diff --git a/HEAVY_LIFTING_UPD b/HEAVY_LIFTING_UPD new file mode 100644 index 0000000..da0f004 --- /dev/null +++ b/HEAVY_LIFTING_UPD @@ -0,0 +1,33 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,3000) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) +run_task(main()) \ No newline at end of file diff --git a/RoshoDaGoat.py b/RoshoDaGoat.py new file mode 100644 index 0000000..7d84ee2 --- /dev/null +++ b/RoshoDaGoat.py @@ -0,0 +1,42 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, run_task, multitask + +hub = PrimeHub() + +# Initialize both motors. In this example, the motor on the +# left must turn counterclockwise to make the robot go forward. +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +arm_motor = Motor(Port.D, Direction.CLOCKWISE) +arm_motor_left= Motor(Port.C, Direction.CLOCKWISE) +# Initialize the drive base. In this example, the wheel diameter is 56mm. +# The distance between the two wheel-ground contact points is 112mm. +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +print('The default settings are: ' + str(drive_base.settings())) +drive_base.settings(300,1000,300,750) +# Optionally, uncomment the line below to use the gyro for improved accuracy. +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 10000) +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py new file mode 100644 index 0000000..c48de0b --- /dev/null +++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py @@ -0,0 +1,227 @@ +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.tools import run_task, multitask +from pybricks.tools import wait, StopWatch +from pybricks.robotics import DriveBase +from pybricks.hubs import PrimeHub + +# Initialize hub and devices +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) +color_sensor = ColorSensor(Port.F) + +# DriveBase configuration +WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels) +AXLE_TRACK = 180 # mm (distance between wheels) +drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) +drive_base.settings(600, 500, 300, 200) +drive_base.use_gyro(True) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + + +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.stop + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# New Section +async def Run1(): # From M8_5.py + 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(): # From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + await right_arm.run_angle(5000, 2900) + await drive_base.straight(40) + await right_arm.run_angle(5000, -4000) + await drive_base.straight(-60) + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): # tip the scale.py + left_arm.run_angle(600,-200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,390) #going down + print('turning now...') + await drive_base.turn(40) # turning right + await left_arm.run_angle(410,-400) #lift a little bit + await drive_base.straight(80) + await drive_base.turn(-41) #ma din din din dun 67 41 21 69 + await drive_base.straight(900) + + +async def Run4(): # From Send_Over_Final.py + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000, 4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + # while True: + # distance_mm = await lazer_ranger.distance() + # print('distancing...',distance_mm) + + # if distance_mm < 300: + # drive_base.stop + # break + # else: + # drive_base.straight(300) + # print('running...') + # await wait(10) + await multitask( + drive_forward(), + monitor_distance() + ) + + + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(519) + await left_arm.run_angle(-10000, 300) + await left_arm.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await right_arm.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(120) + await drive_base.straight(25) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(-110) + await drive_base.turn(-43) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(295) + await right_arm.run_angle(10000, 9000) + await drive_base.straight(-65) + await drive_base.turn(45) + await drive_base.straight(175) + await drive_base.turn(24.5) + await drive_base.straight(-100) + await right_arm.run_angle(10000, -8500) + await drive_base.straight(100) + await right_arm.run_angle(10000, 3500) + await drive_base.turn(-30) + await drive_base.straight(-300) + await drive_base.turn(-80) + await drive_base.straight(-700) + + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(750) + await drive_base.straight(-650) + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run2() #purple - vertically + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/Heavy_lifting_final.py b/codes_for_scrimmage/hazmat/Heavy_lifting_final.py new file mode 100644 index 0000000..86a67e9 --- /dev/null +++ b/codes_for_scrimmage/hazmat/Heavy_lifting_final.py @@ -0,0 +1,33 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,2900) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/M8_5.py b/codes_for_scrimmage/hazmat/M8_5.py new file mode 100644 index 0000000..95ecc9e --- /dev/null +++ b/codes_for_scrimmage/hazmat/M8_5.py @@ -0,0 +1,49 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + 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) +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/Send_Over_Final.py b/codes_for_scrimmage/hazmat/Send_Over_Final.py new file mode 100644 index 0000000..db9a179 --- /dev/null +++ b/codes_for_scrimmage/hazmat/Send_Over_Final.py @@ -0,0 +1,46 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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) +lazer_ranger = UltrasonicSensor(Port.E) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(500) + while True: + distance_mm = await lazer_ranger.distance() + print('distancing...',distance_mm) + + if distance_mm < 300: + drive_base.stop + break + else: + drive_base.straight(300) + print('running...') + await wait(10) + +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/hazmat_main.py b/codes_for_scrimmage/hazmat/hazmat_main.py new file mode 100644 index 0000000..ea87f5e --- /dev/null +++ b/codes_for_scrimmage/hazmat/hazmat_main.py @@ -0,0 +1,384 @@ +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.tools import run_task, multitask +from pybricks.tools import wait, StopWatch +from pybricks.robotics import DriveBase +from pybricks.hubs import PrimeHub + +# Initialize hub and devices +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) +color_sensor = ColorSensor(Port.F) + +# DriveBase configuration +WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels) +AXLE_TRACK = 180 # mm (distance between wheels) +drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +# Color Settings +# https://docs.pybricks.com/en/latest/parameters/color.html +print("Default Detected Colors:", color_sensor.detectable_colors()) + +# Custom color Hue, Saturation, Brightness value for Lego bricks +Color.MAGENTA = Color(300,100,100) +Color.VIOLET = Color(277,68,32) +Color.BLUE = Color(240,100,100) +Color.CYAN = Color(180,100,100) + +LEGO_BRICKS_COLOR = [ + Color.BLUE, + Color.GREEN, + Color.WHITE, + Color.RED, + Color.YELLOW, + Color.MAGENTA, + Color.VIOLET, + Color.NONE +] +#Update Detectable colors +color_sensor.detectable_colors(LEGO_BRICKS_COLOR) + +print("Updated Detected Colors:", color_sensor.detectable_colors()) + +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""" + 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() + +WALL_DISTANCE = 200 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + #await drive_base.straight(5000) + drive_base.drive(400,0) +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.turn(-180) + drive_base.brake + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +async def Run1(): #From M8_5.py + 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(): #From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,2900) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): #tip the scale.py + left_arm.run_angle(600,200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,-390) #going down + await drive_base.turn(40) # turning right + await left_arm.run_angle(-410,-400) #lift a little bit + + await drive_base.turn(-46.5) #ma din din din dun + await drive_base.turn(-40) + await drive_base.straight(900) + +async def Run4(): #From Send_Over_Final.py + + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(500) + + # while True: + # distance_mm = await lazer_ranger.distance() + # print('distancing...',distance_mm) + + # if distance_mm < 300: + # drive_base.stop + # break + # else: + # drive_base.straight(300) + # print('running...') + # await wait(10) + await multitask( + drive_forward(), + monitor_distance() + ) + +#Add Rishi's code here +async def Run5(): + await drive_base.straight(519) + await left_arm.run_angle(-10000, 300) + await left_arm.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await right_arm.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(25) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-55) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await right_arm.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(100) + await drive_base.turn(37) + await right_arm.run_angle(10000, -6000) + await drive_base.straight(90) + await right_arm.run_angle(3000, 3000) + await drive_base.turn(-40) + +#Add - Adi's code here +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) + + + if color_reflected_percent > 0: # Make sure we actually have color reflections before checking for color + color_detected = await color_sensor.color() # Moved this inside the if clause + print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}') + + 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.RED: + print('Running Mission 3') + await Run3() + #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME ) + elif color_detected == Color.YELLOW: + print('Running Mission 4') + await Run4() + #await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.BLUE: + print('Running Mission 5') + await