Пример #1
0
def grab_bot_mayor():
    global burningSky
    if c.IS_CLONE:
        g.rotate(-50, 100)
    else:
        g.rotate(-56, 100)
    msleep(600)
    burningSky = p.find_burning_sky()
    if burningSky == 0:
        print("doing code for left")
    elif burningSky == 1:
        print("doing code for middle")
    else:
        print("doing code for right")
    print ("Going to 1/2 building")
    g.create_drive_timed(400, .35)
    m.pivot_till_black(200)
    m.drive_to_black_and_square_up(200)
    g.create_drive_timed(200, 0.5)
    m.drive_to_black_and_square_up(200)
    if burningSky!=0:
        grab_first()
        if burningSky!=1:
            grab_second()
        else:
            grab_third()
    else:
        grab_second()
        grab_third()
Пример #2
0
def connect_elec_lines():
    #Controls a servo and motor to connect both of the elctric lines
    clear_motor_position_counter(c.electric_line_motor) #Clears motor counter
    if c.IS_PRIME:
        em.electric_line_motor(50, -900) #Moves motor to a certain position
    else:
        em.electric_line_motor(50, -800)
    u.move_servo(c.electric_arm_base, c.electric_base_swing, 20)
    em.clear_ticks(-25) #Runs motor until it hits PVC then zeros motor counter
    u.move_servo(c.electric_arm_base, c.electric_base_right, 4)
    em.clear_ticks(-25)
    em.electric_line_motor(25, 470)
    # msleep(200)
    # em.clear_ticks(-50)
    msleep(200)
    em.electric_line_motor(30, 170)
    msleep(100)
    g.create_drive_timed(-100, 1) #Drive functions use Wallaby gyro
    u.move_servo(c.electric_arm_base, c.electric_base_start_left) #Servo functions use a loop to control servo speed
    em.electric_line_motor(50, -85)
    g.create_drive_timed(100, 1.2)
    msleep(100)
    em.clear_ticks(25)
    if c.IS_PRIME:
        em.electric_line_motor(30, -500)
    else:
        em.electric_line_motor(30, -480)
    g.rotate(3, 50)
    msleep(500)
    if c.IS_PRIME:
        em.electric_line_motor(30, -485)
    g.rotate(-3, 50)
    em.electric_line_motor(50, -75)
Пример #3
0
def grab_second():
    move_servo(c.sky_arm, c.arm_high_sky_deliver, 15)#
    g.create_drive_timed(200, 0.925)#
    move_servo(c.sky_claw, c.claw_closed_mayor, 20)#
    move_servo(c.sky_arm, c.arm_high_sky)
    g.create_drive_timed(-200, 0.1)  #
    #######################################################
    g.rotate(180, 150)
    m.drive_to_black_and_square_up(200)
    if burningSky == 0:
        g.rotate(10, 150)
    else:
        g.rotate(-10, 150)
    move_servo(c.sky_arm, c.arm_down, 15)
    move_servo(c.sky_claw, c.claw_open +500, 10)
    move_servo(c.sky_arm, c.arm_low_sky, 10)
    move_servo(c.sky_claw, c.claw_open)
    move_servo(c.sky_arm, c.arm_high_sky, 15)
    if burningSky == 0:
        g.rotate(-10, 150)
    else:
        g.rotate(10, 150)
    g.rotate(180, 150)
    m.drive_to_black_and_square_up(200)
Пример #4
0
def grab_third():
    em.electric_line_motor(30, 0)
    g.create_drive_timed(200, 0.6)
    g.rotate(-45, 150)
    move_servo(c.sky_claw, c.claw_open + 300, 20)
    g.create_drive_timed(200, .35)
    move_servo(c.sky_arm, c.arm_low_grab +50, 10)  #
    g.create_drive_timed(200, 0.3)
    move_servo(c.sky_claw, c.claw_closed_mayor, 15)  #
    move_servo(c.sky_arm, c.arm_high_sky, 15)
    g.create_drive_timed(-200, 0.55)
    g.rotate(45, 150)
    #####################################################
    g.rotate(180, 150)
    m.drive_to_black_and_square_up(200)
    g.rotate(-10, 150)
    move_servo(c.sky_arm, c.arm_down, 15)
    move_servo(c.sky_claw, c.claw_open + 500)
    move_servo(c.sky_arm, c.arm_low_sky, 20)
    move_servo(c.sky_claw, c.claw_open, 20)
    move_servo(c.sky_arm, c.arm_high_sky, 20)
    g.rotate(10, 150)
    g.rotate(180, 150)
    m.drive_to_black_and_square_up(200)
Пример #5
0
def grab_first():
    g.create_drive_timed(200, 0.6)
    g.rotate(40, 150)
    move_servo(c.sky_claw, c.claw_open+300, 20)
    g.create_drive_timed(200, .6)
    move_servo(c.sky_arm, c.arm_low_grab + 30, 10)  #
    move_servo(c.sky_claw, c.claw_closed_mayor, 15)  #
    move_servo(c.sky_arm, c.arm_high_sky, 20)
