def go_bee():
if (robot.color == "green"):
robot.go_direct(1000, 1800, pi, 1)
robot.robot_com("-S -m3 -t1")
time.sleep(1)
robot.robot_com("-S -m3 -t0")
else:
robot.robot_com("-S -m4 -t1")
time.sleep(1)
robot.robot_com("-S -m4 -t0")
def bee():
robot.my_lcd.write("Bee ...")
robot.init_pipe()
robot.robot_com("-S -t1.2 -m1", 1)
#robot.robot_com("-S -t-1.2-m2",1)
time.sleep(2)
#robot.robot_com("-S -t1 -m1",1)
#robot.robot_com("-S -t-1 -m2",1)
time.sleep(5)
robot.robot_com("-S -t0 -m1", 1)
#robot.robot_com("-S -t0 -m2",1)
#robot_timer=timer.timer()
print("GO GO GO")
#robot.robot_com("-S -r -m0 -x0.3 -t0.5")
robot.robot_com("-S -t0 -m3", 1)
robot.my_lcd.write("+50 bien !")
def deversoir():
mot = "P8_44"
GPIO.setup(mot, GPIO.OUT)
GPIO.output(mot, GPIO.HIGH)
robot.my_lcd.write("init timer")
robot.init_pipe()
robot.robot_com("-S -t0 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.9 -m3", 1)
#time.sleep(0.5)
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
#2
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
#3
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
#4
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
#5
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
#6
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
#7
if robot.color == "green":
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
else:
robot.robot_com("-S -t0.3 -m3", 1)
time.sleep(0.5)
robot.robot_com("-S -t0.7 -m3", 1)
time.sleep(0.5)
time.sleep(0.5)
GPIO.output(mot, GPIO.LOW)
#robot_timer=timer.timer()
#robot.my_lcd.write("init pipe")
#robot.init_pipe()
#robot.my_lcd.write("let's begin")
#robot.my_lcd.write("now boot")
print("GO GO GO")
#robot.robot_com("-S -r -m0 -x0.3 -t0.5")
robot.robot_com("-S -t0 -m3", 1)
print("fin du match")
import os
import time
import boot
import robot
import timer
from math import *
import stop0
import Adafruit_BBIO.GPIO as GPIO
# from signal import signal, SIGPIPE, SIG_DFL
# signal(SIGPIPE, SIG_DFL)
robot.my_lcd.write("init timer")
robot.init_pipe()
robot.robot_com("-S -t0 -m3", 1)
import shlex
from math import *
import Adafruit_BBIO.GPIO as GPIO
# from signal import signal, SIGPIPE, SIG_DFL
# signal(SIGPIPE, SIG_DFL)
GPIO.setup(robot.trig_button, GPIO.IN)
GPIO.setup(robot.col_button, GPIO.IN)
GPIO.setup(robot.but1_button, GPIO.IN)
GPIO.setup(robot.but2_button, GPIO.IN)
robot.my_lcd.write("let's begin")
boot.fast_conf()
robot.robot_com("-B -m0", 1)
robot.robot_com("-B -x-0.8 -y0.8 -m1", 1)
time.sleep(0.1)
robot.robot_com("-B -x0.8 -y-0.8 -m1", 1)
time.sleep(0.1)
robot.robot_com("-B -m-1", 1)
robot.my_lcd.write("init timer")
robot.my_lcd.write("init pipe")
robot.my_lcd.write("let's begin")
robot.my_lcd.write("now boot")
robot.robot_com("-S -t1.2 -m3", 1)
robot.my_lcd.write("")
robot.my_lcd.write("")
robot.my_lcd.write("let's begin")
GPIO.setup(robot.trig_button, GPIO.IN)
GPIO.setup(robot.col_button, GPIO.IN)
GPIO.setup(robot.but1_button, GPIO.IN)
GPIO.setup(robot.but2_button, GPIO.IN)
timer.start_robot_daemon()
robot.my_lcd.write("init timer")
robot_timer = timer.timer()
robot.my_lcd.write("init pipe")
robot.init_pipe()
robot.my_lcd.write("let's begin")
robot.my_lcd.write("now boot")
time.sleep(1)
boot.fast_conf()
robot.robot_com("-Y -x-1200 y200 -t0.785 ", 1)
GPIO.wait_for_edge(robot.trig_button, GPIO.RISING)
print("robot initialised, wait fot the match")
robot_timer.start()
robot.robot_com("-S -r -m0 -x0.3 -t0.5")
robot.robot_com("-G -r -m0 -x0.3 -t0.5")
while (True):
robot.robot_com("-G -x0 -y1000 -m0 -t3.14 -r", 1)
robot.wait_arrived()
print("fin du match")
