def backwards_until_white(self, should_stop=True, *, time=c.SAFETY_TIME):
m.base_backwards()
sec = seconds() + time / 1000
while seconds() < sec and self.senses_black():
msleep(1)
if should_stop:
m.deactivate_motors()
def backwards_until_black_cliffs():
# Goes backwards until both sensors have sensed black.
print "Starting backwards_until_black_cliffs()"
m.base_backwards()
while NotBlackLeft() and NotBlackRight():
pass
m.deactivate_motors()
def backwards_until(boolean_function, should_stop=True, *, time=c.SAFETY_TIME):
m.base_backwards()
sec = seconds() + time / 1000
while seconds() < sec and not(boolean_function()):
msleep(1)
if should_stop:
m.deactivate_motors()
def backwards_until(boolean_function, time=c.SAFETY_TIME, should_stop=True):
m.base_backwards()
if time == 0:
should_stop = False
time = c.SAFETY_TIME
wait_until(boolean_function, time)
if should_stop:
m.deactivate_motors()
def backwards_until_black_cliffs(should_stop=True, *, time=c.SAFETY_TIME):
# Goes backwards until both sensors have sensed black.
m.base_backwards()
sec = seconds() + time / 1000
while seconds() < sec and isLeftOnWhite() and isRightOnWhite():
msleep(1)
if should_stop:
m.deactivate_motors()
def backwards_until_black_fcliffs():
print "Starting backwards_until_black_fcliffs()"
m.base_backwards()
while NotBlackFrontLeft() and NotBlackFrontRight():
pass
if BlackFrontLeft():
while NotBlackFrontRight():
pass
else:
while NotBlackFrontLeft():
pass
m.deactivate_motors()
def backwards_until_black_fcliffs(should_stop=True, *, time=c.SAFETY_TIME):
m.base_backwards()
sec = seconds() + time / 1000
while seconds() < sec and isLeftFrontOnWhite() and isRightFrontOnWhite():
msleep(1)
if isLeftFrontOnBlack():
while isRightFrontOnWhite():
msleep(1)
else:
while isLeftFrontOnWhite():
msleep(1)
if should_stop:
m.deactivate_motors()
def backwards_until_not_depth():
m.base_backwards()
while DepthSensesObject():
pass
m.deactivate_motors()
def backwards_until_white_rfcliff():
print "Start backwards_until_white_rfcliff"
m.base_backwards()
while BlackFrontRight():
pass
m.deactivate_motors()
def backwards_until_black_lfcliff():
print "Start drive_until_black_lfcliff"
m.base_backwards()
while NotBlackFrontLeft():
pass
m.deactivate_motors()
def backwards_until_white_rcliff():
print "Start drive_until_black_rcliff"
m.base_backwards()
while BlackRight():
pass
m.deactivate_motors()
def pick_up_coupler():
m.base_backwards(0.1)
m.lift_arm(4,1)
m.deactivate_motors()
