solutions_season_unearthed/final/main5.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor
from pybricks.parameters import Port, Stop, Color, Direction
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch, multitask, run_task

hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)
left_arm = Motor(Port.C)#, Direction.COUNTERCLOCKWISE)
right_arm = Motor(Port.D)
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
drive_base.settings(550,700,100,100)
drive_base.use_gyro(True)
color_sensor = ColorSensor(Port.F)
Color.ORANGE = Color(37, 85, 95)
Color.BLUE = Color(230,100,100)
color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW]) 
hub.speaker.volume(50) # Set the volume of the speaker
color_sensor.detectable_colors()
# Celebration sound types
class CelebrationSound:
    VICTORY_FANFARE = 0
    LEVEL_UP = 1
    SUCCESS_CHIME = 2
    TA_DA = 3
    POWER_UP = 4
    RICKROLL_INSPIRED = 5
    
async def play_victory_fanfare():
    """Classic victory fanfare"""
    notes = [
        (262, 200),  # C4
        (262, 200),  # C4
        (262, 200),  # C4
        (349, 600),  # F4
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(50)
async def play_level_up():
    """Upward scale for level completion"""
    notesold = [
        (262, 100),  # C4
        (294, 100),  # D4
        (330, 100),  # E4
        (349, 100),  # F4
        (392, 100),  # G4
        (440, 100),  # A4
        (494, 100),  # B4
        (523, 300),  # C5
    ]
    notes = [
        (277, 100),
        (330, 100),
        (277, 100),
        (554, 100),
        (277, 100),
        (413, 100),
        (330, 100),
        (277, 100),
        (413, 100),
        (277, 100),
        (554, 100),
        (413, 100),
        (277, 100),
        (413, 100),
        (554, 100),
        (413, 100)
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        #await wait(20)
async def play_success_chime():
    """Simple success notification"""
    notes = [
        (523, 150),  # C5
        (659, 150),  # E5
        (784, 300),  # G5
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(50)
async def play_ta_da():
    """Classic "ta-da!" sound"""
    notes = [
        (392, 200),  # G4
        (523, 400),  # C5
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(100)
async def play_power_up():
    """Rising power-up sound"""
    for freq in range(200, 800, 50):
        await hub.speaker.beep(freq, 50)
        await wait(10)
    await hub.speaker.beep(1000, 200)
async def play_rickroll_inspired():
    """Fun 80s-style dance beat inspired sound"""
    # Upbeat bouncy rhythm
    pattern = [
        (392, 200), (440, 200), (494, 200), (523, 200),
        (440, 200), (392, 200), (349, 200), (392, 300),
        (440, 200), (392, 200), (349, 200), (330, 400),
    ]
    
    for freq, duration in pattern:
        await hub.speaker.beep(freq, duration)
        await wait(50)
async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
    """
    Main celebration function to call after completing a mission.
    Plays a sound and shows light animation.
    
    Args:
        sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
    """
    # Light show
    hub.light.on(Color.GREEN)
    
    # Play the selected celebration sound
    if sound_type == CelebrationSound.VICTORY_FANFARE:
        await play_victory_fanfare()
    elif sound_type == CelebrationSound.LEVEL_UP:
        await play_level_up()
    elif sound_type == CelebrationSound.SUCCESS_CHIME:
        await play_success_chime()
    elif sound_type == CelebrationSound.TA_DA:
        await play_ta_da()
    elif sound_type == CelebrationSound.POWER_UP:
        await play_power_up()
    elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
        await play_rickroll_inspired()
    else:
        await play_success_chime()  # Default fallback
    
    # Blink the light
    for _ in range(3):
        hub.light.off()
        await wait(100)
        hub.light.on(Color.GREEN)
        await wait(100)
    
    hub.light.off()

async def Run1():
    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
    await drive_base.straight(320)

    await right_arm.run_angle(5000,-500, Stop.HOLD)
    await right_arm.run_angle(5000,500, Stop.HOLD)
    await right_arm.run_angle(5000,-500, Stop.HOLD)
    await right_arm.run_angle(5000,500, Stop.HOLD)
    await right_arm.run_angle(5000,-500, Stop.HOLD)

    await drive_base.turn(-20)
    await drive_base.straight(275)
    await drive_base.turn(20)
    await drive_base.straight(63)

    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
    await drive_base.turn(45)
    await drive_base.straight(-135)
    await drive_base.turn(-60)
    await drive_base.straight(90)
    await left_arm.run_angle(1000,-450)
    await drive_base.straight(-145)
    await left_arm.run_angle(1000,450)
    await drive_base.straight(10)
    await drive_base.turn(35)
    await drive_base.straight(-500)

async def Run2():
    await drive_base.straight(200)
    await drive_base.turn(-20)
    await drive_base.straight(525)
    await drive_base.turn(60)

    await drive_base.straight(50)
    await right_arm.run_angle(2000,1000)
    await drive_base.straight(-50)
    await drive_base.turn(45)
    await drive_base.straight(50)
    await right_arm.run_angle(350,-1000)

    await drive_base.turn(-100)
    await drive_base.straight(-600)


async def Run3():
    await drive_base.straight(915)
    await drive_base.turn(-90)
    await drive_base.straight(60)
    await left_arm.run_angle(10000,-15000)
    await drive_base.straight(-60)
    await drive_base.turn(85)
    await drive_base.straight(2000)

async def Run4():
    await drive_base.straight(519)
    await left_arm.run_angle(300, -100)
    await left_arm.run_angle(300, 500)
    await drive_base.straight(180)
    await drive_base.turn(-37)
    await drive_base.straight(50)
    await right_arm.run_angle(300, -400)
    await drive_base.straight(-150)
    await drive_base.turn(125)
    await drive_base.straight(50)
    await right_arm.run_angle(300, 400)
    await drive_base.straight(-75)
    await right_arm.run_angle(300, 300)
    await drive_base.turn(-40)
    await drive_base.straight(250)
    await right_arm.run_angle(100, -300)
    await drive_base.straight(30)
    await right_arm.run_angle(50,-250)
    await drive_base.turn(30)
    await drive_base.straight(-200)
    await drive_base.turn(-50)
    await drive_base.straight(-800)

async def Run5():
    await drive_base.straight(420)
    await right_arm.run_angle(300,-100)
    await drive_base.straight(-100)
    await right_arm.run_angle(300, 100)
    await drive_base.straight(-350)


async def Run6():
    await drive_base.straight(420)
    await right_arm.run_angle(300,-100)
    await drive_base.straight(-100)
    await right_arm.run_angle(300, 100)
    await drive_base.straight(-350)
async def main():
    while True:
    
        await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
        color_reflected_percent = await color_sensor.reflection()
        print(color_reflected_percent)

        color_detected = await color_sensor.color()
        print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
        if color_reflected_percent > 0:
            if color_detected == Color.GREEN:
                print('Running Mission 1')
                await Run1()
                await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
            elif color_detected == Color.WHITE:
                print('Running Mission 2')
                await Run2()
                await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
            elif color_detected == Color.YELLOW:
                print('Running Mission 3')
                await Run3()
                await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
            elif color_detected == Color.BLUE:
                print('Running Mission 4')
                await Run4()
                await celebrate_mission_complete(CelebrationSound.POWER_UP)
            elif color_detected == Color.RED:
                print('Running Mission 5')
                await Run5()
                await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
            else:
                hub.light.off()
                left_motor.stop()
                right_motor.stop()
        await wait(1000) #prevent loop from iterating fast
# Main execution loop
run_task(main())