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constants.py
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constants.py
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from kipr import digital
IS_PRIME = not digital(0)
IS_CLONE = not IS_PRIME
START_LIGHT = 1
START_LIGHT_THRESHOLD = 0
# Servo Ports
ARM = 0
WRIST = 1
RIGHT_WIPER = 2
LEFT_WIPER = 3
# Motor Port
BOT_STICK = 3
TOP_HAT = 0
if IS_PRIME:
print("I am prime")
ADJUST_SPEED = 1.0
# Servo Positions
ARM_START = 600
ARM_MAX = 2047
ARM_DOWN = 380
ARM_DELIVER_HIGH = 1660
ARM_DELIVER_FINAL = 1425
ARM_CUBES = 1165
ARM_DELIVER_LOW = 700
WRIST_START = 600
WRIST_UP = 1480
WRIST_POM = 650
WRIST_DELIVER_HIGH = 1825
WRIST_DELIVER_FINAL = 1630
WRIST_CUBES = 1375
WRIST_DELIVER_LOW = 258
WRIST_DRIVE_UP = 525 # value for wrist to pe perpendicular to ground when driving
WRIST_MAX = 1600
WRIST_DROP_CUBES = 2047
LEFT_WIPER_CLOSED = 458
LEFT_WIPER_CENTER = 800
LEFT_WIPER_OPEN = 1290
LEFT_WIPER_CUBES = 1170
LEFT_WIPER_DELIVER_OPEN = 650
LEFT_WIPER_GRAB = 915
RIGHT_WIPER_CLOSED = 1024
RIGHT_WIPER_CENTER = 740
RIGHT_WIPER_OPEN = 225
RIGHT_WIPER_DELIVER_OPEN = 790
RIGHT_WIPER_GRAB = 470
TOPHAT_THRESHOLD = 1000
BOT_STICK_START = -700
elif IS_CLONE:
print("I am clone")
ADJUST_SPEED = 1.0 # Factor for left motor in drive function
# Servo Positions
ARM_MAX = 2047
ARM_DOWN = 450 # needs to be 480 on pick up
ARM_DELIVER_HIGH = 1700
ARM_DELIVER_FINAL = 1500
ARM_CUBES = 1330
ARM_DELIVER_LOW = 700
WRIST_START = 560
WRIST_UP = 1250
WRIST_MAX = 1100
WRIST_POM = 485 # 560 before
WRIST_DELIVER_HIGH = 1550
WRIST_DELIVER_FINAL = 1500
WRIST_CUBES = 800
WRIST_DELIVER_LOW = 250
WRIST_DRIVE_UP = 525 # value for wrist to pe perpendicular to ground when driving
WRIST_DROP_CUBES = 2047
LEFT_WIPER_CLOSED = 575
LEFT_WIPER_CENTER = 875
LEFT_WIPER_OPEN = 1475
LEFT_WIPER_CUBES = 1190
LEFT_WIPER_DELIVER_OPEN = 935
LEFT_WIPER_GRAB = 1030
RIGHT_WIPER_CLOSED = 1100
RIGHT_WIPER_CENTER = 740
RIGHT_WIPER_OPEN = 210 # was 275
RIGHT_WIPER_DELIVER_OPEN = 800
RIGHT_WIPER_GRAB = 545
TOPHAT_THRESHOLD = 1000
BOT_STICK_START = -900
else:
print("Houston, we've got a problem...")