def align(adjust_for_mission=0):
SLIDE_ALIGN_DIRECTION=138
shared_all.turn(-90, speed_deg_s=140)
shared_all.move_straight(distance_mm=50, speed_mm_s=100)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK, alternative_color=Color.BLACK, speed_mm_s=60,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=80)
shared_all.move_straight(distance_mm=70, speed_mm_s=-100)
shared_all.turn(90, speed_deg_s=140)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLACK, alternative_color=Color.BLACK, speed_mm_s=60,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=60)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 40,
speed_mm_s= 130,
target_angle= 180+ adjust_for_mission)
shared_all.turn(SLIDE_ALIGN_DIRECTION - 180, speed_deg_s=100)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 60,
speed_mm_s= -110,
target_angle= SLIDE_ALIGN_DIRECTION+ adjust_for_mission)
shared_all.move_rack_to_floor()
def take_slide_to_home():
shared_all.turn_arc(distance = 90 ,angle = 50 , speed_mm_s=100)
shared_all.turn_arc(distance = 160 ,angle = -90 , speed_mm_s=100)
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=2200, robot_distance_mm=400, robot_turn_angle=15,
motor=rack_motor, crane_angle=-15)
def push_small_tire(adjust_for_mission=0):
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=1900,
robot_distance_mm=30,
robot_turn_angle=-35,
motor=rack_motor,
crane_angle=-5)
shared_all.move_crane_to_top(rack_motor)
shared_all.turn_to_direction(gyro=gyro, target_angle=-70)
shared_all.turn_arc(distance=90, angle=-20, speed_mm_s=140)
def runold(adjust_for_mission=0):
shared_all.turn_to_direction( gyro=gyro, target_angle=-37+ adjust_for_mission)
shared_all.move_rack_to_floor()
shake()
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-80, robot_turn_angle=-20,
motor=rack_motor, crane_angle=-5)
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=25, robot_turn_angle=-50,
motor=rack_motor, crane_angle=-5)
shared_all.turn(8)
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-10, robot_turn_angle=0,
motor=rack_motor, crane_angle=110)
def run():
shared_all.move_rack_to_floor()
# shared_all.move_crane_up( motor = rack_motor, degrees = 30)
shared_all.move_straight(distance_mm=55, speed_mm_s=100)
while shared_all.did_motor_stall(motor =rack_motor , max_degrees =30 , speed = 80):
shared_all.log_string('Stalled')
shared_all.move_straight(distance_mm=4, speed_mm_s=-20)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=30, robot_turn_angle=0,
motor=rack_motor, crane_angle=75)
shared_all.turn_arc(distance = 60 ,angle = -7 , speed_mm_s=100)
def run(adjust_for_mission=0):
# shared_all.turn_to_direction( gyro=gyro, target_angle=10)
shared_all.move_rack_to_floor()
shake()
#pull bsck
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=-120, robot_turn_angle=-10,
motor=rack_motor, crane_angle=-40)
#release
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=5, robot_turn_angle=0,
motor=rack_motor, crane_angle=15)
shared_all.move_crane_up(rack_motor, 180)
shared_all.move_rack_to_top()
def level2crane():
shared_all.move_rack_to_floor()
shared_all.log_string('Moved racktotop')
shared_all.move_crane_up(motor=rack_motor, degrees=40)
shared_all.turn(angle=20)
shared_all.drive_raising_crane(duration_ms=500,
robot_distance_mm=20,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=190)
shared_all.move_straight(distance_mm=40, speed_mm_s=-90)
shared_all.move_crane_down(motor=rack_motor, degrees=90)
shared_all.log_string('MOtor is ' + str(crane_motor))
def rack_push_up():
shared_all.move_rack_to_floor()
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=-40,
robot_turn_angle=8,
motor=rack_motor,
crane_angle=90)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=40,
robot_turn_angle=8,
motor=rack_motor,
crane_angle=70)
shared_all.move_rack_to_floor()
def runold ():
shared_all.move_rack_to_floor ()
shared_all.move_straight(distance_mm=60, speed_mm_s=120)
while shared_all.did_motor_stall(motor =rack_motor , max_degrees =50 , speed = 320):
# log_string('stalled - step back')
shared_all.move_reverse(max_distance=6, speed_mm_s=20)