Run5() + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + elif color_detected == Color.VIOLET: + print('Running Mission 6') + await Run6() + else: + hub.light.off() + left_motor.stop() + right_motor.stop() + color_detected = Color.NONE + else: + color_detected = Color.NONE + + await wait(1000) #prevent loop from iterating fast +# Main execution loop +run_task(main()) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py new file mode 100644 index 0000000..c48de0b --- /dev/null +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -0,0 +1,227 @@ +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.tools import run_task, multitask +from pybricks.tools import wait, StopWatch +from pybricks.robotics import DriveBase +from pybricks.hubs import PrimeHub + +# Initialize hub and devices +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) +color_sensor = ColorSensor(Port.F) + +# DriveBase configuration +WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels) +AXLE_TRACK = 180 # mm (distance between wheels) +drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) +drive_base.settings(600, 500, 300, 200) +drive_base.use_gyro(True) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + + +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.stop + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# New Section +async def Run1(): # From M8_5.py + 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(): # From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + await right_arm.run_angle(5000, 2900) + await drive_base.straight(40) + await right_arm.run_angle(5000, -4000) + await drive_base.straight(-60) + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): # tip the scale.py + left_arm.run_angle(600,-200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,390) #going down + print('turning now...') + await drive_base.turn(40) # turning right + await left_arm.run_angle(410,-400) #lift a little bit + await drive_base.straight(80) + await drive_base.turn(-41) #ma din din din dun 67 41 21 69 + await drive_base.straight(900) + + +async def Run4(): # From Send_Over_Final.py + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000, 4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + # while True: + # distance_mm = await lazer_ranger.distance() + # print('distancing...',distance_mm) + + # if distance_mm < 300: + # drive_base.stop + # break + # else: + # drive_base.straight(300) + # print('running...') + # await wait(10) + await multitask( + drive_forward(), + monitor_distance() + ) + + + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(519) + await left_arm.run_angle(-10000, 300) + await left_arm.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await right_arm.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(120) + await drive_base.straight(25) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(-110) + await drive_base.turn(-43) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(295) + await right_arm.run_angle(10000, 9000) + await drive_base.straight(-65) + await drive_base.turn(45) + await drive_base.straight(175) + await drive_base.turn(24.5) + await drive_base.straight(-100) + await right_arm.run_angle(10000, -8500) + await drive_base.straight(100) + await right_arm.run_angle(10000, 3500) + await drive_base.turn(-30) + await drive_base.straight(-300) + await drive_base.turn(-80) + await drive_base.straight(-700) + + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(750) + await drive_base.straight(-650) + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run2() #purple - vertically + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/tip the scale.py b/codes_for_scrimmage/hazmat/tip the scale.py new file mode 100644 index 0000000..200b1ea --- /dev/null +++ b/codes_for_scrimmage/hazmat/tip the scale.py @@ -0,0 +1,42 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(300,1000,300,200) + +#drive_base.use_gyro(True) + +async def main(): + 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.turn(55) + + await left_arm.run_angle(300,-400) + + await drive_base.turn(46.5) + await drive_base.turn(-40) + await drive_base.straight(900) +run_task(main()) \ No newline at end of file diff --git a/final/4main.py b/final/4main.py index 5d61c7e..147822a 100644 --- a/final/4main.py +++ b/final/4main.py @@ -86,11 +86,19 @@ async def Run2(): 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(): diff --git a/final/main5.py b/final/main5.py new file mode 100644 index 0000000..7461d72 --- /dev/null +++ b/final/main5.py @@ -0,0 +1,280 @@ +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 arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await arm_motor.