    g.create_drive_timed(-200, .325)
    g.rotate(-40, 150)
    ######################################################
    g.rotate(180, 150)
    m.drive_to_black_and_square_up(200)
    g.rotate(10, 150)
    move_servo(c.sky_arm, c.arm_down, 15)
    move_servo(c.sky_claw, c.claw_open + 500, 15)
    move_servo(c.sky_arm, c.arm_low_sky, 20)
    move_servo(c.sky_claw, c.claw_open, 20)
    move_servo(c.sky_arm, c.arm_high_sky, 20)
    g.rotate(170, 150)
    m.drive_to_black_and_square_up(200)
Пример #6
0
def drop_water_cube():
    #Create deposits large water cube on burning building
    g.rotate(70, 400)
    g.create_drive_timed(400, .5)
    g.drive_condition(m.on_black_left_tophat, -200, False)
    g.create_drive_timed(100, 1)
    g.rotate(-90, 100)
    g.create_drive_timed(-400, 1.3)
    g.create_drive_timed(-200, .2)
    g.rotate(-90, 250)
    g.create_drive_timed(200, 1.3)
    m.drive_to_black_and_square_up(-100)
    if burningSky == 0:
        print("Left")
        if c.IS_CLONE:
            g.rotate(40, 100)
        else:
            g.rotate(35, 100)
        g.create_drive_timed(100, 1.4)
        move_servo(c.sky_arm, c.arm_low_sky, 10)
    elif burningSky == 1:
        print("middle")
        g.create_drive_timed(100, 1.5)
        g.create_drive_timed(50, .3)
        g.rotate(-4, 100)
        move_servo(c.sky_arm, c.arm_high_sky_deliver - 15, 10)
    else:
        print("Right")
        if c.IS_PRIME:
            g.rotate(-34, 100)
            g.create_drive_timed(100, 1) #(50,2.5)
            g.create_drive_timed(50, 1.2)
        elif c.IS_CLONE:
            g.rotate(-42, 100)
            g.create_drive_timed(200, .25)
            g.create_drive_timed(50, 1.2)
        msleep(100)
        move_servo(c.sky_arm, c.arm_low_sky, 10)
Пример #7
0
def get_water_cube(): # Drives to cube of water
    if c.IS_PRIME:
        g.create_drive_timed(-400, 4)
    else:
        g.create_drive_timed(-450, 3.6)
    g.rotate(-90, 250)
    g.create_drive_timed(500, 2.1)
    g.create_drive_timed(250, .2)
    g.rotate(-85, 300)
    g.drive_condition(u.on_black_left_tophat, -150, False)
    m.drive_to_black_and_square_up(100)
    if c.IS_PRIME:
        g.rotate(2, 125)
    else:
        g.rotate(6, 125)
    if c.IS_PRIME:
        g.create_drive_timed(200, .75)
        g.create_drive_timed(100, .6)
    else:
        g.create_drive_timed(200, .75)
        g.create_drive_timed(100, .3)
    move_servo(c.sky_arm, c.arm_down, 10)
    msleep(100) # do not remove
    move_servo(c.sky_claw, c.claw_closed_water, 10)
    msleep(100) # do not remoove
    move_servo(c.sky_arm, c.arm_vertical, 10)
Пример #8
0
def head_to_elec_lines(): # Goes to electric lines and attatches them
    print("Heading to electric lines")
    move_servo(c.sky_arm, c.arm_vertical, 20)
    if c.IS_PRIME:
        g.create_drive_timed(-240, .25)
    else:
        g.create_drive_timed(-240,.5)
    g.rotate(-90, 100)
    u.move_servo(c.electric_arm_base, c.electric_base_up, 20)
    em.electric_line_motor(30, -600)
    g.create_drive_timed(500, 3.5) #Square up on wall
    msleep(100)
    if not u.get_pipe_switch():
        g.create_drive_timed(-200, .65)
        g.rotate(-90, 300)
        print(u.method)
        g.drive_condition(get_bump_or_black, -500, False)
        print(u.method)
        if u.method == 1:
            print("Bumped")
            g.drive_condition(on_black_left_tophat, 200, False)
        elif u.method == 2:
            print("Tophats")
        elif u.method == 3:
            print("Create sensors")
            g.drive_condition(u.bumped and on_black_left_tophat, -200, False)
            msleep(200)
            g.drive_condition(on_black_left_tophat, 200, False)
        else:
            print("None (shouldn't happen)")
            g.create_drive_timed(-200, 1)
        m.drive_to_black_and_square_up(125)
        g.create_drive_timed(-120, .25)
        g.rotate(90, 125)
        g.create_drive_timed(125, 2.5) #Square up on wall
        if not u.get_pipe_switch():
            g.create_drive_timed(-250, .5)
            g.create_drive_timed(500, 1)
            msleep(300)
    else:
        msleep(11000)