import motor
import runloop
from hub import port
import motor_pair
#arne dont hate on the code plz
#if you do then rather come with improvements.
#binds both the wheels so they are an motor pair
motor_pair.pair(motor_pair.PAIR_1, port.E, port.F)
async def octopus_harvesting():
await motor.run_to_absolute_position(port.C, 0, 200) # Resets the arm
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 550, 0) # Moves forward towards the squid tower
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -120, 100) # Rotates left to align with tower
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 500, 0) # Collects squid
async def octopus_cage():
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -300, 0) # Moves back
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -95, 100) # Rotates left
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 900, 0) # Moves forward towards the field
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 175, 100) # Rotates to align with field
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 400, 0) # Moves forward
await motor.run_for_degrees(port.C, 100, 100) # Releases squid
async def power_lifting_submarine():
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -50, 0) # Back
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 80, 100) # Right
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 600, 0) # Forward
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -150, 100) # Left
await motor.run_to_absolute_position(port.C, 0, 200) # Resets the arm
await motor.run_for_degrees(port.C, 40, 100) # Arm lifting
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 115, 0) # Forward
await motor.run_for_degrees(port.C, 250, 250) # Power lifting
await motor.run_to_absolute_position(port.C, 0, 200)
await motor.run_for_degrees(port.C, 250, 250)
async def nightmare_fish():
await motor.run_to_absolute_position(port.C, 0, 200) # Resets the arm
await motor.run_for_degrees(port.C, 40, 100) # Arm lifting
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -100, 100) # Left
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 400, 0) # Forward
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -180, 100) # Left
await motor.run_to_absolute_position(port.C, 0, 200) # Resets the arm
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 80, 0) # Forward
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 80, 100) # Right
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 90, 0) # Forward
async def baby_shark():
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -90, 0) # backwards
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 80, 100) # Right
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 800, 0) # Forward
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -100, 100) # Left
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 100, 100) # Right
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 500, 0) # Forward
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 80, 100) # Right
await motor.run_for_degrees(port.C, 100, 100) # Arm lifting
await motor.run_to_absolute_position(port.C, 0, 200) # Resets the arm
await motor.run_for_degrees(port.C, 40, 100) # Arm lifting
await motor.run_for_degrees(port.C, 20, 100) # Arm lifting
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 130, 0) # Forward
await motor.run_to_absolute_position(port.C, 0, 200) # Resets the arm
async def return_home():
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -150, 0) # Backwards
await motor_pair.move_for_degrees(motor_pair.PAIR_1, -220, 100) # Left
await motor_pair.move_for_degrees(motor_pair.PAIR_1, 1200, 0) # Forward
# referencing all the other tasks
async def main():
await octopus_harvesting() # removes the squid from the antenna
await octopus_cage() # relocate the squid
await power_lifting_submarine() # sending over the submersible
await nightmare_fish() # makes the angler fish go to sleep
await baby_shark() # on the way to get the shark water sample is done
await return_home() # finished
# now this runs the def main which again takes and references all the other def XXX and runs their code in sequence.
runloop.run(main())