shared_all.move_crane_to_angle(motor=rack_motor, target_angle=90)
shared_all.drive_raising_crane (duration_ms=900, robot_distance_mm=80, robot_turn_angle=0,
motor=rack_motor, crane_angle=-20)
shared_all.move_crane_to_angle(motor=rack_motor, target_angle=120)
shared_all.move_reverse(max_distance=20, speed_mm_s=100)
def level1():
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.move_rack_to_floor()
shared_all.turn(angle=-10, speed_deg_s=90)
shared_all.move_straight(distance_mm=90, speed_mm_s=90)
shared_all.turn(angle=20, speed_deg_s=90)
# rack_motor.stop(Stop.BRAKE)
# cntr=0
# while cntr < 4 and shared_all.did_motor_stall(motor =rack_motor , max_degrees =80 , speed = 320):
# shared_all.log_string('Mtr stalled')
# shared_all.move_crane_down(rack_motor, 5)
# shared_all.log_string('mved crane down')
# shared_all.move_rack_to_floor()
# shared_all.move_straight(distance_mm=6, speed_mm_s=20)
# cntr +=1
# shared_all.move_rack_to_floor()
# shared_all.move_crane_down(rack_motor, 5)
# rack_motor.run_time(720, 900)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=-40,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=80)
shared_all.drive_raising_crane(duration_ms=1300,
robot_distance_mm=0,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=50)
shared_all.drive_raising_crane(duration_ms=900,
robot_distance_mm=20,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=15)
# back up while lowering slightly
shared_all.drive_raising_crane(duration_ms=800,
robot_distance_mm=-70,
robot_turn_angle=0,
motor=rack_motor,
crane_angle=-20)
shared_all.move_rack_to_floor()
shared_all.move_straight(distance_mm=60, speed_mm_s=-90)
shared_all.move_rack_to_top()
def all_cranes():
shared_all.log_string('crane ang start ' + str(crane_motor.angle()))
shared_all.move_crane_to_floor(crane_motor)
shared_all.log_string('crane ang flr ' + str(crane_motor.angle()))
shared_all.start_moving_crane_to_top(motor=crane_motor)
shared_all.move_straight(distance_mm=70, speed_mm_s=-50)
shared_all.log_string('crane ang top ' + str(crane_motor.angle()))
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=150)
shared_all.log_string('crane ang at 50 ' + str(crane_motor.angle()))
shared_all.log_string('arm ang strt ' + str(rack_motor.angle()))
shared_all.move_rack_to_top()
shared_all.log_string('arm ang top ' + str(rack_motor.angle()))
shared_all.move_rack_to_floor()
shared_all.log_string('arm ang flr ' + str(rack_motor.angle()))
shared_all.move_crane_up(rack_motor, 90)
shared_all.log_string('arm ang flr+90 ' + str(rack_motor.angle()))
shared_all.move_crane_down(rack_motor, 90)
shared_all.log_string('arm ang -90 ' + str(rack_motor.angle()))
shared_all.move_rack_to_top()
shared_all.log_string('arm ang top ' + str(rack_motor.angle()))
shared_all.log_string('crane motor ' + str(crane_motor))
shared_all.log_string('rack motor ' + str(rack_motor))
shared_all.log_string('left motor ' + str(left_motor))
shared_all.log_string('right motor ' + str(right_motor))
shared_all.move_crane_to_floor(crane_motor)
crane_motor.reset_angle(0)
shared_all.log_string('crane ang flr ' + str(crane_motor.angle()))
shared_all.move_crane_to_top(motor=crane_motor)
shared_all.log_string('crane ang top ' + str(crane_motor.angle()))
shared_all.move_rack_to_floor()
rack_motor.reset_angle(0)
shared_all.log_string('rack ang flr ' + str(rack_motor.angle()))
shared_all.move_rack_to_top()
shared_all.log_string('rack ang top ' + str(rack_motor.angle()))
shared_all.log_string('rack top ' + str(rack_motor.angle()) +
'crane top ' + str(crane_motor.angle()))
def shake():
shared_all.move_straight(distance_mm=10, speed_mm_s=20)
left_motor.run_angle( 120, 30, Stop.BRAKE, True)
shared_all.move_rack_to_floor()
shared_all.move_straight(distance_mm=10, speed_mm_s=-20)
right_motor.run_angle( 120, 30, Stop.BRAKE, True)
shared_all.move_rack_to_floor(release_angle=0)
shared_all.move_straight(distance_mm=10, speed_mm_s=-120)
shared_all.move_rack_to_floor(release_angle=0)
def runfacingnorth():
shared_all.move_rack_to_floor()
shake()
shared_all.drive_raising_crane(duration_ms=1900, robot_distance_mm=10, robot_turn_angle=-70,
motor=rack_motor, crane_angle=-15)