2025-09-10 13:38:07 +00:00
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# ---JOHANNES---
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2025-10-06 18:10:02 +00:00
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# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!!
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2025-09-10 13:38:07 +00:00
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from pybricks.hubs import PrimeHub
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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.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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hub = PrimeHub()
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# Initialize both motors. In this example, the motor on the
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# left must turn counterclockwise to make the robot go forward.
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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arm_motor = Motor(Port.E, Direction.CLOCKWISE)
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arm_motor.run_angle(299,90, Stop.HOLD)
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# Initialize the drive base. In this example, the wheel diameter is 56mm.
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# The distance between the two wheel-ground contact points is 112mm.
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=54, axle_track=140)
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print('The default settings are: ' + str(drive_base.settings()))
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drive_base.settings(100,1000,166,750)
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# Optionally, uncomment the line below to use the gyro for improved accuracy.
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drive_base.use_gyro(True)
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async def solveM9():
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print("Solving Mission 9")
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await drive_base.turn(45)
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await drive_base.straight(260)
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await arm_motor.run_angle(500,-500, Stop.HOLD)
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await drive_base.straight(-40)
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await drive_base.turn(92)
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await drive_base.straight(-120)
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await drive_base.straight(220)
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await arm_motor.run_angle(500,100, Stop.HOLD)
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await drive_base.turn(-50)
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await drive_base.straight(-600)
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async def main():
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await drive_base.straight(50)
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print("Hello, Robot is starting to run.")
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await solveM9()
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run_task(main())
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