def Extend(self):
# return SetActuators([self.extend_piston], [self.retract_piston])
return Sequential(
Log('Extending {} Amlan'.format(self.name)),
SetActuators([], [self.retract_piston]),
Timer(0.3),
SetActuators([self.extend_piston], []),
)
def Retract(self):
# return SetActuators([self.retract_piston], [self.extend_piston])
return Sequential(
# THE THIRD PISTON STATE
Log('Retracting {} Amlan'.format(self.name)),
SetActuators([self.extend_piston, self.retract_piston], []),
Timer(1),
SetActuators([self.retract_piston], [self.extend_piston]),
self._RemoveTube())
def FastRetract(self):
return Sequential(
Log('Fast retracting {} Amlan'.format(self.name)),
SetActuators([self.retract_piston], [self.extend_piston]),
self._RemoveTube()
)
# Depth(depth)), # TODO: BigDepth?
# Zero())
close_to = lambda point1, point2, db=20: abs(point1[0]-point2[0]) < db and abs(point1[1]-point2[1]) < db
Align = lambda centerf, anglef, visiblef, closedb=10, aligndb=7: Sequential(
Log('Aligning'),
MasterConcurrent(
Consistent(lambda: close_to(centerf(), CAM_CENTER) and abs(anglef()) < aligndb, count=2.3, total=3, invert=False, result=True),
While(lambda: Consistent(visiblef, count=2.5, total=3.0, invert=True, result=False), True),
While(lambda: Center(centerf, visiblef), True),
PIDHeading(anglef, p=0.47),
AlwaysLog(lambda: 'align %s' % str(anglef()))),
Zero())
_Grab = lambda: SetActuators(on_triggers=['manipulator_grab'])
_Release = lambda: Sequential(
SetActuators(on_triggers=['manipulator_release'], off_triggers=['manipulator_grab']),
Timer(0.3),
SetActuators(off_triggers=['manipulator_release']))
GrabVampireOpenCoffin = lambda: \
Sequential(
Search(visible_open),
Center(center_open, visible_open, db=20),
SetMarker('before_grab'),
Align(centerf=center_open, anglef=angle_offset_open, visiblef=visible_open),
Center(offset_open, visible_open, db=10),
MasterConcurrent(
Sequential(
Timer(15),