An autonomous system for Drone Competition on AgroBum Robotics Olympiad

agrobum_drone.py

# VEX IQ Python-Project
import sys
import vexiq

#region config
bumper_1     = vexiq.Bumper(1)
touch_led_2  = vexiq.TouchLed(2)
bumper_3     = vexiq.Bumper(3)
bumper_4     = vexiq.Bumper(4)
distance_9   = vexiq.DistanceSensor(9, vexiq.UNIT_CM)
touch_led_10 = vexiq.TouchLed(10)
motor_11     = vexiq.Motor(11)
joystick     = vexiq.Joystick()
#endregion config
touch_led_2.off()
touch_led_10.off()
hover_ok = False
hover_time = 0

while True:
    if bumper_1.is_pressed() and bumper_3.is_pressed() or bumper_1.is_pressed() and bumper_4.is_pressed():
        touch_led_2.color(0, 100, 0)
    elif bumper_3.is_pressed() or bumper_4.is_pressed():
        touch_led_2.color(100, 0, 0)
        sys.sleep(2)
        motor_11.run_to_position(60, 90)
        sys.sleep(2)
        motor_11.run_to_position(60, 0)
        
    
    if joystick.bEdown():
        touch_led_2.off()
        touch_led_10.off()

    vexiq.lcd_write(distance_9.distance(), 1)
    #vexiq.lcd_write(distance_12.distance(), 2)
    if 45 >= distance_9.distance() >= 20:
        if hover_ok is False:
            hover_time = sys.clock()
        hover_ok = True
    else:
        hover_ok = False
    
    if hover_ok is True:
        if (sys.clock() - hover_time < 3 and sys.clock() - hover_time >= 1):
            touch_led_10.color(100, 0, 0)
        elif (sys.clock() - hover_time < 5 and sys.clock() - hover_time >= 3):
            touch_led_10.color(0, 0, 100)    
        elif (sys.clock() - hover_time >= 5):
            touch_led_10.color(0, 100, 0)