def turnAlignOrNot(angle, alinhar): if(alinhar): move.TurnInSquare(angle) else: if(angle > 0): move.TurnDirectionAng(esquerda, abs(angle)) if(angle < 0): move.TurnDirectionAng(direita, abs(angle))
def fourthAreaCubes(currentPosition, myDirection, order): #Vai para a segunda área # myDirection = turnTo(myDirection ,EAST) # #MoveDirectionPosition(frente, 0.020) # currentPosition += 1 if (order == 2): destine = 55 direction = EAST lastTurn = esquerda if (order == 1): destine = 56 direction = WEST lastTurn = direita currentPosition, myDirection = shift.goFromTo(currentPosition, destine, myDirection) #Se posiciona da melhor forma para enxergar os blocos myDirection = shift.turnTo(myDirection, direction, True) #Align() move.andar_em_metros(frente, 2, 0.04) move.TurnDirectionAng(lastTurn, 90) myDirection = NORTH align.Align() move.MoveDirectionPosition(tras, 0.065) matrix1 = vis.resolveVision(clientID, 1) #MODIFICAR MATRIZ matrix1 = gbb.invertMatrix(matrix1) return matrix1, currentPosition, myDirection
def goToSquareSide(myDirection, firstDirection, finalTurn, hiddenBlock): #move.MoveDirectionPosition(tras, 0.01) if(myDirection == -firstDirection): #if(False): move.andar_em_metros(tras, 5, 0.10) align.AlignBack(2) move.andar_em_metros(frente, 2, 0.16) move.TurnDirectionAng(-finalTurn, 90) else: print('virando', firstDirection) turnTo(myDirection, firstDirection, True) align.Align() move.MoveDirectionPosition(tras, 0.002) print('virando', finalTurn) move.TurnDirectionAng(finalTurn, 90) align.AlignSpecial(2) if not hiddenBlock: move.andar_em_metros(tras, 5, 0.06)
def firstAreaCubes(currentPosition, myDirection, order): if (order == 1): destine = 22 direction = EAST lastTurn = direita if (order == 2): destine = 23 direction = WEST lastTurn = esquerda #Vai para a primeira área currentPosition, myDirection = shift.goFromTo(currentPosition, destine, myDirection) #Se posiciona da melhor forma para enxergar os blocos myDirection = shift.turnTo(myDirection, direction, True) #Align() #TurnTo ja alinha move.andar_em_metros(frente, 2, 0.04) move.TurnDirectionAng(lastTurn, 90) myDirection = SOUTH align.Align() move.MoveDirectionPosition(tras, 0.065) matrix0 = vis.resolveVision(clientID, 0) #time.sleep(3) return matrix0, currentPosition, myDirection