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 runold(adjust_for_mission=0):
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
max_distance_mm=60)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
alternative_color=Color.YELLOW,
max_distance_mm=170)
shared_all.turn_arc(distance=30, angle=15, speed_mm_s=60)
#lift weight and back up
crane_motor.stop()
shared_all.move_crane_down(motor=crane_motor, degrees=10)
crane_motor.run_time(600, 900)
# shared_all.move_crane_to_floor(crane_motor)
# shared_all.move_crane_up( motor = crane_motor, degrees = 40)
shared_all.start_moving_crane_to_angle(motor=crane_motor, target_angle=25)
shared_all.move_straight(distance_mm=70, speed_mm_s=-120)
# turn west and back up
shared_all.turn(-140, speed_deg_s=200)
shared_all.start_moving_crane_to_top(motor=crane_motor)
shared_all.move_straight(distance_mm=70, speed_mm_s=-150)
shared_all.turn_arc(distance=50, angle=60, speed_mm_s=190)
def aligncubes():
shared_all.move_straight(distance_mm=290, speed_mm_s=150)
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
max_distance_mm=600)
shared_all.move_straight(distance_mm=10, speed_mm_s=-100)
def runtrial():
shared_all.move_straight(distance_mm=70, speed_mm_s=50)
shared_all.move_straight(distance_mm=70, speed_mm_s=-90)
shared_all.turn_to_angle(gyro=gyro, target_angle=45) # turn to face south
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.RED,
speed_mm_s=100)
shared_all.turn_to_angle(gyro=gyro, target_angle=-45)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=800,
speed_mm_s=300,
target_angle=-45)
shared_all.turn_arc(distance=50, angle=-60,
speed_mm_s=100) # turn in an arc
shared_all.turn_to_angle(gyro=gyro, target_angle=150) # turn to face south
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=400,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=60)
shared_all.move_crane_to_top(crane_motor)
shared_all.move_to_obstacle(obstacle_sensor=ultrasound,
stop_on_obstacle_at=80,
speed_mm_s=-100)
def putcube():
shared_all.drive_raising_crane(duration_ms=1000,
robot_distance_mm=30,
robot_turn_angle=0,
motor=crane_motor,
crane_angle=-80)
shared_all.move_straight(distance_mm=60, speed_mm_s=-90)
def align():
shared_all.move_crane_to_floor( motor=crane_motor)
shared_all.move_crane_up( motor=crane_motor, degrees=60)
shared_all.move_to_color(color_sensor = color_sensor_right,
stop_on_color = Color.GREEN,
alternative_color = Color.GREEN, speed_mm_s=40, max_distance_mm=60)
shared_all.move_straight(distance_mm=17, speed_mm_s=40)
def align_nearboccia(adjust_for_mission=0):
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=40,
speed_mm_s=120,
target_angle=-90 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_right,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_right])
shared_all.move_straight(distance_mm=7, speed_mm_s=-90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=-137 + adjust_for_mission,
speed_deg_s=80)
if not shared_all.move_to_color_reverse(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=50):
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=30,
max_distance_mm=55)
shared_all.move_straight(distance_mm=10, speed_mm_s=-100)
def align_right_turns(adjust_for_mission=0):
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=70)
shared_all.move_straight(distance_mm=100, speed_mm_s=140)
shared_all.move_crane_to_top(crane_motor)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.move_straight(distance_mm=390, speed_mm_s=-200)
shared_all.push_back_reset_gyro(distance_mm=60,
reset_gyro=True,
new_gyro_angle=180)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=15,
speed_mm_s=110,
target_angle=180 +
adjust_for_mission)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=30,
speed_mm_s=-110,
target_angle=-90 +
adjust_for_mission)
def treadmill_to_row_withalign(adjust_for_mission=0):
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
