def turn_arc_90():
shared_all.log_string('Arc turns 90 deg 12 cm')
shared_all.turn_arc(distance=120, angle=90, speed_mm_s=130)
wait(2000)
shared_all.turn_arc(distance=120, angle=-90, speed_mm_s=130)
wait(2000)
def run():
shared_all.move_rack_to_floor()
# shared_all.move_crane_up( motor = rack_motor, degrees = 30)
shared_all.move_straight(distance_mm=55, speed_mm_s=100)
while shared_all.did_motor_stall(motor =rack_motor , max_degrees =30 , speed = 80):
shared_all.log_string('Stalled')
shared_all.move_straight(distance_mm=4, speed_mm_s=-20)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=30, robot_turn_angle=0,
motor=rack_motor, crane_angle=75)
shared_all.turn_arc(distance = 60 ,angle = -7 , speed_mm_s=100)
def level2crane():
shared_all.move_rack_to_floor()
shared_all.log_string('Moved racktotop')
shared_all.move_crane_up(motor=rack_motor, degrees=40)
shared_all.turn(angle=20)
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=20,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=190)
shared_all.move_straight(distance_mm=40, speed_mm_s=-90)
shared_all.move_crane_down(motor=rack_motor, degrees=90)
shared_all.log_string('MOtor is ' + str(crane_motor))
#!/usr/bin/env pybricks-micropython
import sys
import os
sys.path.append('../shared')
sys.path.append('../samples')
import shared_all
import bus_service_1
import treadmill
import row
import weight, phone, slide
shared_all.calibrate_gyro(180)
shared_all.log_string('bus_service_1.base_to_treadmill()')
# bus_service_1.base_to_treadmill()
# shared_all.log_string('treadmill.align()')
treadmill.align()
shared_all.log_string('treadmill.run()')
treadmill.run()
# shared_all.log_string('bus_service_1.treadmill_to_row()')
# bus_service_1.treadmill_to_row()
# shared_all.log_string('row.align()')
# row.align()
# shared_all.log_string('row.run()')
# row.run()
# shared_all.log_string('bus_service_1.row_to_weight()')
bus_service_1.treadmill_to_weight()
shared_all.log_string('weight.align()')
def deepsweep():
shared_all.calibrate_gyro(180)
shared_all.log_string('bus_service_1.base_to_treadmill()')
bus_service_1.base_to_treadmill()
shared_all.log_string('treadmill.align()')
treadmill.align()
shared_all.log_string('treadmill.run()')
treadmill.run()
# shared_all.log_string('bus_service_1.treadmill_to_row()')
# bus_service_1.treadmill_to_row()
# shared_all.log_string('row.align()')
# row.align()
# shared_all.log_string('row.run()')
# row.run()
shared_all.log_string('bus_service_1.treadmill_to_weight()')
bus_service_1.treadmill_to_weight()
shared_all.log_string('weight.align()')
weight.align()
shared_all.log_string('weight.run()')
weight.run()
shared_all.log_string('bus_service_1.weight_to_phone()')
bus_service_1.weight_to_phone()
shared_all.log_string('phone.align()')
phone.align()
shared_all.log_string('phone.run()')
phone.run()
ArnavBus.boccia_slide_to_home()
def bocciarun():
shared_all.calibrate_gyro(-45)
boccia.align()
boccia.run()
def lastbow():
shared_all.calibrate_gyro(0)
bus_service_1.base_to_stepcounter()
stepcounter.run()
while True:
buttons = shared_all.any_button_pressed()
shared_all.log_string('Button pressed ' + str(buttons))
if Button.UP in buttons: ## BUT 1
bocciarun()
if Button.RIGHT in buttons: ## BUT 2
benchrun()
if Button.DOWN in buttons: ## BUT 3
innov_basket()
if Button.LEFT in buttons: ## button 4
sliderun()
if Button.CENTER in buttons: ## button center
buttons = shared_all.any_button_pressed(waiting_color=Color.YELLOW)
if Button.UP in buttons: ## BUT 1
deepsweep()
if Button.RIGHT in buttons: ## BUT 2
def gyro_color_test_angled():
shared_all.log_string('Pre-run gyro speed ' + str(shared_all.gyro.speed()) + ' angle:' + str(shared_all.gyro.angle()))
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_crane_up(crane_motor, degrees=135)
shared_all.move_straight(max_distance=800, speed_mm_s=200)
shared_all.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.turn_to_direction(gyro, target_angle=45)
shared_all.log_string('post +45 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.move_to_color(color_sensor=color_sensor_left,
stop_on_color=Color.BLACK, speed_mm_s = 70)
shared_all.turn_to_direction(gyro, target_angle=90)
shared_all.log_string('post +90 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.move_straight(max_distance=100)
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_crane_up(crane_motor, degrees=45)
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_reverse(max_distance=100)
shared_all.move_crane_up(crane_motor, degrees=135)
shared_all.turn_to_direction(gyro, target_angle=210)
shared_all.log_string('post +210 turn gyro speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
shared_all.move_straight(max_distance=1300)
