Writing missions¶

A mission ("run") is one Python file in hardware/missions/ named runN.py. The N is the number shown on the robot's light matrix.

from alliedwork import *

def run():
    set_pose(x=30, y=8, heading=0)    # 1. say where the robot starts
    mission("M01")                    # 2. (optional) label for the log
    drive_to(43, 16, 8)               # 3. go to the model...
    turn_to(0)                        #    ...face it...
    drive(4, 4)                       #    ...push slowly
    drive(-4, 4)
    attachment("A", 90)               # 4. move an attachment motor

The map in your head¶

Units: inches, degrees, inches per second.
(0, 0) is the bottom-left corner of the mat as seen from your launch side. x goes right, y goes up (toward the far wall).
Heading 0 = facing the far wall (+y). Positive = clockwise. 90 = facing right, -90 = facing left, 180 = facing you.
turn(90) turns right. turn(-90) turns left.

Rules that keep runs reliable¶

Start with set_pose, using the launch area's start pose. The robot only knows where it is because you told it.
Check the field file before using a coordinate. Use a mission's approach pose from work/field/missions.json; don't guess.
Slow down near models: 8 in/s to travel, 4 in/s when touching things, turns at 90°/s.
Re-align after long drives or before precise missions: square_to_wall(...) against a wall fixes heading and one coordinate.
Comment every step with the mission and where the robot should be after it.
End back in a launch area, inside the match time.
Keep paths away from models: the robot is wider than its center point (see robot.footprint_in), leave ~1 in clearance.

Doing waypoints by hand¶

From pose (x0, y0) facing h0 to point (x1, y1): distance = sqrt(dx² + dy²), target heading = atan2(dx, dy) in degrees, turn = target − h0 wrapped to (−180, 180]. drive_to(x1, y1) does exactly this for you.

When something goes wrong in a run¶

A command that makes no progress for 1.5 s (stuck, pushed into a wall) stops, prints STALLED, and returns False, so the run continues. You can react: if not drive(10, 4): ....
A command that takes far too long prints TIMEOUT and returns False.
A bug (exception) in a run is caught by the menu: red light, low beep, menu returns.
Typos give a plain message, e.g. drive(): speed must be > 0, got 0.

Try before you drive¶

python run.py run3 --sim       # fake robot, prints the final true position
python run.py run3             # upload and run just this run
python run.py                  # upload all runs + the menu (competition flow)

Adding your own command¶

Write a normal function in hardware/alliedwork.py (it can call drive, attachment, ...) and add its name to __all__ at the bottom so missions can use it:

def drop_cargo():
    attachment("A", -90, 400)
    wait(300)
    attachment("A", 90, 400)