def swap_left_and_middle(): robot.drive_right() robot.lift_up() robot.gripper_to_open() robot.lift_down() robot.gripper_to_closed() robot.lift_up() robot.drive_right() robot.drive_right() robot.gripper_to_open() robot.lift_down() robot.gripper_to_closed() robot.drive_left() robot.drive_left() robot.gripper_to_open() robot.lift_up() robot.gripper_to_closed() robot.drive_right() robot.drive_right() robot.lift_down() robot.gripper_to_open() robot.lift_up() robot.gripper_to_folded() robot.drive_left() robot.drive_left() robot.drive_left() robot.lift_down()
def swap_middle_and_left(): robot.lift_up() robot.drive_left() robot.drive_left() robot.drive_left() robot.drive_left() robot.lift_down() robot.gripper_to_closed() #green box is in the gripper! robot.lift_up() robot.drive_right() robot.drive_right() robot.gripper_to_open() robot.lift_down() robot.gripper_to_closed() #blue box is in the gripper! robot.drive_left() robot.drive_left() robot.gripper_to_open() robot.lift_up() robot.gripper_to_closed() robot.drive_right() robot.drive_right() robot.lift_down() robot.gripper_to_open() robot.lift_up() robot.gripper_to_folded()
def put_down_blocks(): # Move the lift down, and release the blocks. robot.lift_down() robot.gripper_to_open() # Because there is now a block to the right (the one that we # unstacked from), we must do the up-fold-down manoeuvre. robot.lift_up() robot.gripper_to_folded() robot.lift_down()
def unstack_tower_of_two(): # Move to the middle right_two_spaces() # and do the unstacking manoeuvre unstack_to_the_left() # -------------Here to do the up-fold-down to initialize the gripper! robot.lift_up() robot.gripper_to_folded() robot.lift_down()
def unstack_tower_of_three(): # Move to the right-most stack right_two_spaces() right_two_spaces() # and do the unstacking manoeuvre twice unstack_to_the_left() unstack_to_the_left() robot.lift_up() robot.gripper_to_folded() robot.lift_down()
def make_tower(n): robot.init(width=2 * n - 1, boxes="flat") robot.drive_right() robot.lift_up() while n > 1: pickup_next() move_to_next_stack() n = n - 1 robot.gripper_to_folded() robot.lift_down()
def make_tower(n): robot.init(width=2 * n - 1, boxes="flat") robot.drive_right() robot.lift_up() i = 0 while i < n - 1: pickup_next() move_to_next_stack() i = i + 1 robot.gripper_to_folded() robot.lift_down() return "Tower complete!"
robot.gripper_to_closed() robot.lift_up() # main program robot.init(width = 9, boxes = "flat") # position above first box robot.drive_right() robot.lift_up() # pick up, move right pickup_next() move_to_next_stack() # ...again pickup_next() move_to_next_stack() # ...again pickup_next() move_to_next_stack() # ...again pickup_next() move_to_next_stack() # tower is done, park the robot robot.gripper_to_folded() robot.lift_down()