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PodSA.py
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PodSA.py
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#!/usr/bin/env python3
from ev3dev2.motor import MoveTank, OUTPUT_B, OUTPUT_C, OUTPUT_D, OUTPUT_A, SpeedPercent, follow_for_ms, SpeedRPM, LargeMotor, MoveSteering
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import ColorSensor, GyroSensor
from ev3dev2.button import Button
from ev3dev2.motor import MediumMotor
from time import sleep, time
from ev3dev2.sound import Sound
import Navigation
import init
# test
#tank = Navigation.tank_init()
def gyro_check(tank, speed, angle):
angle_now = tank.gyro.angle
#init.debug_print("cuur angle: " + str(tank.gyro.angle))
if angle_now > angle:
# Turn angle-90 to the left
offset1 = angle_now-angle
# if (offset1 > 1):
tank.turn_degrees(speed, -1*(offset1), True, .1)
#init.debug_print("Final angle turned: " + str(tank.gyro.angle))
elif angle_now < angle:
# Turn 90-angle to the right
offset1 = angle-angle_now
# if (offset1 > 1):
tank.turn_degrees(speed, offset1, True, .1)
#init.debug_print("Final angle turned: " + str(tank.gyro.angle))
def goToMission(tank, fork):
tank.on_for_rotations(15, 15, 1)
sleep(0.5)
tank.on_for_rotations(20, 3, 0.4) # turning right, L speed, R speed
sleep(0.5)
tank.on_for_rotations(-15, -15, 0.7)
sleep(0.5)
tank.on_for_rotations(3, 20, 0.7) # turn parallel to hydrodam
def InnovMission(tank, fork):
goToMission2(tank, fork)
operateMission(tank, fork)
def from_the_left_home(tank, fork):
tank.gyro.reset()
Navigation.distance_goer(tank, 37, 40, 0)
fork.on_for_rotations(-20, 0.2)
Navigation.gyro_check(tank, 5, -45)
#Navigation.distance_goer(tank, 78, 10, 45)
Navigation.distance_goer(tank, 8, 25, -45)
fork.on_for_rotations(20, 0.2)
Navigation.goer_no_gyro(tank, 52, 45)
#Navigation.gyro_check(tank, 5, 90)
#Navigation.distance_goer(tank, 10, 25, 90)
fork.on_for_rotations(20, -0.2)
def goToMission2(tank, fork):
tank.gyro.reset()
Navigation.distance_goer(tank, 37, 30, 0)
fork.on_for_rotations(-20, 0.2)
Navigation.gyro_check(tank, 5, 45)
#Navigation.distance_goer(tank, 78, 10, 45)
Navigation.distance_goer(tank, 8, 25, 45)
fork.on_for_rotations(20, 0.2)
Navigation.distance_goer(tank, 39, 30, 45)
Navigation.gyro_check(tank, 5, 90)
Navigation.distance_goer(tank, 10, -25, 90)
def operateMission(tank, fork):
tank.gyro.reset()
fork.reset()
#Navigation.distance_goer(tank, 6, -5, 0) #OG distance was 6
Navigation.distance_goer(tank, 6.45, -5, 0)
fork.on_for_rotations(-60, 0.2) #lift big bar
#fork.on_for_rotations(5, 0.08)
sleep(0.3)
#OG val 5, -10
Navigation.goer_no_gyro(tank, 6.5, -10)
#Navigation.goer_no_gyro(tank, 2.5, 5)
#tank.on_for_rotations(-10, -10, 0.16, brake=True, block=True)
sleep(0.3)
#OG vaal 0.18
#NEW CODE TO TEST
#Navigation.gyro_check(tank, 10, 3)
fork.on_for_rotations(10, 0.18) #put thing down
#sleep(0.5)
Navigation.distance_goer(tank, 40.45, 35, -5) #OG dist 40
fork.on_for_rotations(-30, 0.2)
Navigation.gyro_check(tank, 10, 15)
return
Navigation.distance_goer(tank, 10, 20, 0)
Navigation.distance_goer(tank, 40, 20, -10)
def operateMission2(tank, fork):
fork.reset()
#Navigation.distance_goer(tank, 6, -5, 0) #OG distance was 6
#Navigation.distance_goer(tank, 6.45, -5, 0)
fork.on_for_rotations(-20, 0.2) #lift big bar
#fork.on_for_rotations(5, 0.08)
#OG val 5, -10
Navigation.distance_goer(tank, 12.5, -15, 90)
fork.on_for_rotations(15, 0.15)
sleep(0.3)
Navigation.goer_no_gyro(tank, 43, 40)
