def routineMid():
robot.sonarSpin(-angle)
robot.followWallLeft(half-earlystop, diswall)
robot.sonarSpin(-(90-angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin((90-angle))
robot.followWallLeft(distance,diswall)
print "!! I AM AT POINT 1 !!"
time.sleep(1)
robot.sonarSpin(angle*2)
robot.followWallBackwards(small,diswall)
robot.turnLeftDeg(90)
robot.followWallBackwards(full-earlystop, diswall)
robot.sonarSpin((90-angle)) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90-angle))
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
time.sleep(1)
robot.sonarSpin(-angle*2)
robot.followWallLeft(small,diswall)
robot.turnRightDeg(90)
robot.followWallLeft(half/2,diswall)
robot.sonarSpin(90+angle)
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(-(90+angle))
robot.followWallLeft(distance, diswall)
robot.turnRightDeg(90)
robot.sonarSpin(-(90-angle)) #
runToWallAt21()
print "!! I AM AT POINT 2 !!"
def routineMid():
robot.sonarSpin(-angle)
robot.followWallLeft(half - earlystop, diswall)
robot.sonarSpin(-(90 - angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin((90 - angle))
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
time.sleep(1)
robot.sonarSpin(angle * 2)
robot.followWallBackwards(small, diswall)
robot.turnLeftDeg(90)
robot.followWallBackwards(full - earlystop, diswall)
robot.sonarSpin((90 - angle)) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90 - angle))
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
time.sleep(1)
robot.sonarSpin(-angle * 2)
robot.followWallLeft(small, diswall)
robot.turnRightDeg(90)
robot.followWallLeft(half / 2, diswall)
robot.sonarSpin(90 + angle)
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(-(90 + angle))
robot.followWallLeft(distance, diswall)
robot.turnRightDeg(90)
robot.sonarSpin(-(90 - angle)) #
runToWallAt21()
print "!! I AM AT POINT 2 !!"
def routineRight():
robot.sonarSpin(angle)
robot.followWallBackwards(half/2, diswall)
robot.sonarSpin(-(90+angle))
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(90+angle)
robot.followWallBackwards(distance, diswall)
robot.turnRightDeg(90)
#turn sonar to wall and take measurement
robot.sonarSpin(-(90+angle)) # i am looking at small wall
runToWallAt21()
print "!! I AM AT POINT 2 !!"
time.sleep(1)
robot.forward(-42)
robot.turnLeftDeg(90)
robot.sonarSpin(90+angle)# turn back to look at left wall
robot.followWallBackwards(half-earlystop, diswall)
robot.sonarSpin(90-angle) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90-angle)) #turn back for wall following
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
time.sleep(1)
robot.sonarSpin(-(angle*2))
robot.followWallLeft(small,diswall)
robot.turnRightDeg(90)
robot.followWallLeft(full-earlystop, diswall)
robot.sonarSpin(-(90-angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin(90-angle) #turn back for wall following
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
def routineRight():
robot.sonarSpin(angle)
robot.followWallBackwards(half / 2, diswall)
robot.sonarSpin(-(90 + angle))
distance = half_fromwall - robot.getSonarSingle()
robot.sonarSpin(90 + angle)
robot.followWallBackwards(distance, diswall)
robot.turnRightDeg(90)
#turn sonar to wall and take measurement
robot.sonarSpin(-(90 + angle)) # i am looking at small wall
runToWallAt21()
print "!! I AM AT POINT 2 !!"
time.sleep(1)
robot.forward(-42)
robot.turnLeftDeg(90)
robot.sonarSpin(90 + angle) # turn back to look at left wall
robot.followWallBackwards(half - earlystop, diswall)
robot.sonarSpin(90 - angle) # look at right wall
runToWallAt21(-1)
robot.turnLeftDeg(90)
distance = robot.getSonarSingle() - 21 + 2
robot.sonarSpin(-(90 - angle)) #turn back for wall following
robot.followWallBackwards(distance, diswall)
print "!! I AM AT POINT 3 !!"
time.sleep(1)
robot.sonarSpin(-(angle * 2))
robot.followWallLeft(small, diswall)
robot.turnRightDeg(90)
robot.followWallLeft(full - earlystop, diswall)
robot.sonarSpin(-(90 - angle)) # look at right wall
runToWallAt21()
robot.turnRightDeg(90)
distance = robot.getSonarSingle() - 21
robot.sonarSpin(90 - angle) #turn back for wall following
robot.followWallLeft(distance, diswall)
print "!! I AM AT POINT 1 !!"
# (273,21,-90), (525,21,-90), (21,21,-90) startTime = datetime.now() measurements = robot.turnSonarTakingMeasurements() # Change sonar to move FASTAAAAAAAAAAAAR! robot.setMotorAngleControllerParameters(robot.sonar_motor, fastParams) # place.get_Loc(measurements) robot.sonarSpin(-90) toturn = robot.getMeanAngle(measurements) -13 toturn = toturn if toturn <= 180 else toturn - 360 robot.turnLeftDeg(toturn) robot.forward(disout) #### ***Decide location sonarRight = robot.getSonarMeasurements(1)[0] robot.sonarSpin(-180) sonarLeft = robot.getSonarMeasurements(1)[0] if sonarRight > 30:
# (273,21,-90), (525,21,-90), (21,21,-90)
startTime = datetime.now()
measurements = robot.turnSonarTakingMeasurements()
# Change sonar to move FASTAAAAAAAAAAAAR!
robot.setMotorAngleControllerParameters(robot.sonar_motor, fastParams)
# place.get_Loc(measurements)
robot.sonarSpin(-90)
toturn = robot.getMeanAngle(measurements) - 13
toturn = toturn if toturn <= 180 else toturn - 360
robot.turnLeftDeg(toturn)
robot.forward(disout)
#### ***Decide location
sonarRight = robot.getSonarMeasurements(1)[0]
robot.sonarSpin(-180)
sonarLeft = robot.getSonarMeasurements(1)[0]
if sonarRight > 30:
if sonarLeft > 30:
position = "middle"
else:
position = "left"