64 lines
2.2 KiB
Python
64 lines
2.2 KiB
Python
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 drive_base.straight(110)
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await drive_base.turn(-45)
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await drive_base.straight(240)
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await right_arm.run_angle(300,120)
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await drive_base.straight(290)
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await drive_base.turn(50)
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await drive_base.straight(300)
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await drive_base.turn(40)
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set_speed(100,200,300,200)
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await drive_base.straight(130)
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await drive_base.straight(-115)
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await drive_base.turn(87)
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await drive_base.straight(230)
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set_speed(600, 500, 300, 200)
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await drive_base.straight(-135)
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await multitask(
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drive_base.turn(-40),
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right_arm.run_angle(100,-110)
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)
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set_speed(100,200,300,200)
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await drive_base.straight(220)
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await right_arm.run_angle(300,85)
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await wait(500)
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await drive_base.straight(142)
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await drive_base.arc(110,None,-166)
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await drive_base.straight(140)
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await drive_base.straight(-150)
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set_speed(600,500,300,200)
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await drive_base.straight(150)
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await drive_base.arc(800,None,-900)
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run_task(main()) |