43 lines
1.6 KiB
Python
43 lines
1.6 KiB
Python
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#SETTING UP
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import umath
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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.tools import run_task, multitask
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from pybricks.tools import wait, StopWatch
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from pybricks.robotics import DriveBase
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from pybricks.hubs import PrimeHub
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# Initialize hub and devices
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hub = PrimeHub()
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
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left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
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right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
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lazer_ranger = UltrasonicSensor(Port.E)
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color_sensor = ColorSensor(Port.F)
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# DriveBase configuration
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WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
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AXLE_TRACK = 180 # mm (distance between wheels)
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drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
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drive_base.settings(600, 450, 300, 200)
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drive_base.use_gyro(True)
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#Run
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drive_base.straight(550)#Works (600(Previous))
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drive_base.straight(-200)
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drive_base.turn(45)
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drive_base.straight(575)
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drive_base.turn(-90)#-90 for Coach Cisco table
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left_arm.run_angle(200,270)
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drive_base.straight(300)
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left_arm.run_angle(200,-265)
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right_arm.run_angle(200, -200)
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drive_base.straight(-105)#Use -105 for Coach Cisco table(-105 for school)
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drive_base.turn(32)#was 24-Use 24 for Coach Cisco's table(32 for school)
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right_arm.run_angle(1500, 180)
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drive_base.turn(30)
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drive_base.straight(-1000)
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