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(68) + await arm_motor.run_angle(10000, -6000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 4000) + await drive_base.turn(-40) + await arm_motor.run_angle(10000, 7000) + +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()) diff --git a/members/Rishi.txt b/members/Rishi.txt new file mode 100644 index 0000000..88bea53 --- /dev/null +++ b/members/Rishi.txt @@ -0,0 +1,2 @@ +Hi I'm Rishi, the coding manager for Team: 65266 +I love coding and making things that probably end the world. \ No newline at end of file diff --git a/missions/Boat_mission.py b/missions/Boat_mission.py new file mode 100644 index 0000000..6d87949 --- /dev/null +++ b/missions/Boat_mission.py @@ -0,0 +1,27 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task,multitask + +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(880,850,700,700) + +drive_base.use_gyro(True) + +first_run = True + +async def main(): + await drive_base.straight(750) + await drive_base.straight(-650) + +run_task(main()) \ No newline at end of file diff --git a/missions/HEAVY_LIFTING_UPD.py b/missions/HEAVY_LIFTING_UPD.py new file mode 100644 index 0000000..da0f004 --- /dev/null +++ b/missions/HEAVY_LIFTING_UPD.py @@ -0,0 +1,33 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,3000) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) +run_task(main()) \ No newline at end of file diff --git a/missions/Heavy lifting.py b/missions/Heavy lifting.py new file mode 100644 index 0000000..643e47d --- /dev/null +++ b/missions/Heavy lifting.py @@ -0,0 +1,37 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await right_arm.run_angle(2000,1000) + + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + await drive_base.straight(30) + + await right_arm.run_angle(2000,-1000) + await drive_base.straight(30) + await right_arm.run_angle(3000,1000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-525) + await drive_base.turn(20) + await drive_base.straight(-200) + diff --git a/missions/Heavy_lifting_final.py b/missions/Heavy_lifting_final.py new file mode 100644 index 0000000..5a9dd1d --- /dev/null +++ b/missions/Heavy_lifting_final.py @@ -0,0 +1,36 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #Get to mission + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + #Solve mission + 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) + #Return home + await drive_base.straight(-100) + await drive_base.turn(-100) + await drive_base.straight(-600) +run_task(main()) \ No newline at end of file diff --git a/missions/Lift2.py b/missions/Lift2.py new file mode 100644 index 0000000..a5e1773 --- /dev/null +++ b/missions/Lift2.py @@ -0,0 +1,34 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + 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) +run_task(main()) \ No newline at end of file diff --git a/missions/Sand Mission.py b/missions/Sand Mission.py index 73e1e16..368ba5c 100644 --- a/missions/Sand Mission.py +++ b/missions/Sand Mission.py @@ -20,10 +20,10 @@ drive_base.use_gyro(True) async def main(): - await drive_base.straight(420) - await right_arm.run_angle(300,-100) + await drive_base.straight(500) + await right_arm.run_angle(300,100) await drive_base.straight(-100) - await right_arm.run_angle(300, 100) + await right_arm.run_angle(300,-100) await drive_base.straight(-350) run_task(main()) \ No newline at end of file diff --git a/missions/Sand_mission.py b/missions/Sand_mission.py new file mode 100644 index 0000000..368ba5c --- /dev/null +++ b/missions/Sand_mission.py @@ -0,0 +1,29 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task,multitask + +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(400,500,100,100) + +drive_base.use_gyro(True) + + +async def main(): + await drive_base.straight(500) + await right_arm.run_angle(300,100) + await drive_base.straight(-100) + await right_arm.run_angle(300,-100) + await drive_base.straight(-350) + +run_task(main()) \ No newline at end of file diff --git a/missions/Send_Over.py b/missions/Send_Over.py index 97bed5f..61e2d37 100644 --- a/missions/Send_Over.py +++ b/missions/Send_Over.py @@ -23,9 +23,9 @@ async def main(): 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 left_arm.run_angle(10000,-4000) + await drive_base.straight(-90) + await drive_base.turn(80) await drive_base.straight(2000) - + run_task(main()) \ No newline at end of file diff --git a/missions/Send_Over_Final.py b/missions/Send_Over_Final.py new file mode 100644 index 0000000..db9a179 --- /dev/null +++ b/missions/Send_Over_Final.py @@ -0,0 +1,46 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch +from pybricks.tools import run_task, multitask + +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) +lazer_ranger = UltrasonicSensor(Port.E) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(500) + while True: + distance_mm = await lazer_ranger.distance() + print('distancing...',distance_mm) + + if distance_mm < 300: + drive_base.stop + break + else: + drive_base.straight(300) + print('running...') + await wait(10) + +run_task(main()) \ No newline at end of file diff --git a/missions/Set2.py b/missions/Set2.py new file mode 100644 index 0000000..9298da3 --- /dev/null +++ b/missions/Set2.py @@ -0,0 +1,50 