def runold(adjust_for_mission=0):
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
max_distance_mm=60)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
alternative_color=Color.YELLOW,
max_distance_mm=170)
shared_all.turn_arc(distance=30, angle=15, speed_mm_s=60)
#lift weight and back up
crane_motor.stop()
shared_all.move_crane_down(motor=crane_motor, degrees=10)
crane_motor.run_time(600, 900)
# shared_all.move_crane_to_floor(crane_motor)
# shared_all.move_crane_up( motor = crane_motor, degrees = 40)
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_straight(distance_mm=70, speed_mm_s=-120)
# turn west and back up
shared_all.turn(-140, speed_deg_s=200)
shared_all.start_moving_crane_to_top(motor=crane_motor)
shared_all.move_straight(distance_mm=70, speed_mm_s=-150)
shared_all.turn_arc(distance=50, angle=60, speed_mm_s=190)
def run():
shared_all.move_crane_down(motor=crane_motor, degrees=20)
crane_motor.run_angle(720, 100)
## Below lines only for testing
## Comment out when done testing. Do not upload to Git hub without commenting.
# shared_all.calibrate_gyro(0)
# align()
# run()
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))
def level1crane():
shared_all.move_crane_to_floor(motor=crane_motor)
shared_all.move_crane_up(motor=crane_motor, degrees=35)
shared_all.move_straight(distance_mm=60, speed_mm_s=90)
shared_all.move_crane_down(motor=crane_motor, degrees=15)
shared_all.move_straight(distance_mm=8, speed_mm_s=90)
shared_all.drive_raising_crane(duration_ms=700,
robot_distance_mm=-10,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=120)
shared_all.move_crane_down(motor=crane_motor, degrees=30)
shared_all.move_straight(distance_mm=30, speed_mm_s=-90)
def run():
shared_all.move_crane_down(rack_motor, 70)
shared_all.move_hook_to_floor()
shared_all.move_straight(distance_mm=20, speed_mm_s=-50)
shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-20, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-70, robot_turn_angle=0,
motor=rack_motor, crane_angle=30)
shared_all.move_straight(distance_mm=40, speed_mm_s=-130)
shared_all.move_crane_up(rack_motor, 30)
#backup
shared_all.move_straight(distance_mm=600, speed_mm_s=-200)
def runpushdown():
shared_all.move_rack_to_top()
shared_all.move_straight(distance_mm=110, speed_mm_s=120)
shared_all.turn(35)
shared_all.move_crane_down(rack_motor, 210)
shared_all.turn(-35)
shared_all.move_straight(distance_mm=50, speed_mm_s=-120)
shared_all.start_moving_crane_to_top(rack_motor)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=70)
shared_all.move_rack_to_top()
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()))
def run():
##lift
shared_all.move_crane_down(crane_motor, 10)
shared_all.drive_raising_crane(duration_ms=600, robot_distance_mm=0, robot_turn_angle=0,
motor=crane_motor, crane_angle=110)
shared_all.move_crane_down(crane_motor, 80)
#knock
shared_all.move_straight(distance_mm=18, speed_mm_s=-90)
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=10, robot_turn_angle=-30,
motor=crane_motor, crane_angle=-20)
#backup
shared_all.start_moving_crane_to_angle(crane_motor, 70)
shared_all.turn_to_direction(gyro=gyro, target_angle=-85)
shared_all.move_straight(distance_mm=60, speed_mm_s=-120)
def runfacing():
shared_all.move_crane_down(rack_motor, 70)
shared_all.move_hook_to_floor()
shared_all.move_straight(distance_mm=20, speed_mm_s=-50)
shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-30, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-90, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
# shared_all.move_straight(distance_mm=40, speed_mm_s=130)
shared_all.move_crane_up(rack_motor, 70)
shared_all.move_straight(distance_mm=500, speed_mm_s=-200)
shared_all.move_rack_to_top()
# shared_all.calibrate_gyro(new_gyro_angle=-45)
# alignfacing()
# runfacing()
def do_crane_push():
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_crane_up(crane_motor, degrees=135)
shared_all.move_straight(max_distance=60)
shared_all.turn(angle=-50)
# shared_all.move_straight(max_distance=100)
shared_all.move_crane_to_floor(crane_motor)
shared_all.turn(angle=50)
crane_motor.run(40)
shared_all.move_straight(max_distance=130, speed_mm_s=50)
crane_motor.stop(Stop.BRAKE)
shared_all.move_crane_down(crane_motor, degrees=30)
shared_all.move_straight(max_distance=60)
"""for x in range(5):
worker.move_crane_up(robot, crane_motor, degrees=20)
move_robot.move_straight(robot=robot, max_distance=40)"""
shared_all.move_reverse(max_distance=350)
"""worker.move_crane_up(robot, crane_motor, degrees=20)
def drop_cubes():
shared_all.move_crane_down(crane_motor, 40)
shared_all.move_crane_to_top(crane_motor)
def run():
shared_all.move_crane_down(motor=rack_motor, degrees=220)
def align():
shared_all.move_crane_to_floor(crane_motor)
shared_all.move_straight(distance_mm=100, speed_mm_s=-300)
shared_all.move_crane_down(motor=crane_motor, degrees=45)
wait(10)
def bench_to_loading():
shared_all.move_straight(distance_mm=200, speed_mm_s=-140)
shared_all.move_crane_to_top(crane_motor)
shared_all.move_crane_down(crane_motor, 20)
shared_all.sound_alarm()
shared_all.any_button_pressed()