solutions_season_unearthed/final/main4.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

# 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"""
    notes = [
        (262, 100),  # C4
        (294, 100),  # D4
        (330, 100),  # E4
        (349, 100),  # F4
        (392, 100),  # G4
        (440, 100),  # A4
        (494, 100),  # B4
        (523, 300),  # C5
    ]
    
    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():
    # Brings both arms up while moving to first mission
    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
    await drive_base.straight(320)

    # Slaps down "Silo" 3 times
    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)

    # Moves to the next mission, solving "Who lived here?"
    await drive_base.turn(-20)
    await drive_base.straight(277)
    await drive_base.turn(20)
    await drive_base.straight(65)

    # Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
    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)
    # Solves "What's on Sale?"
    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)

    # Moves the robot back to base
    await drive_base.turn(35)
    await drive_base.straight(-600)

async def Run2():
    # Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
    await drive_base.straight(200)
    await drive_base.turn(-20)
    await drive_base.straight(525)
    await drive_base.turn(60)

    # Throws "Heavy Lifting" to the side
    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)

    # Moves the robot back to base
    await drive_base.turn(-100)
    await drive_base.straight(-600)


async def Run3():

    # Runs robot to "Angler Artifacts"
    await drive_base.straight(915)
    await drive_base.turn(-90)

    # Solves "Angler Artifacts"
    await drive_base.straight(60)
    await left_arm.run_angle(10000,-15000)

    # Moves to the Red home area
    await drive_base.straight(-60)
    await drive_base.turn(85)
    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():
    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)

    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())