def grab():
global is_grabbed
motors.setDirection("CLAMP",clockwise=False)
motors.setSpeed("CLAMP",25)
time.sleep(claw_clamp_time)
motors.setSpeed("CLAMP",claw_clamp_off_power)
is_grabbed = True
def turnUpsideDown():
global is_right_way_up
motors.setDirection("ROTATE",clockwise=True)
motors.setSpeed("ROTATE",25)
while not buttons.buttonPressed("UPSIDE_DOWN"):
time.sleep(0.05)
motors.setSpeed("ROTATE",0)
is_right_way_up = False
def turnRightWayUp():
global is_right_way_up
motors.setDirection("ROTATE",clockwise=False)
motors.setSpeed("ROTATE",25)
while not buttons.buttonPressed("RIGHT_WAY_UP"):
time.sleep(0.05)
motors.setSpeed("ROTATE",0)
is_right_way_up = True
def release():
global is_grabbed
motors.setDirection("CLAMP",clockwise=True)
motors.setSpeed("CLAMP",25)
while not buttons.buttonPressed("CLAW_OPEN"):
time.sleep(0.05)
motors.setSpeed("CLAMP",0)
is_grabbed = False
def lift():
global is_up
if is_up:
return
motors.setDirection("LIFT",clockwise=True)
motors.setSpeed("LIFT",25)
while not buttons.buttonPressed("LIFT_UP"):
time.sleep(0.05)
motors.setSpeed("LIFT",0)
is_up = True
def goDown():
global is_up
if not is_up:
return
motors.setDirection("LIFT",clockwise=False)
motors.setSpeed("LIFT",25)
while not buttons.buttonPressed("LIFT_DOWN"):
time.sleep(0.05)
motors.setSpeed("LIFT",0)
is_up = False
def updateMotors():
motors.setSpeed("LEFT", speed_val[0])
motors.setSpeed("RIGHT", speed_val[1])
debug_mode = "motors"
update_vars = False
if debug_mode == "motors":
import bus
import motors
robot_buttons = [
["Enable A", lambda: motors.enableMotor("A")],
["Enable B", lambda: motors.enableMotor("B")],
["Disable A", lambda: motors.disableMotor("A")],
["Disable B", lambda: motors.disableMotor("B")],
]
robot_sliders = [
["Set A", lambda x: motors.setSpeed("A", x), -100, 100],
["Set B", lambda x: motors.setSpeed("B", x), -100, 100],
]
variable_functions = {
"MB": lambda: vars(motors.boards[0]),
"R0": lambda: bin(bus.bus.read_byte_data(0x43, 0)),
"R1": lambda: bus.bus.read_byte_data(0x43, 1),
"t": lambda: time.time(),
}
elif debug_mode == "revolver":
import bus
import motors
robot_buttons = [