49 lines
1.5 KiB
Python
49 lines
1.5 KiB
Python
from pybricks.hubs import PrimeHub
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from pybricks.parameters import Axis, Direction, Port, Stop
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from pybricks.pupdevices import Motor
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait
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from assi import A
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from robot_class import LazyRobot, Robot
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def main(robot: LazyRobot):
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hub = robot.hub
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db = robot.db
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msu_R: Motor = robot.extra_R
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msu_L: Motor = robot.extra_L
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db.settings(864, 300, 100, 50)
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db.straight(608) # mission 1
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msu_L.run_angle(1000, -570, Stop.HOLD, wait=True) # abbassamento dell'asscenzore
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db.settings(864, 1000, 100, 50)
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db.straight(40) # primo abbassamento del paletto rosso
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db.straight(-80) # secondo abbassamento
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db.straight(40)
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msu_L.run_angle(1000, 420, Stop.HOLD, wait=False) # inalzamento ascensore
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# db.settings(864, 300, 100, 50)
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db.straight(20) # missione 2
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wait(2000)
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msu_L.run_angle(1000, -300, Stop.HOLD, wait=False) # abbassamento dell'asscenzore
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db.arc(250, angle=30, then=Stop.HOLD, wait=True)
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msu_L.run_angle(1000, 90, Stop.HOLD, wait=True)
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db.straight(10)
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# db.straight(-150) # mission 3 #Return Point start arc
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# msu_L.run_angle(1000, -1440, Stop.COAST_SMART, wait=True)
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# db.arc(275, 90, then=Stop.HOLD, wait=False)
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# db.straight(130)
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# msu_L.run_angle(1000, 1440, Stop.COAST_SMART, wait=True) # inclinazione carrello
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if __name__ == "__main__":
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import batteria
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from robot_local import robot
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main(robot)
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