solutions_season_unearthed/final/4main.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) 
hub.speaker.volume(50) # Set the volume of the speaker

cn = {
    "Cs3": 138.59,
    "D3": 146.83,
    "Ds3": 155.56,
    "E3": 164.81,
    "F3": 174.61,
    "Fs3": 185.00,
    "G3": 196.00,
    "Gs3": 207.65,
    "A3": 220.00,
    "As3": 233.08,
    "B3": 246.94,
    "C4": 261.63,
    "Cs4": 277.18,
    "D4": 293.66,
    "Ds4": 311.13,
    "E4": 329.63,
    "F4": 349.23,
    "Fs4": 369.99,
    "G4": 392.00,
    "Gs4": 415.30,
    "A4": 440.00,
    "As4": 466.16,
    "B4": 493.88,
    "C5": 523.25,
    "Cs5": 554.37
}



async def Run1():
    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(277)
    await drive_base.turn(20)
    await drive_base.straight(65)
    await drive_base.turn(-30)
    right_arm.run_angle(50,500)
    await drive_base.turn(45)
    await drive_base.straight(-145)
    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(-600)
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.straight(-100)
    await drive_base.turn(-100)
    await drive_base.straight(-600)
async def Run3():
    await drive_base.straight(920)
<<<<<<< HEAD:final/4main.py
    await drive_base.turn(-90)
    await drive_base.straight(60)
    drive_base.turn(-10)
    await left_arm.run_angle(10000,-4000)
    await drive_base.straight(-110)
=======
    await drive_base.turn(-90,Stop.HOLD)
    await drive_base.straight(65)
    drive_base.turn(-10)
    await left_arm.run_angle(10000,-4000)
    await drive_base.straight(-100)
>>>>>>> Vickram_dev_:final/main4.py
    await drive_base.turn(90)
    await drive_base.straight(2000)
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():
    left_arm.run_angle(500,200)   
    right_arm.run_angle(500,200)
    await drive_base.straight(70)
    await drive_base.turn(-55)
    await drive_base.straight(900)
    await drive_base.turn(92.5)
    await drive_base.straight(75)
    await drive_base.straight(21)
    await right_arm.run_angle(500,-250)
    await right_arm.run_angle(500,250)
    await drive_base.straight(-20)
    await drive_base.turn(55)
    await left_arm.run_angle(300,-400)
    await drive_base.turn(70)
    await left_arm.run_angle(300,400)
    await drive_base.turn(-60)
    await drive_base.straight(900)
# 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 = [
    (330, 200),  # E4
    (330, 100),  # E4
    (330, 100),  # E4
    (440, 600),  # A4
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(50)
async def play_level_up():
    """Upward scale for level completion"""
    notes = [
    (cn["Cs4"], 100),
    (cn["E4"], 100),
    (cn["Cs4"], 100),
    (cn["Cs5"], 100),
    (cn["Cs4"], 100),
    (cn["Gs4"], 100),
    (cn["E4"], 100),
    (cn["Cs4"], 100),
    (cn["Gs4"], 100),
    (cn["Cs4"], 100),
    (cn["Cs5"], 100),
    (cn["Gs4"], 100),
    (cn["Cs4"], 100),
    (cn["Gs4"], 100),
    (cn["Cs5"], 100),
    (cn["Gs4"], 100)
    ]

    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(20)
async def play_success_chime():
    """Simple success notification"""
    notes = [
    (cn["E4"], 150),
    (cn["Gs4"], 150),
    (cn["B4"], 300),
    ]

    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(50)
async def play_ta_da():
    """Classic "ta-da!" sound"""
    notes = [
    (cn["B3"], 200),   # B4
    (cn["E4"], 400),   # E5
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(100)
async def play_power_up():
    """Rising power-up sound"""
    frequencies = [
    164.81, 207.65, 246.94, 329.63, 415.30, 493.88
    ]

    for freq in frequencies:
        await hub.speaker.beep(freq, 50)
        await wait(10)


    await hub.speaker.beep(659.24, 200)
async def play_rickroll_inspired():
    """Fun 80s-style dance beat inspired sound"""
    # Upbeat bouncy rhythm
    pattern = [
    (cn["B3"], 200), (cn["Cs4"], 200), (cn["Ds4"], 200), (cn["E4"], 200),
    (cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["B3"], 300),
    (cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["Gs3"], 400),
    ]


    
    for freq, duration in pattern:
        await hub.speaker.beep(freq, duration)
        await wait(50)
async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
    """
    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 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}')
       
        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 5')
            await Run5()
            await celebrate_mission_complete(CelebrationSound.POWER_UP)
        elif color_detected == Color.RED:
            print('Running Mission 6')
            await Run6()
            await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
        else:
            hub.light.off()
            left_motor.stop()
            right_motor.stop()
        await wait(100) #prevent loop from iterating fast
            
# Main execution loop
run_task(main())