VEX
Highscore
- 09/27/2021 43 points
- 10/08/2021 96 points
- 11/01/2021 102 points
- 11/06/2021 111 points
- 11/08/2021 130 points
- 11/23/2021 173 points in 57 seconds
- 12/10/2021 130 points in 30 seconds, new
gotofunction
130 points in just 30 seconds - start of December
Created December 10th. With the new goto( x-coordinate, y-coordinate, reverse) function, using GPS and trigonometry.
# 130 points - 60 lines - 30 seconds - 09.12.2021
from vexcode_vrc import *
from math import sqrt
def main():
drivetrain.set_drive_velocity(100,PERCENT)
fork_motor_group.spin_to_position(1800, DEGREES, wait=False)
goto( -920, 920, 0)
goto( -920,-1450, 0)
goto( 750,-1400, 0) # blue in right zone
goto( 500,-1150, 1)
# goto( 0, -950, 0) # m = - 2/5
goto( -600, -710, 0) # yellow in left zone
goto( 400, -250, 1)
goto( 0, 0, 0) # m = - 5/8
goto( -600, 200, 0) # yellow in left zone
goto( 400, 400, 1)
goto( 0, 950, 0)
goto( -600, 950, 0) # yellow in left zone
goto( 920, 950, 1)
goto( 920, 1500, 0)
goto( -600, 1320, 0) # red in left zone
goto( 600, 600, 1)
goto( 600, -600, 1)
goto( 1400,-1350, 1)
goto( 1500, -900, 0) # red on balance
pick_up()
goto( 1500, 100, 0)
stop_project()
def goto(target_x, target_y, reverse):
x1 = gps.x_position(MM)
y1 = gps.y_position(MM)
delta_x = target_x - x1
delta_y = target_y - y1
distance = math.sqrt(delta_x**2 + delta_y**2) # pythagorean theorem
if ( delta_x == 0 ):
if ( delta_y < 0):
direction = 90
else:
direction = 270
else:
direction = - math.atan(delta_y / delta_x) * 180 / math.pi
if ( delta_x < 0 ):
direction = direction + 180
if ( reverse != 0 ):
direction = direction + 180
if ( direction > 360 ):
direction = direction - 360
drivetrain.turn_to_heading(direction, DEGREES, wait=True)
if ( reverse != 0 ):
drivetrain.drive_for(REVERSE, distance, MM, wait=True)
else:
drivetrain.drive_for(FORWARD, distance, MM, wait=True)
def pick_up():
fork_motor_group.spin_to_position(1500, DEGREES, wait=True)
def set_down():
fork_motor_group.spin_to_position(1800, DEGREES, wait=True)
vr_thread(main)
Almost 200 points at the end of November
Here is the code to reach this score:
#----------------------------------------------------------------------
#
# Project: Get Red home
# Description: Both goals in red home zone
#
# Date: 23.11.2021
# Maximum score: 172 points
# Time left: 4 seconds
#
# Starting position: A
# Orientation: Facing East (standard)
# Preload: Zero Rings
#
#----------------------------------------------------------------------
# Library imports
from vexcode_vrc import *
def move(direction, coordinate, reverse):
global angle, x, y, head, dist
angle = 0
x = gps.x_position(MM)
y = gps.y_position(MM)
head = gps.heading() # north is 0, but for the robot 0 is east - from start
monitor_variable("angle","dist","x","y","head")
if ( direction == "right" ):
angle = 0
dist = coordinate - gps.x_position(MM)
if ( direction == "left" ):
angle = 180
dist = gps.x_position(MM) - coordinate
if ( direction == "up" ):
angle = 270
dist = coordinate - gps.y_position(MM)
if ( direction == "down" ):
angle = 90
dist = gps.y_position(MM) - coordinate
drivetrain.turn_to_heading(angle, DEGREES, wait=True)
if (reverse == 0):
drivetrain.drive_for(FORWARD, dist, MM, wait=True)
else:
drivetrain.drive_for(REVERSE, -dist, MM, wait=True)
def pick_up():
fork_motor_group.spin_to_position(1500, DEGREES, wait=True)
def set_down():
fork_motor_group.spin_to_position(1800, DEGREES, wait=True)
# Add project code in "main"
def main():
global stage
stage = "Initiate system"
monitor_variable("stage")
drivetrain.set_drive_velocity(100,PERCENT)
fork_motor_group.spin_to_position(1800, DEGREES, wait=False)
move("right", -920, 0)
stage = "Pick up red goal 1"
move("up", 1500, 0)
move("right", 920, 0)
pick_up()
move("left", -1500, 0)
move("up", 1450, 0)
set_down()
move("up", 1150, 1)
stage = "Pick up red goal 2"
move("right", -950, 0)
move("down", -500, 0)
move("right", 950, 0)
move("down", -1150, 0)
move("right", 1500, 0)
move("up", -900, 0)
pick_up()
move("up", -1200, 0)
move("right", -900, 0)
