Improved Automated cycles

[AndreaFavero71]

V3.15: Improved Automated cycles; Added arguments for Cubotino_T.py, s_mode parameter (PiCamera V2), 'personalizations' folder

[jm493]

optim_moves2 fails if the solution only has two moves.

Cube status (via BGR color distance): UUUUUUDDDBFFRRRRRRLLLBFFBFFUDDUDDUDDBBFLLLLLLRRRBBFBBF
Camera warm-up, camera setting, cube status (BGR), and solution, in: 38.4 secs

Cube solution: 2 moves  U1 L2 
pre optim 16
Robot moves string: not optimization type 1 needed
moves at opt1:  F1R1S3S3F3R1S3R1
len moves at opt1: 16
optim1 16
Traceback (most recent call last):
  File "Cubotino_T.py", line 3809, in <module>
    reset_camera = start_solving(solv_cycle)  # start_solving function is called
  File "Cubotino_T.py", line 3070, in start_solving
    cubeAF()                    # cube reading/solving function is called
  File "Cubotino_T.py", line 3587, in cubeAF
    HSV_detected, start_time, camera_ready_time, cube_detect_time, cube_solution_time) 
  File "Cubotino_T.py", line 2668, in robot_solve_cube
    _, robot_moves, total_robot_moves = rm.robot_required_moves(solution, solution_Text) 
  File "/home/pi/cubotino/src/Cubotino_T_moves.py", line 366, in robot_required_moves
    moves = optim_moves2(moves)               # removes eventual unnecessary flips
  File "/home/pi/cubotino/src/Cubotino_T_moves.py", line 274, in optim_moves2
    if F_list[-1] == 'F3' and F_list[-2] == 'F2':  # case the second-last flip is 'F3' and last flip is 'F2'
IndexError: list index out of range
(.virtualenvs) root@cubotino:/home/pi/cubotino/src# 

[AndreaFavero71]

Hi John, you're fully right. I made a very basic mistake, now is solved.

[jm493]

Try this: Align cube with Green at Front, White Up Apply R1 Place in Cubotino, and run python Cubotino_T.py --debug

Cube solution: 1 moves  R3 
Traceback (most recent call last):
  File "Cubotino_T.py", line 3816, in <module>
    reset_camera = start_solving(solv_cycle)  # start_solving function is called
  File "Cubotino_T.py", line 3077, in start_solving
    cubeAF()                    # cube reading/solving function is called
  File "Cubotino_T.py", line 3594, in cubeAF
    HSV_detected, start_time, camera_ready_time, cube_detect_time, cube_solution_time) 
  File "Cubotino_T.py", line 2675, in robot_solve_cube
    _, robot_moves, total_robot_moves = rm.robot_required_moves(solution, solution_Text) 
  File "/home/pi/cubotino/src/Cubotino_T_moves.py", line 358, in robot_required_moves
    moves = optim_moves2(moves)               # removes eventual unnecessary flips
  File "/home/pi/cubotino/src/Cubotino_T_moves.py", line 271, in optim_moves2
    if F_list[-1] == 'F3' and F_list[-2] == 'F2':  # case the second-last flip is 'F3' and last flip is 'F2'
IndexError: list index out of range
(.virtualenvs) root@cubotino:/home/pi/cubotino/src# 

optim_moves2 crashes there is only 1 move in the solution, because F_list[-2] doesn't exist.

I think line 271 could change to

    if F_count == 2 and F_list[-1] == 'F3' and F_list[-2] == 'F2':  # case the second-last flip is 'F3' and last flip is 'F2'

Only check the F moves if you found a F-pair.

[AndreaFavero71]

Hi John, as always you're fully right. The proposed solution is simple and to the point: Update is just committed. Thank you

[AndreaFavero71]

Hi John, on the optim_moves2 function there still was one case not covered, leading to failure :-( I believe Latest Cubotino_T_moves.py, committed as V3.16_2, works working properly.