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Competition patches #75

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b8e2f2a
Update zz_run_one.py
cpb-gh Dec 11, 2022
536bd8d
Update zz_run_three.py
cpb-gh Dec 11, 2022
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15 changes: 9 additions & 6 deletions functions/zz_run_one.py
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Original file line number Diff line number Diff line change
@@ -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)
Expand All @@ -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
17 changes: 9 additions & 8 deletions functions/zz_run_three.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -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)
Expand All @@ -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