def pick_up_cubes(r):
global ganked_cube
while True:
val = get_cube(r)
if val != Colors.NONE:
r.drive.stop()
yield From(asyncio.sleep(0.1))
val = get_cube(r)
if val == OUR_COLOR:
ganked_cube = time.time()
r.arms.silo.up()
log.info('Picked up {} block'.format(Colors.name(val)))
r.arms.silo.down()
elif val == THEIR_COLOR:
ganked_cube = time.time()
r.drive.stop()
r.arms.dump.up()
log.info('Picked up {} block'.format(Colors.name(val)))
r.arms.dump.down()
else:
break
else:
break
yield From(asyncio.sleep(0.05))
def pick_up_cubes(r):
global ganked_cube
while True:
val = get_cube(r)
if val != Colors.NONE:
r.drive.stop()
yield From(asyncio.sleep(0.1))
val = get_cube(r)
if val == OUR_COLOR:
ganked_cube = time.time()
r.arms.silo.up()
log.info('Picked up {} block'.format(Colors.name(val)))
r.arms.silo.down()
elif val == THEIR_COLOR:
ganked_cube = time.time()
r.drive.stop()
r.arms.dump.up()
log.info('Picked up {} block'.format(Colors.name(val)))
r.arms.dump.down()
else:
break
else:
break
yield From(asyncio.sleep(0.05))
def get_cube(r):
val = r.color_sensor.val
blocked = r.break_beams.blocked
if val == Colors.NONE:
if USE_BREAKBEAM and blocked:
log.warn('Beam broken, but no color reading')
return Colors.NONE
if USE_BREAKBEAM and not blocked:
log.warn('Color is {}, but beam not broken'.format(Colors.name(val)))
return Colors.NONE
return val
def get_cube(r):
val = r.color_sensor.val
blocked = r.break_beams.blocked
if val == Colors.NONE:
if USE_BREAKBEAM and blocked:
log.warn('Beam broken, but no color reading')
return Colors.NONE
if USE_BREAKBEAM and not blocked:
log.warn('Color is {}, but beam not broken'.format(Colors.name(val)))
return Colors.NONE
return val
