FLL_65266_LEGO_DYNAMICS/bioglow_solutions
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Cleaning up main branh

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nifrali
2026-09-25 18:28:21 +00:00
parent bcf6b0524c
commit 4ab24a47c2
1 changed files with 0 additions and 42 deletions
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Mission 3, 4, & 5
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#SETTING UP
import umath
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.tools import run_task, multitask
from pybricks.tools import wait, StopWatch
from pybricks.robotics import DriveBase
from pybricks.hubs import PrimeHub
# Initialize hub and devices
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
lazer_ranger = UltrasonicSensor(Port.E)
color_sensor = ColorSensor(Port.F)
# DriveBase configuration
WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
AXLE_TRACK = 180 # mm (distance between wheels)
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
drive_base.settings(600, 450, 300, 200)
drive_base.use_gyro(True)
#Run
drive_base.straight(550)#Works (600(Previous))
drive_base.straight(-200)
drive_base.turn(45)
drive_base.straight(575)
drive_base.turn(-90)#-90 for Coach Cisco table
left_arm.run_angle(200,270)
drive_base.straight(300)
left_arm.run_angle(200,-265)
right_arm.run_angle(200, -200)
drive_base.straight(-105)#Use -105 for Coach Cisco table(-105 for school)
drive_base.turn(32)#was 24-Use 24 for Coach Cisco's table(32 for school)
right_arm.run_angle(1500, 180)
drive_base.turn(30)
drive_base.straight(-1000)