Merge remote-tracking branch 'origin/master'

strategies/strat_r2_vert_final.py

@@ -0,0 +1,57 @@
+import math
+import time
+
+from robot.robot_r2 import Robot
+
+
+# Fermé/ouvert
+# pince 1 : 10, 120 pince gauche id=0
+# pince 2 : 175, 60 pince droite id=1 il vz dans le mauvais sens
+# pont levis : 70, 25 id = 2 (PWM13)
+def dist_to_time(distance: float):  # la distance est exprimé en mm et le temps en secondes
+    return distance / 131
+
+
+async def run(robot: Robot):
+    robot.arduino.send("R2+set_led_color=green")
+    await robot.movement.async_forward(speed=100, duration=dist_to_time(570))  # étape 1
+    await robot.movement.async_turn_right(speed=100, duration=1.45)  # étape 2
+    # ouverture pince
+    robot.servos.set_servo_angle(0, 120)
+    robot.servos.set_servo_angle(1, 60)
+    await robot.movement.async_forward(speed=100, duration=dist_to_time(830))  # etape3 TODO
+    # robot.servos.set_servo_angle(0, 120)
+    # robot.servos.set_servo_angle(1, 60)
+    await robot.movement.async_move(direction=math.pi / 2, turn=1, speed=100, duration=2.5)  # Etape4
+    # await robot.movement.async_turn_right(speed=100, duration=1.40)
+    await robot.movement.async_forward(speed=100, duration=dist_to_time(350))  # Etape 5
+    await robot.movement.async_turn_left(speed=100, duration=1.3)  # Etape 6
+    await robot.movement.async_forward(speed=100, duration=dist_to_time(200))  # Etape 7
+    await robot.movement.async_backward(speed=100, duration=dist_to_time(150))  # Etape 8
+    # fermeture pince
+    robot.servos.set_servo_angle(0, 10)
+    robot.servos.set_servo_angle(1, 175)
+    await robot.movement.async_turn_left(speed=100, duration=1.6)  # Etape 9
+    await robot.movement.async_forward(speed=100, duration=dist_to_time(270))  # Etape 10
+    await robot.movement.async_right(speed=100, duration=dist_to_time(670), stop_ir_after=0)  # Etape 11
+    await robot.movement.async_backward(speed=100, duration=dist_to_time(350), stop_ir_after=0)  # Etape 12
+    await robot.movement.async_right(speed=100, duration=dist_to_time(50), stop_ir_after=0)  # tape contre la paroie #Etape 13
+    # Cerise
+    robot.servos.set_servo_angle(2, 70)
+    time.sleep(0.5)
+    robot.servos.set_servo_angle(2, 25)
+    time.sleep(2.5)
+    await robot.movement.async_right(speed=100, duration=dist_to_time(100), stop_ir_after=0)
+    time.sleep(2.5)
+    robot.servos.set_servo_angle(2, 70)
+    time.sleep(0.5)
+
+    await robot.movement.async_forward(speed=100, duration=dist_to_time(380))  # Etape 14
+    await robot.movement.async_left(speed=100, duration=dist_to_time(1650), stop_ir_after=11.5)  # Etape 15#156cm de déplacement
+    await robot.movement.async_backward(speed=100, duration=dist_to_time(450))  # Etape 16
+
+    robot.score = 49  # TODO estimation
+
+    robot.servos.set_servo_angle(0, 10)
+    robot.servos.set_servo_angle(1, 175)
+    robot.servos.set_servo_angle(2, 70)

web_wrapper.py

@@ -9,7 +9,7 @@
 from flask import Flask, json, request, send_from_directory
 from flask_cors import CORS
 
-DEFAULT_SCORE = 49  # TODO estimation
+DEFAULT_SCORE = 58  # TODO estimation
 
 app = Flask(__name__)
 CORS(app)