#ddd file: contains everything needed for the pathfinding movement system Contains gyro class, node class, Cardinal function, MoveInDirections function, ReturnHome function, Log function, and DetectMovement function.

Gyro class used to store the cardinal direction yaw values

Node and Astar made by Nicholas Swift Here is the link https://medium.com/@nicholas.w.swift/easy-a-star-pathfinding-7e6689c7f7b2 Node class used in the pathfinding system Astar is the pathfinding system

Cardinal Function: Used to turn the bot in any of the eight Cardinal directions The turn may be off due to drag on the board Input any cardinal direction name string value. Ex. Cardinal("North")

MoveInDirections Function: Moves the bot across the board using the Cardinal function Translates the path from Astar function to a list of possible outcomes Then checks the new outcomes against a list and turns the bot to the new direction and moves the correct distance Input the path, the length of each node on the map, the speed of the movement, if the path should be reversed. Ex. moveInDirections([(1, 2), (1, 3), (1, 2), (1, 1), (1, 2)], 11, 30, False)

returnHome Function: Holds the map of the board Returns the bot back to home The memory of the spike is limited so this function breaks up the path locations so it creates multiple positions to travel to first and then to the end Input any the starting position of the robot, then the target position. returnHome((9, 9), (1, 1))

Log Function: Place after every piece of movement code Enter either Gyro or Movement as the argument Use gyro to detect turns and use Movement to detect movement Logs the current angle and movement the robot travelled at the current time Input to log the gyro or robot movement. Ex. Log("Gyro")

DetectMovement Function: This function returns the position of the robot, it acts like a varible Uses sign a cosign to detect the amount of movement the robot made veritcal and horizontal The amount traveled is the hypotenuse of the triangle and sign and cosign of the current angle are multiple by amount traveled to get its position Input the current vertical and horizontal movement, Ex. detectMovement(10, 20)

#Functions File: Contains previously made functions used in the 2021 - 2022 FLL season Contains Working Gyro class, UltraDrive function, turn function by David Dong, DUD function, DDUD function, GyroTurn, ForkLift function, and linefollow function

Contains In Progess / NOT working DoubleUltraDrive function, GyroDrive function, createMap function, pain function, Cardinal function, MoveInDirection function, Move function, and returnHome function

UltraDrive function: drive the bot forward until target distance reached by the UltraSonic sensor Input the target length and speed. Ex. UltraDrive(30, 30)

Turn function: Turns the bot for the amount of degrees Created by David Dong Input the target amount of degrees to turn. Ex. turn(90)

DUD function: drive the bot forward until target distance reached by the UltraSonic sensor Uses gyro to keep straight Input the target length and speed. Ex. DUD(30, 30)

DDUD function: drive the bot forward until target distance reached by degree calculations Uses gyro to keep straight Input the target length and speed. Ex. DDUD(30, 30)

GyroTurn function: Turns the bot the target degrees, in the target direction Input new yaw value, turning direction, and speed. Ex. GyroTurn(40, "Right", 30)

ForkLift function: Moves the forklift up and down based on the string input Input whether to up or down. Ex. ForkLift("Up")

LineFollow function: Follows the line on the board by turning across the black line Input the target length and speed. Ex. LineFollow(30, 30)