tank.turn_degrees(10, 20)
fork.on_for_rotations(-35, 0.25)
def pushdownThingy(tank, fork):
tank.gyro.reset()
fork.reset()
#fork.on_for_rotations(-60, 0.2)
#tank.turn_degrees(5, 90, True, 0.05)
#home_to_plant_backwards(tank, fork)
#sleep(1)
#fork.on_for_rotations(10, 0.45)
fork.reset()
#fork.on_for_rotations(-5, 0.1)
Navigation.distance_goer(tank, 9.5, -5, 90) #forward to mission build (tank, distance, speed, angle)
#Navigation.gyro_check(tank, 5, 0)
#tank.on_for_rotations(-10, -10, 0.13, brake=True,
#block=True) # forward to mission
fork.on_for_rotations(-60, 0.3) # lift big bar
fork.on_for_rotations(5, 0.08)
#return
#Navigation.gyro_check(tank, 5, 0)
#forward 5 go back 3
tank.on_for_rotations(-5, -5, 0.3, brake=True, block=True)
sleep(0.5)
#tank.on_for_rotations(5, 5, 0.3)
fork.on_for_rotations(10, 0.27) # hit smaller bar
fork.on_for_rotations(-10, 0.2)
sleep(0.3)
# go back to meet innovation piece
tank.on_for_rotations(10, 10, 0.17, brake=True, block=True)
sleep(0.3)
fork.on_for_rotations(10, 0.23) # grip down on innovation piece
Navigation.distance_goer(tank, 30, 20, -10)
#tank.on_for_rotations(30, 30, 1.8, brake=True,
# block=True) # Back to hydrogen plant
def home_to_plant(tank, fork):
Navigation.distance_goer(tank, 45, -30, 0)
Navigation.gyro_check (tank, 15, 25)
Navigation.distance_goer(tank, 50, -25, 25)
Navigation.gyro_check (tank, 15, -35)
Navigation.distance_goer(tank, 5, 30, -35)
def home_to_plant_backwards(tank, fork):
fork.on_for_rotations(5, 0.05)
originalAngle = tank.gyro.angle
Navigation.distance_goer(tank, 42, 25, 0) #going left towards toy factory
#Navigation.gyro_check (tank, 15, 45)
turnDegree = 45-originalAngle
tank.turn_degrees(10, turnDegree, True, 0.05)
sleep(0.5)
#Navigation.distance_goer(tank, 5, 20, 30)
#tank.turn_degrees(10, 15, True, 0.05)
Navigation.distance_goer(tank, 30, 25, 45) #backwards towards innovation circle area
sleep(0.5)
#Navigation.gyro_check (tank, 10, 90)
originalAngle = tank.gyro.angle
init.debug_print(originalAngle)
turnDegree = 90-originalAngle
init.debug_print(turnDegree)
tank.turn_degrees(5, turnDegree, True, 0.05)
init.debug_print(tank.gyro.angle)
#Navigation.distance_goer(tank, 50, -25, 25)
#Navigation.gyro_check (tank, 15, -35)
#Navigation.distance_goer(tank, 5, 30, -35)
#goToMission(tank, fork)
def finalwater_reservoir_hangonhook(tank, fork, flip_flop):
tank.gyro.reset()
#flip_flop = MediumMotor(OUTPUT_D)
Navigation.distance_goer(tank, 30.5, 40, 0) #Backwards, old was 20cm
Navigation.gyro_check(tank, 5, -42)
Navigation.distance_goer(tank, 33, 20, -42) #Old 42
flip_flop.on_for_degrees(5, 60)
Navigation.distance_goer(tank, 4.5, -3, -42)
flip_flop.on_for_degrees(5, 40)
Navigation.distance_goer(tank, 6, 10, -42)
# flip_flop.on_for_degrees(5 , 60) #Hang units on hooks in water reservoir
# sleep(0.5)
# Navigation.goer_no_gyro(tank, 7, -5)
# sleep(0.5)
# flip_flop.on_for_degrees(5 , 30)
# #flip_flop.reset()
# return
#sleep(1)
#Innovation Transport
sleep(0.3)
flip_flop.on_for_degrees(5, -90)
Navigation.distance_goer(tank, 40, 45, -42)
fork.on_for_rotations(-20, 0.4) #releasing innovation
Navigation.distance_goer(tank, 20, 45, -42)
tank.turn_degrees(15, 80) #turning next to toy factorty
Navigation.distance_goer(tank, 27, 45, 42)
tank.turn_degrees(20, 60) #turning to finish truck mission
Navigation.goer_no_gyro(tank, 5, 20)
#Navigation.goer_no_gyro(tank, 29, -8) # going in finishing truck mission
#tank.turn_degrees(20, -40) #turning to complete truck