shared_all.log_string('post Run speed ' + str(gyro.speed()) + ' angle:' + str(gyro.angle()))
from robot_setup import ultrasound
from robot_setup import SOUND_VOLUME
from robot_setup import WHEEL_DIAMETER_MM
from robot_setup import AXLE_TRACK_MM
from robot_setup import SENSOR_TO_AXLE
from robot_setup import WHEEL_CIRCUM_MM
from robot_setup import DEGREES_PER_MM
from robot_setup import WHITE_MIN_INTENSITY
from robot_setup import BLACK_MAX_INTENSITY
import shared_all
##### Do not change above this line ##########################################
shared_all.log_string('Buttons LEFT_DOWN ' + str(Button.LEFT_DOWN))
shared_all.log_string('Buttons DOWN ' + str(Button.DOWN))
shared_all.log_string('Buttons RIGHT_DOWN ' + str(Button.RIGHT_DOWN))
shared_all.log_string('Buttons LEFT ' + str(Button.LEFT))
shared_all.log_string('Buttons CENTER ' + str(Button.CENTER))
shared_all.log_string('Buttons RIGHT ' + str(Button.RIGHT))
shared_all.log_string('Buttons LEFT_UP ' + str(Button.LEFT_UP))
shared_all.log_string('Buttons UP ' + str(Button.UP))
shared_all.log_string('Buttons BEACON ' + str(Button.BEACON))
shared_all.log_string('Buttons RIGHT_UP ' + str(Button.RIGHT_UP))
while True:
buttons = shared_all.any_button_pressed()
shared_all.log_string('Button pressed ' + str(buttons))
if Button.LEFT in buttons:
from robot_setup import WHEEL_CIRCUM_MM
from robot_setup import DEGREES_PER_MM
import shared_all
##### Do not change above this line ##########################################
import bus_service_1
import bus_service_2
import stepcounter
import treadmill
import row
import phone
import flip
import weight
import slide
import bench
import basket
shared_all.calibrate_gyro(-90)
shared_all.log_string('bus_service_1.weight_to_phone()')
bus_service_1.weight_to_phone()
shared_all.log_string('phone.align()')
phone.align()
shared_all.log_string('phone.run()')
phone.run()
bus_service_1.phone_to_bigt()
flip.bigt_align()
flip.flip_bigt()
def all_cranes():
shared_all.log_string('crane ang start ' + str(crane_motor.angle()))
shared_all.move_crane_to_floor(crane_motor)
shared_all.log_string('crane ang flr ' + str(crane_motor.angle()))
shared_all.start_moving_crane_to_top(motor=crane_motor)
shared_all.move_straight(distance_mm=70, speed_mm_s=-50)
shared_all.log_string('crane ang top ' + str(crane_motor.angle()))
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=150)
shared_all.log_string('crane ang at 50 ' + str(crane_motor.angle()))
shared_all.log_string('arm ang strt ' + str(rack_motor.angle()))
shared_all.move_rack_to_top()
shared_all.log_string('arm ang top ' + str(rack_motor.angle()))
shared_all.move_rack_to_floor()
shared_all.log_string('arm ang flr ' + str(rack_motor.angle()))
shared_all.move_crane_up(rack_motor, 90)
shared_all.log_string('arm ang flr+90 ' + str(rack_motor.angle()))
shared_all.move_crane_down(rack_motor, 90)
shared_all.log_string('arm ang -90 ' + str(rack_motor.angle()))
shared_all.move_rack_to_top()
shared_all.log_string('arm ang top ' + str(rack_motor.angle()))
shared_all.log_string('crane motor ' + str(crane_motor))
shared_all.log_string('rack motor ' + str(rack_motor))
shared_all.log_string('left motor ' + str(left_motor))
shared_all.log_string('right motor ' + str(right_motor))
shared_all.move_crane_to_floor(crane_motor)
crane_motor.reset_angle(0)
shared_all.log_string('crane ang flr ' + str(crane_motor.angle()))
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.log_string('crane ang top ' + str(crane_motor.angle()))
shared_all.move_rack_to_floor()
rack_motor.reset_angle(0)
shared_all.log_string('rack ang flr ' + str(rack_motor.angle()))
shared_all.move_rack_to_top()
shared_all.log_string('rack ang top ' + str(rack_motor.angle()))
shared_all.log_string('rack top ' + str(rack_motor.angle()) +
'crane top ' + str(crane_motor.angle()))
shared_all.calibrate_gyro(0)
time1 = utime.ticks_ms()
for x in range(10):
gyro.angle()
time2 = utime.ticks_ms()
for x in range(10):
a = time1 + 1
time3 = utime.ticks_ms()
for x in range(10):
a = color_sensor_center.color()
time4 = utime.ticks_ms()
for x in range(10):
a = color_sensor_center.reflection()
time5 = utime.ticks_ms()
for x in range(10):
shared_all.log_string('Log it s ' + str(time5) + ' ' + str(time4))
time6 = utime.ticks_ms()
shared_all.log_string('Time for 10 angle reads ' +
str(utime.ticks_diff(time2, time1)))
shared_all.log_string('Time for 10 adds ' +
str(utime.ticks_diff(time3, time2)))
shared_all.log_string('Time for 10 color reads ' +
str(utime.ticks_diff(time4, time3)))
shared_all.log_string('Time for 10 intensity reads ' +
str(utime.ticks_diff(time5, time4)))
shared_all.log_string('Time for 10 logs ' +
str(utime.ticks_diff(time6, time5)))