move("down", -1300, 0)
set_down()
move("down", -1100, 0)
move("right", -900, 1)
move("down", -930, 0)
move("right", -180, 0)
pick_up()
move("right", -930, 0)
move("down", -950, 0)
set_down()
stage = "Get 2nd yellow goal"
move("down", -50, 1)
move("right", -180, 0)
pick_up()
move("right", -850, 0)
move("down", -70, 0)
set_down()
stage = "Remove the blue goal"
move("down", 1200, 1)
move("left", -1500, 0)
move("down", 900, 0)
pick_up()
move("down", 1200, 0)
stage = "Put blue goal down"
drivetrain.turn_to_heading(180, DEGREES, wait=True)
move("up", 1450, 0)
set_down()
move("up", 1150, 1)
stage = "Get 3rd yellow goal"
move("left", -980, 1)
move("down", 900, 0)
move("right", -180, 0)
pick_up()
fork_motor_group.spin_to_position(400, DEGREES, wait=False)
move("right", -500, 0)
move("down", 920, 0)
move("left", -1500, 1)
move("down", 600, 0)
set_down()
move("down", -100, 0)
wait(2,SECONDS)
stop_project()
# VR threads - Do not delete
vr_thread(main)
Code from November 8th, 2021
Finally with a function to easier maintain the code and improve readability. The new move(direction, coordinate, reverse) function was created and used for the following 4 weeks.
Possible update: rewrite the move function to move( x-coordinate, y-coordinate, reverse) and adjust the direction with starting position (GPS) and trigonometry. And then add more locations within one minute.
----------------------------------------------------------------------
#
# Project: Calling GPS functions
# Description: Get more than 100 points with GPS
# Driving style: drive, check, correct
# Date: 08.11.2021
# Maximum score: 130 points
# Time left: 10 seconds
#
# Starting position: A
# Orientation: Facing East (standard)
# Preload: Zero Rings
#
#----------------------------------------------------------------------
# Library imports
from vexcode_vrc import *
def move(direction, coordinate, reverse):
global angle, x, y, head, dist
angle = 0
x = gps.x_position(MM)
y = gps.y_position(MM)
head = gps.heading() # north is 0, but for the robot 0 is east - from start
monitor_variable("angle","dist","x","y","head")
if ( direction == "right" ):
angle = 0
dist = coordinate - gps.x_position(MM)
if ( direction == "left" ):
angle = 180
dist = gps.x_position(MM) - coordinate
if ( direction == "up" ):
angle = 270
dist = coordinate - gps.y_position(MM)
if ( direction == "down" ):
angle = 90
dist = gps.y_position(MM) - coordinate
drivetrain.turn_to_heading(angle, DEGREES, wait=True)
if (reverse == 0):
drivetrain.drive_for(FORWARD, dist, MM, wait=True)
else:
drivetrain.drive_for(REVERSE, -dist, MM, wait=True)
def pick_up():
fork_motor_group.spin_to_position(1500, DEGREES, wait=True)
def set_down():
fork_motor_group.spin_to_position(1800, DEGREES, wait=True)
# Add project code in "main"
def main():
global stage
stage = "Initiate system"
monitor_variable("stage")
drivetrain.set_drive_velocity(60,PERCENT)
stage = "Get 1st yellow goal"
fork_motor_group.spin_to_position(1800, DEGREES, wait=False)
move("right", -920, 0)
move("down", -1300, 0)
pick_up()
move("right", 1000, 0)
set_down()
move("right", -900, 1)
move("down", -930, 0)
move("right", -180, 0)
pick_up()
move("right", -930, 0)
move("down", -950, 0)
set_down()
stage = "Get 2nd yellow goal"
move("down", -50, 1)
move("right", -180, 0)
pick_up()
move("right", -850, 0)
move("down", -70, 0)
set_down()
stage = "Remove the blue goal"
move("down", 1200, 1)
move("left", -1500, 0)
move("down", 900, 0)
pick_up()
move("down", 1200, 0)
stage = "Put blue goal down"
drivetrain.turn_to_heading(180, DEGREES, wait=True)
move("up", 1450, 0)
set_down()
move("up", 1150, 1)
stage = "Get 3rd yellow goal"
move("left", -980, 1)
move("down", 900, 0)
move("right", -180, 0)
pick_up()
fork_motor_group.spin_to_position(400, DEGREES, wait=False)
move("right", -500, 0)
move("down", 920, 0)
move("left", -1500, 1)
move("down", 600, 0)
set_down()
move("down", -100, 0)
stop_project()
# VR threads - Do not delete
vr_thread(main)
Finally
More code and older attempts starting September 2021 are in the Github project page.