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, run_task, multitask + +hub = PrimeHub() + +# Initialize both motors. In this example, the motor on the +# left must turn counterclockwise to make the robot go forward. +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +arm_motor = Motor(Port.D, Direction.CLOCKWISE) +arm_motor_left= Motor(Port.C, Direction.CLOCKWISE) +# Initialize the drive base. In this example, the wheel diameter is 56mm. +# The distance between the two wheel-ground contact points is 112mm. +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +print('The default settings are: ' + str(drive_base.settings())) +drive_base.settings(300,1000,300,750) +# Optionally, uncomment the line below to use the gyro for improved accuracy. +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await arm_motor.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(68) + await arm_motor.run_angle(10000, -6000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 4000) + await drive_base.turn(-40) + await arm_motor.run_angle(10000, 7000) +run_task(main()) \ No newline at end of file diff --git a/missions/tip the scale.py b/missions/tip the scale.py index 200b1ea..3a4264e 100644 --- a/missions/tip the scale.py +++ b/missions/tip the scale.py @@ -15,28 +15,34 @@ 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(300,1000,300,200) +drive_base.settings(600,500,300,200) -#drive_base.use_gyro(True) +drive_base.use_gyro(True) async def main(): - left_arm.run_angle(500,200) + left_arm.run_angle(600,200) right_arm.run_angle(500,200) await drive_base.straight(70) - await drive_base.turn(-55) + await drive_base.turn(-70) await drive_base.straight(900) - await drive_base.turn(92.5) + await drive_base.turn(115) await drive_base.straight(75) - await drive_base.straight(21) + await drive_base.straight(33) await right_arm.run_angle(500,-250) await right_arm.run_angle(500,250) - await drive_base.turn(55) + await drive_base.turn(66) + await drive_base.straight(7) - await left_arm.run_angle(300,-400) + await left_arm.run_angle(560,-390) #going down + print('turning now...') + await drive_base.turn(40) # turning right + await left_arm.run_angle(-410,-400) #lift a little bit - await drive_base.turn(46.5) + await drive_base.turn(-46.5) #ma din din din dun await drive_base.turn(-40) await drive_base.straight(900) -run_task(main()) \ No newline at end of file +run_task(main()) + + diff --git a/test_10_17_2025.py b/test_10_17_2025.py new file mode 100644 index 0000000..1d89281 --- /dev/null +++ b/test_10_17_2025.py @@ -0,0 +1,303 @@ +# Stuff from 10/15/2025 +# Atharv trying with no avail to add more colors to the color sensor logic 😭😭😭😭😭😭😭 +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(28, 61, 61) +Color.BLUE = Color(230,100,100) +Color.YELLOW = Color(37, 85, 95) +Color.PURPLE = Color(326, 60, 87) +color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW, Color.NONE, Color.PURPLE]) +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(): + 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(-700) + +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(-750) + + +async def Run3(): + await drive_base.straight(920) + 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) + await drive_base.straight(2000) + +async def Run4(): + await drive_base.straight(519) + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await arm_motor.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(68) + await arm_motor.run_angle(10000, -6000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 4000) + await drive_base.turn(-40) + await arm_motor.run_angle(10000, 7000) + +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.turn(55) + + await left_arm.run_angle(300,-400) + + await drive_base.turn(46.5) + await drive_base.turn(-40) + await drive_base.straight(900) +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 > 1: + 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.ORANGE: + print('Running Mission 5') + await Run5() + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + elif color_detected == Color.PURPLE: + print('Running Mission 6 (this is ayaan\'s code)') + await Run6() + #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()) diff --git a/twist_scrimmage.py b/twist_scrimmage.py index b796f44..8f68b24 100644 --- a/twist_scrimmage.py +++ b/twist_scrimmage.py @@ -1,11 +1,9 @@ -# Imports... because we kinda need them... 