54 lines
1.8 KiB
Python
54 lines
1.8 KiB
Python
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#Solution for biosentric center
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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(700, 500, 300, 200)
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drive_base.use_gyro(True)
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def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
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drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
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async def run_both_arms():
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await multitask(
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left_arm.run_angle(200,80),
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right_arm.run_angle(200,-100)
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)
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async def main ():
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await left_arm.run_angle(200,-80)
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await right_arm.run_angle(200,-70)
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await drive_base.arc(-400,angle=90)
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await drive_base.turn(55)
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await drive_base.straight(240)
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await drive_base.turn(-40)
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await drive_base.straight(85)
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await drive_base.straight(-32)
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await run_both_arms()
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await drive_base.straight(-53)
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await right_arm.run_angle(200,100)
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await drive_base.turn(30)
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await drive_base.straight(-775)
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await drive_base.stop
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run_task(main())
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