missione 1 e 2

menu.py

@@ -3,12 +3,13 @@ import usys
 from pybricks.tools import hub_menu, wait
 
 import batteria
-from giro_leo_prova import main as run_L
-from guida_funzionante import main as run_G
-from guidaavantieindietro import main as run_A
+from giro_leo_prova import main as run_R
 from robot_local import robot
 
-PROGRAMMI = {"G": run_G, "A": run_A, "L": run_L}
+# from run_01 import main as run_1
+from run_02 import main as run_2
+
+PROGRAMMI = {"2": run_2, "R": run_R}
 
 
 def run_with_play(hub, fn, *args, **kwargs):

run_01.py

@@ -0,0 +1,14 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Axis, Direction, Port, Stop
+from pybricks.pupdevices import Motor
+from pybricks.robotics import DriveBase
+
+from assi import A
+from robot_class import LazyRobot, Robot
+
+
+def main(robot: LazyRobot):
+    hub = robot.hub
+    db = robot.db
+
+    db.settings()

run_02.py

@@ -0,0 +1,44 @@
+from pickle import STOP
+from threading import ThreadError
+
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Axis, Direction, Port, Stop
+from pybricks.pupdevices import Motor
+from pybricks.robotics import DriveBase
+
+from assi import A
+from robot_class import LazyRobot, Robot
+
+msu_R = Motor(Port.E)
+msu_L = Motor(Port.D)
+
+
+def main(robot: LazyRobot):
+    hub = robot.hub
+    db = robot.db
+
+    db.settings(864, 300, 100, 50)
+
+    db.straight(600)  # mission 1
+    msu_L.run_angle(1000, -720, Stop.HOLD, wait=True)  # abbassamento dell'asscenzore
+    db.straight(50)  # primo abbassamento del paletto rosso
+    db.straight(-120)  # secondo abbassamento
+    db.straight(40)
+    msu_L.run_angle(1000, -720, Stop.HOLD, wait=False)  # inalzamento ascensore
+
+    db.straight(50)  # missione 2
+    db.arc(500, 20, then=Stop.HOLD, wait=True)
+    msu_L.run_angle(1000, 360, Stop.HOLD, wait=True)
+
+    # db.straight(-150)  # mission 3      #Return Point start arc
+    # msu_L.run_angle(1000, -1440, Stop.COAST_SMART, wait=True)
+    # db.arc(275, 90, then=Stop.HOLD, wait=False)
+    # db.straight(130)
+    # msu_L.run_angle(1000, 1440, Stop.COAST_SMART, wait=True)  # inclinazione carrello
+
+
+if __name__ == "__main__":
+    import batteria
+    from robot_local import robot
+
+    main(robot)