From b8e2f2a28d2a9cdbea1d5e5e69f581ab85031819 Mon Sep 17 00:00:00 2001 From: cpb-gh <104538915+cpb-gh@users.noreply.github.com> Date: Sat, 10 Dec 2022 19:55:55 -0500 Subject: [PATCH 1/2] Update zz_run_one.py --- functions/zz_run_one.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/functions/zz_run_one.py b/functions/zz_run_one.py index 39f6edf..958c6d5 100644 --- a/functions/zz_run_one.py +++ b/functions/zz_run_one.py @@ -1,19 +1,20 @@ ### FUNCTION START + def zz_run_one(): sensorL = ColorSensor ( 'D' ) sensorR = ColorSensor ( 'C' ) #start fast, arrive slow -> expo-in-out! - gyro_straight(degrees = 900, start_power = 50, end_power = 40, easing=ExponentialEaseInOut, motor_stop_mode = brake, kp=2,) + gyro_straight(degrees = 750, start_power = 40, end_power = 40, easing=ExponentialEaseInOut, motor_stop_mode = brake, kp=2,) #back up from tv gyro_straight(degrees = -160, start_power = 30, end_power = 25, kp=0) #orient the robot towards windmill T - turn_function(degrees = -45, easing = ExponentialEaseInOut, stoptype = 'brake', startspeed = 30, endspeed = 30, turntype = 'right') + turn_function(degrees = -37, easing = ExponentialEaseInOut, stoptype = 'brake', startspeed = 30, endspeed = 30, turntype = 'right') #move toward front of windmill gyro_straight(degrees = 710, start_power = 60, end_power = 30, kp=0.5, easing = ExponentialEaseInOut) #spin to face windmill head on turn_function(degrees=65, easing=ExponentialEaseOut, stoptype='brake', startspeed=50, endspeed=40, turntype = 'both') #charge at the windmill! hope we funnel onto it - gyro_straight(degrees = 340, start_power = 50, end_power = 50, kp=0.5) + gyro_straight(degrees = 320, start_power = 20, end_power = 10, kp=0.5) #snag the energies t = Timer() control_attachments(start_speed=80, end_speed=80, degrees_wanted=1150, motor_letter = 'E', timeout_seconds = 3) @@ -24,12 +25,14 @@ def zz_run_one(): wait_for_seconds(.5) control_attachments(start_speed=80, end_speed=80, degrees_wanted= -1150, motor_letter = 'E', timeout_seconds = 3) #back up from windmill - gyro_straight(degrees=-255, start_power=20, end_power=20, easing=ExponentialEaseInOut, kp=0) - # moves the arm to not hit the toy factory + gyro_straight(degrees=-235, start_power=20, end_power=20, easing=ExponentialEaseInOut, kp=0) + # moves the arm to not hit the toy factory when backing up control_attachments(start_speed=80, end_speed=80, degrees_wanted=550, motor_letter = 'E',) gyro_straight(degrees=-355, start_power=20, end_power=20, easing=ExponentialEaseInOut, kp=0) + gyro_straight(degrees= 15, start_power=20, end_power=20, easing=ExponentialEaseInOut, kp=1) #move back to the base so we can prepare it to do something else - turn_function(degrees=75, easing=ExponentialEaseOut, stoptype='brake', startspeed=50, endspeed=40, turntype = 'both') + turn_function(degrees=70, easing=ExponentialEaseOut, stoptype='brake', startspeed=50, endspeed=40, turntype = 'both') gyro_straight(degrees = 1300, start_power = 60, end_power = 60, kp=0.5) control_attachments(start_speed=80, end_speed=80, degrees_wanted= -1150, motor_letter = 'E', timeout_seconds = 2) + ### FUNCTION END From 536bd8dc51edbd6b35ed92ee6b501dfa63f86ad9 Mon Sep 17 00:00:00 2001 From: cpb-gh <104538915+cpb-gh@users.noreply.github.com> Date: Sat, 10 Dec 2022 19:56:40 -0500 Subject: [PATCH 2/2] Update zz_run_three.py --- functions/zz_run_three.py | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/functions/zz_run_three.py b/functions/zz_run_three.py index 527fbca..22ba9ac 100644 --- a/functions/zz_run_three.py +++ b/functions/zz_run_three.py @@ -18,15 +18,15 @@ def see_white_right(): #from start position, move to middle of field gyro_straight(degrees=1550, start_power=40, end_power=40, kp=0.5) - wait_for_seconds(1) + #wait_for_seconds(1) turn_function(degrees=30, startspeed=30, endspeed=30) - wait_for_seconds(1) - gyro_straight(degrees=550, timeout_seconds=2, start_power=60, end_power=60) - wait_for_seconds(1) - turn_function(degrees=20, startspeed=30, endspeed=30) - wait_for_seconds(1) + #wait_for_seconds(1) + gyro_straight(degrees=450, timeout_seconds=2, start_power=60, end_power=60) + #wait_for_seconds(1) + turn_function(degrees=15, startspeed=30, endspeed=30) + #wait_for_seconds(1) gyro_straight(degrees=700, start_power=70, end_power=40, kp=0.5, timeout_seconds=2) - gyro_straight(degrees=-170, start_power=40, end_power=40) + gyro_straight(degrees=-180, start_power=40, end_power=40) # high five control_attachments(motor_letter="E", start_speed=100, end_speed=100, degrees_wanted=-2700) control_attachments(motor_letter="E", start_speed=100, end_speed=100, degrees_wanted=2700) @@ -40,7 +40,7 @@ def see_white_right(): gyro_straight(degrees=-50, start_power=40, end_power=40) turn_function(degrees=-10, startspeed=30, endspeed=30) - gyro_straight(degrees=1000, start_power=40, end_power=40, also_stop_if=see_black_left) + gyro_straight(degrees=1000, start_power=20, end_power=20, also_stop_if=see_black_left) line_follow(degrees=600, stopIf=see_black_right) for i in range(3): gyro_straight(degrees=360, start_power=40, end_power=40, timeout_seconds=1) @@ -49,4 +49,5 @@ def see_white_right(): gyro_straight(degrees=1500, start_power=100, end_power=100) control_attachments(motor_letter="E", start_speed=100, end_speed=100, degrees_wanted=-2500) + ### FUNCTION END