speed_mm_s=30,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
shared_all.move_straight(distance_mm=120, speed_mm_s=100)
shared_all.turn(angle=90, speed_deg_s=140)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=100,
speed_mm_s=-160,
target_angle=-90)
shared_all.push_back_reset_gyro(distance_mm=40,
reset_gyro=True,
new_gyro_angle=-90)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=270,
speed_mm_s=180,
target_angle=-90)
shared_all.turn(angle=90, speed_deg_s=120)
shared_all.move_reverse(max_distance=40, speed_mm_s=100)
def alignfacing():
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=480, speed_mm_s=170, target_angle=-45)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN, max_distance_mm=40)
shared_all.move_straight(distance_mm=40, speed_mm_s=40)
def run_arp():
shared_all.move_crane_to_top(crane_motor)
shared_all.move_crane_to_floor(crane_motor)
shared_all.turn(-10)
shared_all.move_straight(
distance_mm=300,
speed_mm_s=-190,
)
def treadmill_to_row_simple(adjust_for_mission=0):
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=50)
shared_all.move_straight(distance_mm=40, speed_mm_s=70)
def turn_points_90():
shared_all.move_straight(distance_mm=90, speed_mm_s=140)
shared_all.turn(110, 190)
wait(2000)
shared_all.turn(-110, 190)
wait(2000)
shared_all.turn(90)
wait(3000)
shared_all.turn(-90)
def align():
shared_all.move_reverse( max_distance=30 , speed_mm_s= 100)
shared_all.turn(angle=-45, speed_deg_s=100)
shared_all.move_straight(distance_mm=60, speed_mm_s=100)
# Calibrate the gyro point in the direction at the start
# shared_all.calibrate_gyro(0)
# align()
def align(adjust_for_mission=0):
shared_all.turn_to_direction( gyro=gyro, target_angle=180+ adjust_for_mission)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE, alternative_color=Color.WHITE, speed_mm_s=25,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center])
shared_all.move_straight(distance_mm= 60, speed_mm_s= -70)
shared_all.move_crane_to_floor(crane_motor)
shared_all.turn_arc(distance=160, angle=80, speed_mm_s =50)
def align():
# shared_all.move_straight(distance_mm=50, speed_mm_s=200)
# shared_all.turn(angle=90, speed_deg_s=200)
# shared_all.move_reverse(max_distance=65, speed_mm_s=75)
# shared_all.move_straight(distance_mm=450, speed_mm_s=175)
# shared_all.turn(angle=15, speed_deg_s=200)
# shared_all.turn_arc(distance=15,angle=15,speed_mm_s=50)
# shared_all.move_straight(distance_mm=138, speed_mm_s=200)
shared_all.start_moving_crane_to_angle(crane_motor, 45)
shared_all.move_rack_to_top()
shared_all.move_straight(distance_mm=110, speed_mm_s=120)
shared_all.turn(35)
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 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 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 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 stepcounter_to_treadmill_reverse(adjust_for_mission=0):
shared_all.move_straight(distance_mm=160, speed_mm_s=150)
shared_all.turn(angle=-10)
shared_all.turn_arc(distance=330, angle=-50, speed_mm_s=-150)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=400,
speed_mm_s=-170,
target_angle=180)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.WHITE,
alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=180)
def aligntonorth(adjust_for_mission=0):
shared_all.turn_arc(distance=150, angle=-45, speed_mm_s=170)
shared_all.turn_arc(distance=150, angle=45, speed_mm_s=170)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 20,
speed_mm_s= 110,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.GREEN, alternative_color=Color.GREEN)
shared_all.move_to_color(color_sensor=color_sensor_center,
stop_on_color=Color.BLUE, alternative_color=Color.BLUE)
shared_all.move_straight(distance_mm=10, speed_mm_s=-80)
def runpushdown():
shared_all.move_rack_to_top()
shared_all.move_straight(distance_mm=110, speed_mm_s=120)
shared_all.turn(35)
