lyft.spin(vex.DirectionType.FWD, 40, vex.VelocityUnits.RPM)
lyft.stop(vex.BrakeType.BRAKE)
if con.buttonDown.pressing():
lyft.spin(vex.DirectionType.REV, 40, vex.VelocityUnits.RPM)
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id="vXrx=98HQ[+m]Jf}Ep_@"><statement name="DO"><block type="controls_if" id="aI;2:msCrA2tuS/E,M@t"><mutation elseif="1" else="1"></mutation><value name="IF0"><block type="vexv5_controller_button_pressing" id="ZoD.f{21O]MPRYt3VDH5"><field name="WIDGET_ID">ButtonR1</field></block></value><statement name="DO0"><block type="spin_without_velocity" id="BlfcHiel#GMMTIicgO4."><field name="WIDGET_ID">4</field><field name="p0">FWD</field></block></statement><value name="IF1"><block type="vexv5_controller_button_pressing" id="um*~JQSkAC.8OiNShd|A"><field name="WIDGET_ID">ButtonR2</field></block></value><statement name="DO1"><block type="spin_without_velocity" id="@.O3tAo^6#/f25(.}Y0U"><field name="WIDGET_ID">4</field><field name="p0">REV</field></block></statement><statement name="ELSE"><block type="vexv5_motor_stop" id="c]!Sk;B9X;gdbHWLBB)N"><field name="WIDGET_ID">4</field><field name="p0">HOLD</field></block></statement><next><block type="controls_if" id="rY~u=ui_8@;a3]4]et,c"><mutation elseif="1" else="1"></mutation><value name="IF0"><block type="vexv5_controller_button_pressing" id="*#BHM}uXPRovJ`-ANBc^"><field name="WIDGET_ID">ButtonR1</field></block></value><statement name="DO0"><block type="spin_without_velocity" id="^.0|9i1aer3syqFa]~x~"><field name="WIDGET_ID">5</field><field name="p0">FWD</field></block></statement><value name="IF1"><block type="vexv5_controller_button_pressing" id="EOmA5PYNG9},K9b!{]{,"><field name="WIDGET_ID">ButtonR2</field></block></value><statement name="DO1"><block type="spin_without_velocity" id="dx^#(lm8Tj:NxFww^qiY"><field name="WIDGET_ID">5</field><field name="p0">REV</field></block></statement><statement name="ELSE"><block type="vexv5_motor_stop" id="rsj?-2BSAQzZ_/a(HM`Y"><field name="WIDGET_ID">5</field><field name="p0">HOLD</field></block></statement><next><block type="controls_if" id="BtCNezY#[04Nf1(|sa*a"><mutation elseif="1" else="1"></mutation><value name="IF0"><block type="vexv5_controller_button_pressing" id="A}W]kCcc{3;iW9/BM)J,"><field name="WIDGET_ID">ButtonR1</field></block></value><statement name="DO0"><block type="spin_without_velocity" id="2=YU[s8q)#T+Vn}]_RL="><field name="WIDGET_ID">6</field><field name="p0">FWD</field></block></statement><value name="IF1"><block type="vexv5_controller_button_pressing" id="ZwR~:K:A+yJCuDpMvQ4t"><field name="WIDGET_ID">ButtonR2</field></block></value><statement name="DO1"><block type="spin_without_velocity" id="eA7%K4%[I99Y@V=bbIe9"><field name="WIDGET_ID">6</field><field name="p0">REV</field></block></statement><statement name="ELSE"><block type="vexv5_motor_stop" id="=.)@h)#qx4dxCgkgOPW]"><field name="WIDGET_ID">6</field><field name="p0">HOLD</field></block></statement><next><block type="controls_if" id="?@(fVKzGP?+!OVmy6wk~"><mutation elseif="1" else="1"></mutation><value name="IF0"><block type="vexv5_controller_button_pressing" id="~vMvaw31.5~eg]3[UOAd"><field name="WIDGET_ID">ButtonR1</field></block></value><statement name="DO0"><block 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name="IF0"><block type="vexv5_controller_button_pressing" id="{06)ed(w}8C){%MW_/[,"><field name="WIDGET_ID">ButtonL1</field></block></value><statement name="DO0"><block type="spin_without_velocity" id="D[Lt?t!Q_.Lqh5yOBvL%"><field name="WIDGET_ID">20</field><field name="p0">FWD</field></block></statement><value name="IF1"><block type="vexv5_controller_button_pressing" id="XnQ0g4S([ETFz@^IPgtI"><field name="WIDGET_ID">ButtonL2</field></block></value><statement name="DO1"><block type="spin_without_velocity" id="uF;MQ0.2p/,MS)g8hLn3"><field name="WIDGET_ID">20</field><field name="p0">REV</field></block></statement><statement name="ELSE"><block type="vexv5_motor_stop" id="*Y%LKCRpyWfhzJ|LM2_H"><field name="WIDGET_ID">20</field><field name="p0">HOLD</field></block></statement></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block></next></block></xml>
"""
import vex
import math
#region config
brain = vex.Brain()
Right_Drive = vex.Motor(vex.Ports.PORT1, vex.GearSetting.RATIO18_1, True)
rightup = vex.Motor(vex.Ports.PORT4, vex.GearSetting.RATIO18_1, False)
leftdown = vex.Motor(vex.Ports.PORT5, vex.GearSetting.RATIO18_1, False)
leftup = vex.Motor(vex.Ports.PORT6, vex.GearSetting.RATIO18_1, True)
rightdown = vex.Motor(vex.Ports.PORT7, vex.GearSetting.RATIO18_1, True)
Left_Drive = vex.Motor(vex.Ports.PORT10, vex.GearSetting.RATIO18_1, False)
Claw = vex.Motor(vex.Ports.PORT20, vex.GearSetting.RATIO18_1, False)
dt = vex.Drivetrain(Left_Drive, Right_Drive, 319.1764, 292.1,
vex.DistanceUnits.MM)
con = vex.Controller(vex.ControllerType.PRIMARY)
#endregion config
LeftMotorSpeed = None
RightMotorSpeed = None
competition = vex.Competition()
def auto():
dt.set_velocity(100, vex.VelocityUnits.PCT)
dt.drive_for(vex.DirectionType.REV, 50, vex.DistanceUnits.CM)
dt.drive_for(vex.DirectionType.FWD, 15, vex.DistanceUnits.CM)
