Upload files to "diagnostics"
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49
diagnostics/BatteryDiagnostics.py
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49
diagnostics/BatteryDiagnostics.py
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from pybricks.tools import wait
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import umath
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class BatteryDiagnostics:
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def __init__(self, hub):
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self.voltage = 0
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self.current = 0
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self.hub = hub
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def printVoltage(self):
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self.voltage = self.hub.battery.voltage()
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if self.voltage > 7800:
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print(f"Battery voltage is sufficient: {self.voltage}")
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elif self.voltage < 7800 :
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print(f"Charging needed: {self.voltage}")
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def printCurrent(self):
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self.current = self.hub.battery.current()
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print("Battery current:", self.current)
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def printAll(self):
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timeelapsed = 0
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voltageList = []
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currentList = []
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while True:
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print("\n\n\n\n\n")
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self.printVoltage()
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voltageList.append(self.voltage)
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self.printCurrent()
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currentList.append(self.current)
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wait(50)
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timeelapsed += 50
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if(timeelapsed >= 3000):
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break
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print("--------------FINAL RESULTS OF BATTERY DIAGNOSTICS---------------")
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print("Voltage deviation:", self.stdev(voltageList))
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print("Current deviation:", self.stdev(currentList))
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def stdev(self, vals):
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DATA = vals
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if len(DATA) < 2:
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return 0
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# Calculate the mean
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MEAN = sum(DATA) / len(DATA)
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# Calculate the variance (sum of squared differences from the mean, divided by n-1 for sample standard deviation)
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VARIANCE = sum([(x - MEAN) ** 2 for x in DATA]) / float(len(DATA) - 1)
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# Calculate the standard deviation (square root of the variance)
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STD_DEV_MANUAL = umath.sqrt(VARIANCE)
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return (STD_DEV_MANUAL)
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45
diagnostics/ColorSensorDiagnostics.py
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45
diagnostics/ColorSensorDiagnostics.py
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from pybricks.parameters import Color, Port, Stop
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from pybricks.tools import wait, StopWatch
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class ColorSensorDiagnostics:
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def __init__(self, hub, colorsensorclass):
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self.colorsensor = None
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self.PORT_MAP = {
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"A": Port.A,
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"B": Port.B,
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"C": Port.C,
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"D": Port.D,
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"E": Port.E,
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"F": Port.F,
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}
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def initializeColorSensor(self):
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VALID_PORTS = {"A", "B", "C", "D", "E", "F"}
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while True:
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colorinput = input(
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"This will test your color sensor.\n"
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"Enter the port for the color sensor you would like to test (A, B, C, D, E, or F): "
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).strip().upper()
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if colorinput not in VALID_PORTS:
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print("Invalid port. Please enter A-F.")
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continue
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try:
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if self.colorsensor is None:
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self.colorsensor = self.colorsensorclass(self.PORT_MAP[colorinput])
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print(f"Color Sensor initialized on port {colorinput}.")
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else:
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print(f"Reusing existing color sensor on port {colorinput}.")
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break
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except OSError as e:
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if e.errno == 16: # EBUSY
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print(f"Port {colorinput} is already in use. Reusing existing color sensor.")
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break
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else:
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print(f"Error initializing color sensor on port {colorinput}: {e}")
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print("Make sure a color sensor is actually connected to this port.")
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self.colorsensor = None
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self.colorsensor.detectable_colors(Color.RED, Color.YELLOW, Color.GREEN, Color.BLUE, Color.WHITE, Color.NONE)
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def printAll(self):
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while True:
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print("HSV output:", self.colorsensor.hsv)
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print("Detected color:", self.colorsensor.color())
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51
diagnostics/DriveBaseDiagnostics.py
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51
diagnostics/DriveBaseDiagnostics.py
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from pybricks.parameters import Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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from usys import stdin
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from uselect import poll
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class DriveBaseDiagnostics:
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def __init__(self, hub, motorclass, dbclass):
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self.PORT_MAP = {
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"A": Port.A,
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"B": Port.B,
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"C": Port.C,
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"D": Port.D,
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"E": Port.E,
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"F": Port.F,
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}
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def initializeDriveBase():
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leftmotorport = input("Enter the left motor port: ")
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left_motor = self.motorclass(port_map[leftmotorport], Direction.COUNTERCLOCKWISE)
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rightmotorport = input("Enter the right motor port: ")
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right_motor = self.motorclass(port_map[rightmotorport],Direction.CLOCKWISE)
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# DriveBase configuration
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WHEEL_DIAMETER = 68.8 # mm
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AXLE_TRACK = 180 # mm
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drive_base = self.dbclass(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
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drive_base.settings(600, 500, 300, 200)
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drive_base.use_gyro(True)
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def driveRobot():
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# Register the standard input so we can read keyboard presses.
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keyboard = poll()
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keyboard.register(stdin)
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while True:
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# Check if a key has been pressed.
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if keyboard.poll(0):
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# Read the key and print it.
