studentcode.py

KOALA_BEAR = "6_1"
LINE_FOLLOWER = "2_3"
LIMIT_SWITCH = "limit_switch"
ARM_MOTOR = "6_801"
​
def autonomous_setup():
    print("Autonomous mode has started!")
    la = Robot.get_value(LINE_FOLLOWER, "right")
    lb = Robot.get_value(LINE_FOLLOWER, "left")
    lc = Robot.get_value(LINE_FOLLOWER, "center")
    # in case of any needed motor inversions
    Robot.set_value(KOALA_BEAR, "invert_b", False)
    Robot.set_value(KOALA_BEAR, "invert_a", True)
​
def autonomous_main():
    right_motor_speed = 1
    left_motor_speed = 1
    la = Robot.get_value(LINE_FOLLOWER, "right")
    lb = Robot.get_value(LINE_FOLLOWER, "left")
    lc = Robot.get_value(LINE_FOLLOWER, "center")
    # Robot following tape in a straight line
    if (lb > lc and lb > la):
        # print("left")
        right_motor_speed = 0.45
        left_motor_speed = 0.2
        Robot.set_value(KOALA_BEAR, "velocity_a", right_motor_speed)
        Robot.set_value(KOALA_BEAR, "velocity_b", left_motor_speed)
    # Robot following tape that starts to go to the right, diagonally not a 90 degree turn
    elif (la > lc and la > lb):
        # print("right")
        right_motor_speed = 0.2
        left_motor_speed = 0.45
        Robot.set_value(KOALA_BEAR, "velocity_a", right_motor_speed)
        Robot.set_value(KOALA_BEAR, "velocity_b", left_motor_speed)
    elif (lc > la and lc > lb):
        # print("straight")
        right_motor_speed = .55
        left_motor_speed = .55
        Robot.set_value(KOALA_BEAR, "velocity_a", right_motor_speed)
        Robot.set_value(KOALA_BEAR, "velocity_b", left_motor_speed)
    # Robot following tape that starts to go to the left, diagonally not a 90 degree turn
    else:
        pass
        #print("broken, sad, and confused robot :(")
​
def teleop_setup():
    print("Teleop mode has started!")
    # in case of any needed motor inversions
    Robot.set_value(KOALA_BEAR, "invert_b", False)
    Robot.set_value(KOALA_BEAR, "invert_a", True)
​
def teleop_main():
    right_motor_speed = 0
    left_motor_speed = 0
    arm_speed = 0
    if Keyboard.get_value("w"):
        right_motor_speed = 0.5
        left_motor_speed = 0.5
    elif Keyboard.get_value("s"):
        right_motor_speed = -0.5
        left_motor_speed = -0.5
    if Keyboard.get_value("d"):
        right_motor_speed = 0.075
        left_motor_speed = 0.5
    elif Keyboard.get_value("a"):
        right_motor_speed = 0.5
        left_motor_speed = 0.075
    if Keyboard.get_value("t"):
        right_motor_speed = 1
        left_motor_speed = 1
    elif Keyboard.get_value("g"):
        right_motor_speed = -1
        left_motor_speed = -1
    if Keyboard.get_value("h"):
        right_motor_speed = 0.3
        left_motor_speed = 1
    elif Keyboard.get_value("f"):
        right_motor_speed = 1
        left_motor_speed = 0.3
    if Keyboard.get_value("up_arrow"):
        arm_speed = 0.1
    elif Keyboard.get_value("down_arrow"):
        arm_speed = -0.1
    Robot.set_value(KOALA_BEAR, "velocity_b", left_motor_speed)
    Robot.set_value(KOALA_BEAR, "velocity_a", right_motor_speed)
    # KOALA_BEAR below is the second motor controller for the arm specifically !!! CHANGE THE IDS WHEN DRIVING
     Robot.set_value(ARM_MOTOR, "velocity_b", arm_speed)