def align_right_turns(adjust_for_mission=0):
shared_all.move_to_color(
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_straight(distance_mm=100, speed_mm_s=140)
shared_all.move_crane_to_top(crane_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_straight(distance_mm=390, speed_mm_s=-200)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=30,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def runtrial():
shared_all.move_straight(distance_mm=70, speed_mm_s=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=-90)
shared_all.turn_to_angle(gyro=gyro, target_angle=45) # turn to face south
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
speed_mm_s=100)
shared_all.turn_to_angle(gyro=gyro, target_angle=-45)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=800,
speed_mm_s=300,
target_angle=-45)
shared_all.turn_arc(distance=50, angle=-60,
speed_mm_s=100) # turn in an arc
shared_all.turn_to_angle(gyro=gyro, target_angle=150) # turn to face south
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=400,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=60)
shared_all.move_crane_to_top(crane_motor)
shared_all.move_to_obstacle(obstacle_sensor=ultrasound,
stop_on_obstacle_at=80,
speed_mm_s=-100)
def run_arp():
shared_all.move_crane_to_top(crane_motor)
shared_all.move_crane_to_floor(crane_motor)
shared_all.turn(-10)
shared_all.move_straight(
distance_mm=300,
speed_mm_s=-190,
)
def push_small_tire(adjust_for_mission=0):
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=1900,
robot_distance_mm=30,
robot_turn_angle=-35,
motor=rack_motor,
crane_angle=-5)
shared_all.move_crane_to_top(rack_motor)
shared_all.turn_to_direction(gyro=gyro, target_angle=-70)
shared_all.turn_arc(distance=90, angle=-20, speed_mm_s=140)
def run():
shared_all.move_crane_to_top(motor=crane_motor)
while True:
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=60,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=-45)
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=-60,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=45)
def level1():
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.move_rack_to_floor()
shared_all.turn(angle=-10, speed_deg_s=90)
shared_all.move_straight(distance_mm=90, speed_mm_s=90)
shared_all.turn(angle=20, speed_deg_s=90)
# rack_motor.stop(Stop.BRAKE)
# cntr=0
# while cntr < 4 and shared_all.did_motor_stall(motor =rack_motor , max_degrees =80 , speed = 320):
# shared_all.log_string('Mtr stalled')
# shared_all.move_crane_down(rack_motor, 5)
# shared_all.log_string('mved crane down')
# shared_all.move_rack_to_floor()
# shared_all.move_straight(distance_mm=6, speed_mm_s=20)
# cntr +=1
# shared_all.move_rack_to_floor()
# shared_all.move_crane_down(rack_motor, 5)
# rack_motor.run_time(720, 900)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=-40,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=80)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=0,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=50)
shared_all.drive_raising_crane(duration_ms=900,
robot_distance_mm=20,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=15)
# back up while lowering slightly
shared_all.drive_raising_crane(duration_ms=800,
robot_distance_mm=-70,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=-20)
shared_all.move_rack_to_floor()
shared_all.move_straight(distance_mm=60, speed_mm_s=-90)
shared_all.move_rack_to_top()
def alignold(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.turn(90, speed_deg_s=160)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=10,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def basket_to_bench():
shared_all.turn_arc(distance=90, angle=-55, speed_mm_s=-70)
shared_all.move_crane_to_top(motor=rack_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=120,
speed_mm_s=140,
target_angle=180 +
adjust_for_mission)
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.turn(-60)
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 drop_cubes():
shared_all.move_crane_down(crane_motor, 40)
shared_all.move_crane_to_top(crane_motor)
def run():
shared_all.move_straight(distance_mm=100, speed_mm_s=300)
shared_all.move_crane_to_top(crane_motor)
wait(10)
shared_all.turn(270)
shared_all.move_rack_to_top()
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()
def run():
crane_motor.run_until_stalled(-300, Stop.COAST, 35)
crane_motor.run_time(720, 700)
shared_all.move_crane_to_top(crane_motor)
def run():
shared_all.move_crane_to_top(motor=rack_motor)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=300,
speed_mm_s=120,
target_angle=-90)
def run():
shared_all.move_crane_to_floor(motor=rack_motor, release_angle=-400)
shared_all.turn(angle=-5, speed_deg_s=100)
shared_all.move_crane_to_top(motor=rack - motor, release_angle=-400)
def alignold():
shared_all.move_crane_to_top(crane_motor)
shared_all.move_straight(distance_mm=550, speed_mm_s=160)
