def align():
# shared_all.move_straight(distance_mm=50, speed_mm_s=200)
# shared_all.turn(angle=90, speed_deg_s=200)
# shared_all.move_reverse(max_distance=65, speed_mm_s=75)
# shared_all.move_straight(distance_mm=450, speed_mm_s=175)
# shared_all.turn(angle=15, speed_deg_s=200)
# shared_all.turn_arc(distance=15,angle=15,speed_mm_s=50)
# shared_all.move_straight(distance_mm=138, speed_mm_s=200)
shared_all.start_moving_crane_to_angle(crane_motor, 45)
shared_all.move_rack_to_top()
shared_all.move_straight(distance_mm=110, speed_mm_s=120)
shared_all.turn(35)
def run(adjust_for_mission=0):
# shared_all.turn_to_direction( gyro=gyro, target_angle=10)
shared_all.move_rack_to_floor()
shake()
#pull bsck
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-120, robot_turn_angle=-10,
motor=rack_motor, crane_angle=-40)
#release
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=5, robot_turn_angle=0,
motor=rack_motor, crane_angle=15)
shared_all.move_crane_up(rack_motor, 180)
shared_all.move_rack_to_top()
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 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 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 tread_to_weight():
# shared_all.move_straight_target_direction(gyro=gyro, distance_mm=600, speed_mm_s=180,
# target_angle= -90)
shared_all.move_rack_to_top()
# shared_all.move_crane_to_floor(motor=crane_motor, release_angle=25)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=460,
speed_mm_s=210,
target_angle=-90)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
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():
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()