#Navigation.goer_no_gyro(tank, 1.5, -40)
#Navigation.distance_goer(tank, 30, 20, -45)
'''
Description: This function moves the dino and flips the powerplant. This is the
current working version. Takes 20.37
Authors: Jeffrey, Sahana
'''
'''Edited Version 1/19/2023, made distance after turning to get parallel to power plant longer as it was too far from the mission model'''
def update_dino_and_powerplant(tank, flipper):
flip_flop = MediumMotor(OUTPUT_D)
flip_flop.reset()
tank.gyro.reset()
#Navigation.goer_no_gyro(tank, 30, -25)
#operate mission
init.debug_print("initial gyro: ", tank.gyro.angle)
Navigation.distance_goer(tank, 84.5, -40, 0)
init.debug_print("Gyro after turn: ", tank.gyro.angle)
#Flip this up
flip_flop.on_for_degrees(40, 90)
#Go back from power plant and turn left and go forward in line for the Great Flick
Navigation.distance_goer(tank, 32, 30, 0)
#mstuff
#Turn away from power plant and go at angle -35 OG val 13cm
Navigation.gyro_check(tank, 10, -35)
Navigation.distance_goer(tank, 13, -25, -35)
#Go back to be parallel
Navigation.gyro_check(tank, 10, 0)
Navigation.distance_goer(tank, 2.5, -10, 0) #3cm
#Flip this down to collect energy unit
#flipper.on_for_rotations(20, 0.25)
flipper.on_for_degrees(10, 90)
#rotations for no one way trapdoor and truck holder is 0.27
#Go away from power plant
Navigation.distance_goer(tank, 10, 25, 0)
#Turn at angle 30 and go, then turn back to 0 so Evie is parallel to Power Plant
Navigation.gyro_check(tank, 10, 40)
#(This code determines how close you are close u r to hydro dam) OG val 20cm, then 15
Navigation.distance_goer(tank, 15, -25, 40)
Navigation.gyro_check(tank, 10, 0)
#Go forward and turn to hydro dam and sweep it away OG dist 46
Navigation.distance_goer(tank, 49, -35, 0)
#lift flippy up, turn, go forward a little bit, and put it down to catch hydro dam nrg unit then GO HOME
flipper.on_for_rotations(20, -0.25)
Navigation.gyro_check(tank, 10, 18)
sleep(0.5)
#Navigation.distance_goer(tank, 5, -25, 15)
flipper.on_for_rotations(20, 0.25)
#Navigation.gyro_check(tank, 10, -5)
#Navigation.goer_no_gyro(tank,45,-55)
Navigation.distance_goer(tank, 50, -45, -15) #Homerun
def new_update_dino_and_powerplant(tank, flipper, flip_flop):
#putting flip flop down
flip_flop.on_for_degrees(40, -85)
#flip_flop.reset()
#tank.gyro.reset()
#Navigation.goer_no_gyro(tank, 30, -25)
#operate mission
#init.debug_print("initial gyro: ", tank.gyro.angle)
Navigation.distance_goer(tank, 89.75, -35, 0) #used to be 89.75
#init.debug_print("Gyro after turn: ", tank.gyro.angle)
#Flip this up
flip_flop.on_for_degrees(40, 90)
#Go back from power plant and turn left and go forward in line for the Great Flick
Navigation.distance_goer(tank, 32, 30, 0)
#mstuff
#Turn away from power plant and go at angle -35 OG val 13cm
#Navigation.gyro_check(tank, 10, -35)
Navigation.gyro_check(tank, 10, -55)
Navigation.distance_goer(tank, 12.25, -25, -55) #distance used to be 13
#Go back to be parallel
Navigation.gyro_check(tank, 10, 0)
Navigation.distance_goer(tank, 6, -10, 0) #3cm #2.5
init.debug_print(tank.gyro.angle)
#Flip this down to collect energy unit
#flipper.on_for_rotations(20, 0.25)
flipper.on_for_degrees(70, 155)
#rotations for no one way trapdoor and truck holder is 0.27
#Go away from power plant
Navigation.distance_goer(tank, 10, 25, 0)
#Turn at angle 30 and go, then turn back to 0 so Evie is parallel to Power Plant
Navigation.gyro_check(tank, 10, 40)
