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 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 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 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 alignpushdown(adjust_for_mission=0): shared_all.start_moving_crane_to_angle(crane_motor, 45)
def dropcubes(): shared_all.move_crane_to_floor(crane_motor) shared_all.start_moving_crane_to_angle(crane_motor, 70) shared_all.move_straight(distance_mm=300, speed_mm_s=-190)