shared_all.move_crane_down(rack_motor, 210)
shared_all.turn(-35)
shared_all.move_straight(distance_mm=50, speed_mm_s=-120)
shared_all.start_moving_crane_to_top(rack_motor)
shared_all.move_to_color_reverse(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=70)
shared_all.move_rack_to_top()
def align():
shared_all.calibrate_gyro(-85)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=200,
speed_mm_s=190,
target_angle=-85)
# shared_all.move_crane_to_floor( motor=crane_motor)
# shared_all.move_crane_up( motor=crane_motor, degrees=60)
shared_all.move_to_color(color_sensor=color_sensor_right,
stop_on_color=Color.GREEN,
alternative_color=Color.GREEN,
speed_mm_s=40,
max_distance_mm=60)
shared_all.move_straight(distance_mm=50, speed_mm_s=40)
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 align_color_and_rightturns(adjust_for_mission=0):
shared_all.move_straight(distance_mm=170, speed_mm_s=120)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 80,
speed_mm_s= -140,
target_angle= -90+ adjust_for_mission)
shared_all.move_to_color_reverse(color_sensor=color_sensor_center,
stop_on_color=Color.WHITE, alternative_color=Color.WHITE,
min_intensity=robot_setup.WHITE_MIN_INTENSITY[color_sensor_center],
max_distance_mm=110)
shared_all.move_straight_target_direction(gyro = gyro,
distance_mm= 220,
speed_mm_s= 140,
target_angle= -90+ adjust_for_mission)
shared_all.turn_to_direction( gyro=gyro, target_angle=0+ adjust_for_mission)
def run():
##lift
shared_all.move_crane_down(crane_motor, 10)
shared_all.drive_raising_crane(duration_ms=600, robot_distance_mm=0, robot_turn_angle=0,
motor=crane_motor, crane_angle=110)
shared_all.move_crane_down(crane_motor, 80)
#knock
shared_all.move_straight(distance_mm=18, speed_mm_s=-90)
shared_all.move_crane_to_floor(crane_motor)
shared_all.drive_raising_crane(duration_ms=400, robot_distance_mm=10, robot_turn_angle=-30,
motor=crane_motor, crane_angle=-20)
#backup
shared_all.start_moving_crane_to_angle(crane_motor, 70)
shared_all.turn_to_direction(gyro=gyro, target_angle=-85)
shared_all.move_straight(distance_mm=60, speed_mm_s=-120)
def phone_to_slide(adjust_for_mission=0):
shared_all.turn_arc(distance=60, angle=-10, speed_mm_s=-90)
shared_all.move_straight(distance_mm=40, speed_mm_s=-100)
shared_all.move_straight_target_direction(gyro=gyro,
distance_mm=250,
speed_mm_s=200,
target_angle=180 +
adjust_for_mission)
shared_all.move_to_color(
color_sensor=color_sensor_center,
stop_on_color=Color.BLACK,
alternative_color=Color.BLACK,
speed_mm_s=25,
max_intensity=robot_setup.BLACK_MAX_INTENSITY[color_sensor_center],
max_distance_mm=140)
def runfacing():
shared_all.move_crane_down(rack_motor, 70)
shared_all.move_hook_to_floor()
shared_all.move_straight(distance_mm=20, speed_mm_s=-50)
shared_all.drive_raising_crane (duration_ms=800, robot_distance_mm=-30, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
shared_all.drive_raising_crane (duration_ms=1900, robot_distance_mm=-90, robot_turn_angle=0,
motor=rack_motor, crane_angle=20)
# shared_all.move_straight(distance_mm=40, speed_mm_s=130)
shared_all.move_crane_up(rack_motor, 70)
shared_all.move_straight(distance_mm=500, speed_mm_s=-200)
shared_all.move_rack_to_top()
# shared_all.calibrate_gyro(new_gyro_angle=-45)
# alignfacing()
# runfacing()
def run(adjust_for_mission=0):
# shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
# left_motor.run_angle( -210, 3*360, Stop.BRAKE, True)
shared_all.turn(5)
#
shared_all.move_straight(distance_mm=190, speed_mm_s=-210)
right_motor.run_angle(-90, 50, Stop.BRAKE, True)
left_motor.run_angle(-270, 3 * 360, Stop.BRAKE, True)
shared_all.move_straight(distance_mm=230, speed_mm_s=180)
# shared_all.move_straight(distance_mm=20, speed_mm_s=90)
shared_all.turn_to_direction(gyro=gyro,
target_angle=180 + adjust_for_mission)
shared_all.turn(90)
shared_all.push_back_reset_gyro(distance_mm=150,
reset_gyro=True,
new_gyro_angle=-90)