from math import *
import Adafruit_BBIO.GPIO as GPIO
import boot
# from signal import signal, SIGPIPE, SIG_DFL
# signal(SIGPIPE, SIG_DFL)
GPIO.setup(robot.trig_button, GPIO.IN)
GPIO.setup(robot.col_button, GPIO.IN)
GPIO.setup(robot.but1_button, GPIO.IN)
GPIO.setup(robot.but2_button, GPIO.IN)
robot.my_lcd.write("let's begin")
boot.fast_conf()
robot.robot_com("-Z -x-400 -y300 -m1", 1)
time.sleep(0.3)
robot.robot_com("-Z -x400 -y-300 -m1", 1)
time.sleep(0.3)
robot.robot_com("-Z -x0 -y0 -m1", 1)
print("move done")
robot.my_lcd.write("init timer")
robot.my_lcd.write("init pipe")
robot.my_lcd.write("let's begin")
robot.my_lcd.write("now boot")
robot.robot_com("-S -t1.2 -m3", 1)
robot.robot_com("-S -t-1.4 -m2", 1)
robot.my_lcd.write("")
robot.my_lcd.write("")
import robot
import time
time_start = time.time()
for i in range(0, 1000):
robot.robot_com("-P ")
time.sleep(0.001)
print("used time: " + str((time.time() - time_start)))
def go_ball(distrib):
robot.robot_com("-S -m2 -t1")
if (robot.color == "green"):
if (distrib == 1):
robot.go_arc(1100, 700, pi)
robot.go_direct(1370, 1046, pi, -1)
deversoir.deversoir()
robot.go_direct(1170, 1046, pi, 1)
if (distrib == 2):
go_arc(-800, 1800, 3 * pi / 2)
go_direct(-800, 1850, 3 * pi / 2, -1)
robot.robot_com("-S -m2 -t0")
time.sleep(1)
robot.robot_com("-B -x0.72 -m3")
time.sleep(10)
robot.robot_com("-B -x0 -m3")
go_arc(-800, 1800, 3 * pi / 2)
if (robot.color == "orange"):
if (distrib == 1):
robot.go_arc(-1100, 700, 0)
robot.go_direct(-1370, 1046, 0, -1)
deversoir.deversoir()
robot.go_direct(-1170, 1046, 0, 1)
if (distrib == 2):
robot.go_arc(800, 1800, 3 * pi / 2)
robot.go_direct(800, 1850, 3 * pi / 2, -1)
robot.robot_com("-S -m2 -t0")
time.sleep(1)
robot.robot_com("-B -x0.72 -m3")
time.sleep(10)
robot.robot_com("-B -x0 -m3")
go_arc(800, 1800, 3 * pi / 2)
quit()
robot.my_lcd.write("let's begin")
timer.start_robot_daemon()
robot.my_lcd.write("init timer")
robot_timer = timer.timer()
robot.my_lcd.write("init pipe")
robot.init_pipe()
robot.my_lcd.write("let's begin")
robot.my_lcd.write("now boot")
time.sleep(1)
boot.init_robot()
print("robot initialised, wait fot the match")
robot_timer.start()
print("GO GO GO")
robot.robot_com("-S -r -m0 -x0.3 -t0.5")
robot.robot_com("-S -m1 -t0")
robot.robot_com("-S -m2 -t0")
robot.robot_com("-S -m3 -t0")
while (True):
time.sleep(0.1)
go_domo()
go_ball(1)
while (True):
time.sleep(1)
go_bee()
go_ball(2)
print("fin du match")
def GET(self, command):
print("command :", str(command))
answer = robot.robot_com(str(command))
print("answer ", answer)
return answer
def go_ball(distrib):
robot.robot_com("-S -m2 -t1")
if(robot.color=="green"):
if(distrib==1):
go_arc(1200,1000,pi)
go_arc_direct(1250,1000,pi,-1)
robot.robot_com("-S -m2 -t0")
time.sleep(1)
robot.robot_com("-B -x0.72 -m3")
time.sleep(10)
robot.robot_com("-B -x0 -m3")
go_arc(1200,1000,pi)
if(distrib==2):
go_arc(-800,1800,3*pi/2)
go_arc_direct(-800,1850,3*pi/2,-1)
robot.robot_com("-S -m2 -t0")
time.sleep(1)
robot.robot_com("-B -x0.72 -m3")
time.sleep(10)
robot.robot_com("-B -x0 -m3")
go_arc(-800,1800,3*pi/2)
if(robot.color=="orange"):
if(distrib==1):
go_arc(-1200,1000,0)
go_arc_direct(-1250,1000,0,-1)
robot.robot_com("-S -m2 -t0")
time.sleep(1)
robot.robot_com("-B -x0.72 -m3")
time.sleep(10)
robot.robot_com("-B -x0 -m3")
go_arc(-1200,1000,0)
if(distrib==2):
go_arc(800,1800,3*pi/2)
go_arc_direct(800,1850,3*pi/2,-1)
robot.robot_com("-S -m2 -t0")
time.sleep(1)
robot.robot_com("-B -x0.72 -m3")
time.sleep(10)
robot.robot_com("-B -x0 -m3")
go_arc(800,1800,3*pi/2)