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key = stdin.read(1)
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print("You pressed:", key)
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if(key == "W"):
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print("Insert robot go forward code here")
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elif(key == "A"):
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print("Insert robot go left code here")
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elif(key == "S"):
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print("Insert robot go backwards code here")
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elif(key == "D"):
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print("Insert robot go right code here")
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elif(key == "X")
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break
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else:
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print("That key doesn't do anything.")
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59
diagnostics/FullDiagnostics.py
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59
diagnostics/FullDiagnostics.py
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from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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HUB = PrimeHub()
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from BatteryDiagnostics import BatteryDiagnostics
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from MotorDiagnostics import MotorDiagnostics
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from ColorSensorDiagnostics import ColorSensorDiagnostics
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battery = BatteryDiagnostics(HUB)
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motor = MotorDiagnostics(HUB, Motor)
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colorsensor = ColorSensorDiagnostics(HUB, ColorSensor)
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CLEARCONFIRM = input("Clear the console before proceeding? Y/N (default: yes): ")
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if(CLEARCONFIRM == "Y" or CLEARCONFIRM == "y" or CLEARCONFIRM == "yes" or CLEARCONFIRM == ""):
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print("Clearing console... \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n")
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print("""
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███████████ █████ █████ ██████ █████ █████████ ██████ ██████ █████ █████████ █████████
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▒▒███▒▒▒▒▒███▒▒███ ▒▒███ ▒▒██████ ▒▒███ ███▒▒▒▒▒███ ▒▒██████ ██████ ▒▒███ ███▒▒▒▒▒███ ███▒▒▒▒▒███
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▒███ ▒███ ▒▒███ ███ ▒███▒███ ▒███ ▒███ ▒███ ▒███▒█████▒███ ▒███ ███ ▒▒▒ ▒███ ▒▒▒
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▒██████████ ▒▒█████ ▒███▒▒███▒███ ▒███████████ ▒███▒▒███ ▒███ ▒███ ▒███ ▒▒█████████
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▒███▒▒▒▒▒▒ ▒▒███ ▒███ ▒▒██████ ▒███▒▒▒▒▒███ ▒███ ▒▒▒ ▒███ ▒███ ▒███ ▒▒▒▒▒▒▒▒███
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▒███ ▒███ ▒███ ▒▒█████ ▒███ ▒███ ▒███ ▒███ ▒███ ▒▒███ ███ ███ ▒███
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█████ █████ █████ ▒▒█████ █████ █████ █████ █████ █████ ▒▒█████████ ▒▒█████████
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▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒ ▒▒▒▒▒▒▒▒▒ ▒▒▒▒▒▒▒▒▒
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The free and open source diagnostics tool for the LEGO® Education SPIKE™ Prime robots, designed for FIRST Lego League.
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Developed by Team 65266, Lego Dynamics.
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"""
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)
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while True:
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print("\nWhich diagnostic do you want to perform?")
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print("Enter 'b' for battery diagnostics")
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print("Enter 'm' for motor diagnostics")
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print("Enter 'cs' for color sensor diagnostics")
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print("Enter 'q' to quit")
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choice = input("Your choice: ").strip().lower()
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if choice == "b":
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print("-----------------------BATTERY DIAGNOSTICS-----------------------")
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print("This test will check the battery voltage and current. It will measure these over a period of 3 seconds and provide average and deviation values. Your voltage should be above 7800 mV for optimal performance.")
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input("Press Enter to begin the battery diagnostics.")
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battery.printAll()
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print("Battery diagnostics completed.")
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elif choice == "m":
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print("------------------------MOTOR DIAGNOSTICS------------------------")
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motor.fullTest()
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print("Motor diagnostics completed.")
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elif choice == "q":
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print("Diagnostics completed successfully. Exiting with code 0. Good luck in the robot game!")
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break
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elif choice == "cs":
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print("---------------------COLOR SENSOR DIAGNOSTICS---------------------")
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break
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else:
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print("Invalid choice. Please enter 'b', 'm', or 'q'.")
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28
diagnostics/HubDiagnostics.py
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28
diagnostics/HubDiagnostics.py
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from pybricks.tools import wait, StopWatch
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from pybricks import version
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from OtherFunctions import vprint
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import usys
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print("Pybricks version information:", version)
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print("MicroPython information:", usys.implementation)
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print("MicroPython version:", usys.version)
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class HubDiagnostics:
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def __init__(self, hub):
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self.port_map = {
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"A": Port.A,
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"B": Port.B,
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"C": Port.C,
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"D": Port.D,
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"E": Port.E,
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"F": Port.F,
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}
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def testLightSources(self, verbose):
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v = verbose
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self.hub.display.off()
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for x in range(5):
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for y in range(5):
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vprint(f"Turning on pixel at position {x}, {y}...", v)
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display.pixel(x, y, brightness=100)
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wait(100)
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vprint(f"Turning off pixel at position {x}, {y}...", v)
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display.pixel(x, y, brightness=0)
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