44 lines
1.3 KiB
Python
44 lines
1.3 KiB
Python
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)
|