revert test_plant and add 2 new strat for yellow. need to test and miror in blue

robot/code/robot/modes/blue/blue_test_plant.py

@@ -138,10 +138,7 @@ class DemoSquareRobot(Robot):
         sendI2CData(AVANCE_POUSSE_POUSSE)
         time.sleep(0.25) # attente mouvement servos
 
-        target_position = pl.PointImage(1900, 1940)  # in mm
-        self.base.doMovement(target_position, target_angle)
-
-        target_position = pl.PointImage(1900, 1940)  # in mm
+        target_position = pl.PointImage(1900, 1950)  # in mm
         self.base.doMovement(target_position, target_angle)
 
         target_position = pl.PointImage(2700, 1000)  # in mm

robot/code/robot/modes/yellow/yellow_4_solar_panel.py

+from robot import Robot
+from robot.movement import positionLib as pl
+from robot.actionneurs.com_arduino_i2c import sendI2CData
+from robot.actionneurs.op_codes import *
+from robot.afficheur.affichage_statique_thread import main
+import time
+import threading
+
+class DemoSquareRobot(Robot):
+
+    #zone en haut à droite avec groupe 1 le long de l'axe x de la table
+    start_position = pl.PositionRobot(pl.PointImage(2800, 200), -60)
+    
+    def execute_strategy(self):
+        score = threading.Thread(target=main,args=(52,))
+        score.start()
+        #on allume le ruban de led en vert au début du match
+        sendI2CData("LLRs1")
+
+        #va chercher les 3 premières plantes
+        target_position = pl.PointImage(2200, 600)  # in mm
+        target_angle = -60  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+        
+        target_position = pl.PointImage(1900, 800)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_PLANTES_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2200, 550)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(FERME_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(MONTE_ASCENSEUR_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        # va chercher les 3 premiers pots
+        target_angle = -210  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2650, 720)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2750, 720)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_POTS_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        #les déposes dans la zone de départ là où le PAMI va arriver
+        target_position = pl.PointImage(2400, 240)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2300, 240)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        # se dirige vers la deuxième zone de plante
+        target_position = pl.PointImage(2250, 1200)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(FERME_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        # récupère les 3 plantes de la deuxième zone de plante
+        target_position = pl.PointImage(1900, 1500)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_PLANTES_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2200, 1200)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(FERME_PINCES_PLANTES_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(MONTE_ASCENSEUR_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        # on va chercher les 2 autres pots
+        target_angle = -330  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2650, 1430)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2760, 1430)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_POTS_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2650, 1430)  # in mm   
+        self.base.doMovement(target_position, target_angle)
+
+        #fait tomber les plantes dans les pots
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_angle = -420  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2750, 1800)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        #on les dépose dans la deuxième zone
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        #on fait les panneaux solaires
+        target_position = pl.PointImage(2800, 1950)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        time.sleep(1.0)
+
+        target_position = pl.PointImage(2800, 1940)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(AVANCE_POUSSE_POUSSE)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(1650, 1940)  # in mm
+        self.base.doMovement(target_position, target_angle)
+        
+        #on rentre en troisième zone
+        target_position = pl.PointImage(1650, 1550)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        target_angle = -360  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(300, 1000)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+
+
+
+
+def run():
+    strategy = DemoSquareRobot()
+    strategy.run()

robot/code/robot/modes/yellow/yellow_test_plant.py

@@ -135,20 +135,16 @@ class DemoSquareRobot(Robot):
         time.sleep(0.25) # attente mouvement servos
 
         #on fait les panneaux solaires
-        target_position = pl.PointImage(2800, 1950)  # in mm
-        self.base.doMovement(target_position, target_angle)
-
-        time.sleep(1.0)
 
-        target_position = pl.PointImage(2800, 1940)  # in mm
+        target_position = pl.PointImage(2800, 1950)  # in mm
         self.base.doMovement(target_position, target_angle)
 
         sendI2CData(AVANCE_POUSSE_POUSSE)
         time.sleep(0.25) # attente mouvement servos
 
-        target_position = pl.PointImage(1650, 1940)  # in mm
+        target_position = pl.PointImage(1100, 1950)  # in mm
         self.base.doMovement(target_position, target_angle)
-        
+
         #on rentre en troisième zone
         target_position = pl.PointImage(300, 1000)  # in mm
         self.base.doMovement(target_position, target_angle)

robot/code/robot/modes/yellow/yellow_test_plant_other_pot.py

+from robot import Robot
+from robot.movement import positionLib as pl
+from robot.actionneurs.com_arduino_i2c import sendI2CData
+from robot.actionneurs.op_codes import *
+from robot.afficheur.affichage_statique_thread import main
+import time
+import threading
+
+class DemoSquareRobot(Robot):
+
+    #zone en haut à droite avec groupe 1 le long de l'axe x de la table
+    start_position = pl.PositionRobot(pl.PointImage(2800, 200), -60)
+    
+    def execute_strategy(self):
+        score = threading.Thread(target=main,args=(52,))
+        score.start()
+        #on allume le ruban de led en vert au début du match
+        sendI2CData("LLRs1")
+
+        #va chercher les 3 premières plantes
+        target_position = pl.PointImage(2200, 600)  # in mm
+        target_angle = -60  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+        
+        target_position = pl.PointImage(1900, 800)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_PLANTES_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2200, 550)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(FERME_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(MONTE_ASCENSEUR_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        # va chercher les 3 premiers pots
+        target_angle = -210  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2650, 720)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2750, 720)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_POTS_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        #les déposes dans la zone de départ là où le PAMI va arriver
+        target_position = pl.PointImage(2400, 240)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2300, 240)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        # se dirige vers la deuxième zone de plante
+        target_position = pl.PointImage(2250, 1200)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(FERME_PINCES_POTS_GRP3)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        # récupère les 3 plantes de la deuxième zone de plante
+        target_position = pl.PointImage(1900, 1500)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_PLANTES_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2200, 1200)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(FERME_PINCES_PLANTES_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        sendI2CData(MONTE_ASCENSEUR_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        # on va chercher les 2 autres pots
+        target_angle = -270  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2030, 1650)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2030, 1760)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(SERRE_POTS_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(2030, 1650)  # in mm   
+        self.base.doMovement(target_position, target_angle)
+
+        #fait tomber les plantes dans les pots
+        sendI2CData(OUVRE_PINCES_PLANTES_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_angle = -210  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        target_position = pl.PointImage(2750, 1800)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        #on les dépose dans la deuxième zone
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        #on fait les panneaux solaires
+
+        target_position = pl.PointImage(2800, 1950)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(AVANCE_POUSSE_POUSSE)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(1100, 1950)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        #on rentre en troisième zone
+        target_position = pl.PointImage(300, 1000)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+        target_angle = -510  # in degree
+        self.base.doMovement(target_position, target_angle)
+
+        sendI2CData(OUVRE_PINCES_POTS_GRP1)
+        time.sleep(0.25) # attente mouvement servos
+
+        target_position = pl.PointImage(400, 1000)  # in mm
+        self.base.doMovement(target_position, target_angle)
+
+
+
+
+
+def run():
+    strategy = DemoSquareRobot()
+    strategy.run()