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constants.py
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constants.py
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from kipr import digital
"""
ALL PORTS:
- left motor: 3
- right motor: 2
- back tophat: 0
- front tophat: 1
- arm servo: 2
- wrist servo: 1
- clone switch: 0
- tail stick: 0
"""
IS_PRIME = not digital(0)
if IS_PRIME:
ARM_OFFSET = 0
WRIST_OFFSET = 60
F = 1.065
return_turn = 5 # angle of that one turn on the way back where clone often is too far from the wallnn
tennis_ball_spin_1 = 110
tennis_ball_spin_2 = 180
WRIST_UP_MAX = 2000 + WRIST_OFFSET
WRIST_PICK_UP_2 = 1225 + WRIST_OFFSET
TAIL_OUT = 25
else:
ARM_OFFSET = 0
WRIST_OFFSET = 80
F = 1.00 # 1.02, was trying to fix the drift to the right
return_turn = 7
tennis_ball_spin_1 = 108 # was 115
tennis_ball_spin_2 = 180
WRIST_UP_MAX = 2047 + WRIST_OFFSET
WRIST_PICK_UP_2 = 1225 + WRIST_OFFSET - 60
TAIL_OUT = 100
LEFT_MOTOR = 3
RIGHT_MOTOR = 2
TAIL_STICK = 0
BACK_TOPHAT = 0
FRONT_TOPHAT = 1
START_LIGHT = 2
START_LIGHT_THRESHOLD = 0
ARM = 2
WRIST = 1
BLACK = 2000
ARM_UP_MAX = 105 + ARM_OFFSET
ARM_UP = 405 + ARM_OFFSET
ARM_UP_HIGH = 740 + ARM_OFFSET
ARM_MID = 890 + ARM_OFFSET
ARM_DELIVER_RINGS_1 = 1200 + ARM_OFFSET #
ARM_DELIVER_RINGS_1_HALFWAY = 750 + ARM_OFFSET
# ARM_DELIVER_RINGS_2 = 1330 + ARM_OFFSET
ARM_PICK_UP_1 = 1435 + ARM_OFFSET # was 1445, 1385
ARM_PRE_PUSH = 1715 + ARM_OFFSET
ARM_PICK_UP_2 = 1895 + ARM_OFFSET # was 1895
WRIST_DELIVER_RINGS_1 = 820 + WRIST_OFFSET
WRIST_START = 870 + WRIST_OFFSET
# WRIST_DELIVER_RINGS_2 = 890 + WRIST_OFFSET
WRIST_TILT = 1272 + WRIST_OFFSET
WRIST_PUSH = 1340 + WRIST_OFFSET
WRIST_PICK_UP_1 = 1540 + WRIST_OFFSET
WRIST_UP = 1710 + WRIST_OFFSET
WRIST_DELIVER_RINGS_1_HALFWAY = 1260 + WRIST_OFFSET
# WRIST_UP_MAX = 2047 + WRIST_OFFSET
TAIL_HIDE = 2047
TAIL_LIFT = 950
TAIL_HALF = 500
PI = 3.14159