56 lines
2.0 KiB
Python
56 lines
2.0 KiB
Python
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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 = 62.4 # mm (adjust for your wheels)
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AXLE_TRACK = 150 # 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, 500, 300, 200)
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drive_base.use_gyro(True)
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def set_default_speed():
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drive_base.settings(600, 500, 300, 200)
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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 main():
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await set_speed(600,200,300,200)
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await drive_base.straight(500)
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await multitask(
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drive_base.straight(-200)
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right_arm.run_angle(400,-150)
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)
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await set_speed(600,500,100,200)
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await drive_base.turn(45)
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await drive_base.straight(346)
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await drive_base.turn(-68)
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await multitask(
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left_arm.run_angle(600,240)
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set_speed(300,200,300,200)
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drive_base.straight(280)
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)
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await left_arm.run_angle(600,-100)
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await drive_base.turn(22)
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await drive_base.straight(-100)
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await right_arm.run_angle(5000,45)
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await set_speed(600,500,100,200)
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await drive_base.straight(200)
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await drive_base.arc(-1500,None,-1000)
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run_task(main())
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