#(This code determines how close you are close u r to hydro dam) OG val 20cm, then 15
Navigation.distance_goer(tank, 15, -25, 40)
Navigation.gyro_check(tank, 10, 0)
#Go forward and turn to hydro dam and sweep it away OG dist 46
Navigation.distance_goer(tank, 50, -30, 0)
return
#lift flippy up, turn, go forward a little bit, and put it down to catch hydro dam nrg unit then GO HOME
flipper.on_for_rotations(20, -0.25)
Navigation.gyro_check(tank, 10, 15)
#sleep(0.1)
#Navigation.distance_goer(tank, 5, -25, 15)
flipper.on_for_rotations(20, 0.25)
#Navigation.gyro_check(tank, 10, -5)
#Navigation.goer_no_gyro(tank,45,-55)
Navigation.distance_goer(tank, 50, -45, -15) #Homerun
def newest_dino_powerplant(tank, flipper, flip_flop):
#putting flip flop down
flip_flop.on_for_degrees(40, -85)
#flip_flop.reset()
#tank.gyro.reset()
#Navigation.goer_no_gyro(tank, 30, -25)
#operate mission
#init.debug_print("initial gyro: ", tank.gyro.angle)
Navigation.distance_goer(tank, 89, -40, 0) #used to be 89.75
#init.debug_print("Gyro after turn: ", tank.gyro.angle)
#Flip this up
flip_flop.on_for_degrees(40, 90)
#Go back from power plant and turn left and go forward in line for the Great Flick
Navigation.distance_goer(tank, 32, 30, 0)
#mstuff
#Turn away from power plant and go at angle -35 OG val 13cm
#Navigation.gyro_check(tank, 10, -35)
Navigation.gyro_check(tank, 10, -45)
Navigation.distance_goer(tank, 13, -25, -45) #distance used to be 13 #12.25
#Go back to be parallel
Navigation.gyro_check(tank, 10, 0)
Navigation.distance_goer(tank, 2.5, -10, 0) #3cm #2.5 #3.5
init.debug_print(tank.gyro.angle)
#Flip this down to collect energy unit og deg 155
#flipper.on_for_rotations(20, 0.25)
flipper.on_for_degrees(20, 160)
#rotations for no one way trapdoor and truck holder is 0.27
#Go away from power plant
Navigation.distance_goer(tank, 10, 25, 0)
#Turn at angle 30 and go, then turn back to 0 so Evie is parallel to Power Plant
Navigation.gyro_check(tank, 10, 40)
#(This code determines how close you are close u r to hydro dam) OG val 20cm, then 15, then 25
Navigation.distance_goer(tank, 15, -30, 40)
Navigation.gyro_check(tank, 10, 0)
#The straight code
Navigation.distance_goer(tank, 47, -40, 0)
flipper.on_for_degrees(-15, 85)
tank.turn_degrees(10, 15)
#Navigation.gyro_check(tank, 10, 22.5)
flipper.on_for_degrees(15, 85)
Navigation.gyro_check(tank, 10, 0)
Navigation.distance_goer(tank, 50, -60, 0)
Navigation.goer_no_gyro(tank, 50, -60)
def test(tank, flipper, flip_flop):
flipper.on_for_degrees(40, 90)
def WaterReservoir(tank, flip_flop):
#tank.turn_degrees(5, 5)
flip_flop.on_for_degrees(5, 40)
sleep(10)
Navigation.distance_goer(tank, 5, -5, 0)
sleep(1)
flip_flop.on_for_degrees(10, 20)
sleep(1)
Navigation.distance_goer(tank, 10, 5, 0)
#tank.on_for_rotation
#sleep(100)
if __name__ == "__main__":
tank = MoveTank(OUTPUT_A, OUTPUT_B)
fork = LargeMotor(OUTPUT_C)
flipper = LargeMotor(OUTPUT_C)
flip_flop = MediumMotor(OUTPUT_D)
tank.gyro = GyroSensor(INPUT_1)
tank.gyro.reset()
time1 = time()
#water_reservoir_hangonhook(tank, fork)
#finalwater_reservoir_hangonhook(tank, flipper)
#(tank, fork, flip_flop)
#dino_flick_collect_3(tank, fork)
#dino_and_powerplant(tank, flipper)
##update_dino_and_powerplant(tank, flipper)
#newest_dino_powerplant(tank, flipper, flip_flop)
#pushdownThingy(tank, fork)
#finalwater_reservoir_hangonhook(tank, flipper, flip_flop)
time2 = time()
init.debug_print(time2-time1)
# ON_FOR_ROTATIONS PARAMETERS: speed (+ goes backward), speed, rotations, brake=True, block=True