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 -# Sets all the default values for the runs hub = PrimeHub() left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) right_motor = Motor(Port.B) @@ -17,198 +15,72 @@ drive_base.use_gyro(True) color_sensor = ColorSensor(Port.F) Color.ORANGE = Color(37, 85, 95) Color.BLUE = Color(230,100,100) -Color.YELLOW = Color(53, 75, 84) -color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.ORANGE, Color.NONE]) +Color.YELLOW = Color(37, 85, 95) +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() - -# Notes to hertz for nice music -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 -} - - -# RUNS - contains the mission code that will be executed on color sensor detection -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) - 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) - 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(): - 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 - WAITING_SOUND = 1 + LEVEL_UP = 1 SUCCESS_CHIME = 2 TA_DA = 3 POWER_UP = 4 RICKROLL_INSPIRED = 5 -# Sounds functions async def play_victory_fanfare(): """Classic victory fanfare""" notes = [ - (cn["B3"], 200), - (cn["B3"], 100), - (cn["B3"], 100), - (cn["E4"], 600) + (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_waiting_sound(): - - # T3rm1na1 V3l0c1ty arpeggio recreated in pybricks - 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) +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 = [ - (cn["E4"], 150), - (cn["Gs4"], 150), - (cn["B4"], 300), + (523, 150), # C5 + (659, 150), # E5 + (784, 300), # G5 ] - for freq, duration in notes: await hub.speaker.beep(freq, duration) @@ -216,49 +88,32 @@ async def play_success_chime(): async def play_ta_da(): """Classic "ta-da!" sound""" notes = [ - (cn["Cs4"], 200), - (cn["Ds4"], 200), - (cn["E4"], 200), - (cn["Ds4"], 200), - (cn["E4"], 200), - (cn["Fs4"], 400), - (cn["Gs4"], 600), - (cn["Fs4"], 400), - (cn["Gs4"], 200), - (cn["A4"], 200), - (cn["B4"], 200), - (cn["C5"], 200), - (cn["Cs5"], 200) + (392, 200), # G4 + (523, 400), # C5 ] for freq, duration in notes: await hub.speaker.beep(freq, duration) - #await wait(100) + 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: + for freq in range(200, 800, 50): await hub.speaker.beep(freq, 50) await wait(10) - - - await hub.speaker.beep(659.24, 200) + await hub.speaker.beep(1000, 200) async def play_rickroll_inspired(): """Fun 80s-style dance beat inspired sound""" # Upbeat bouncy rhythm - pattern = [ (cn["B3"], 100), (cn["Cs4"], 100), (cn["Ds4"], 100), (cn["E4"], 100), (cn["Cs4"], 100), (cn["B3"], 100), (cn["A3"], 100), (cn["B3"], 200), (cn["Cs4"], 100), (cn["B3"], 100), (cn["A3"], 100), (cn["Gs3"], 200), ] - - + 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) - -# Basically a big if else statement that calls the functions above -async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED): + 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. @@ -272,8 +127,8 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR # Play the selected celebration sound if sound_type == CelebrationSound.VICTORY_FANFARE: await play_victory_fanfare() - elif sound_type == CelebrationSound.WAITING_SOUND: - await play_waiting_sound() + 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: @@ -294,48 +149,133 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR hub.light.off() -# This where everything happens +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(-700) + +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(-750) + + +async def Run3(): + await drive_base.straight(920) + 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) + await drive_base.straight(2000) + +async def Run4(): + await drive_base.straight(519) + await left_arm.run_angle(300, -200) + await left_arm.run_angle(800, 1000) + await drive_base.straight(180) + await drive_base.turn(-37) + await right_arm.run_angle(300, -50) + await drive_base.straight(50) + await right_arm.run_angle(300, -350) + 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, -200) + await drive_base.turn(-40) + await right_arm.run_angle(300, 250) + await drive_base.straight(260) + 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(-67) + 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(): - # MAIN LOOP while True: - await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED) + + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) color_reflected_percent = await color_sensor.reflection() - print(f"Color reflection percentage: {color_reflected_percent}") + print(color_reflected_percent) color_detected = await color_sensor.color() - print(f'Detected color: {color_detected}') - hsv = await color_sensor.hsv() - print(f"Measured HSV: {hsv}") - if color_reflected_percent > 0: + print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}') + if color_reflected_percent > 1: if color_detected == Color.GREEN: print('Running Mission 1') await Run1() - await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE) + #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) + #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.ORANGE: + #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.BLUE: + #await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.RED: 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.TA_DA) + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) else: hub.light.off() left_motor.stop() right_motor.stop() - else: - print("No color was detected.") - await wait(100) # prevent loop from iterating fast -run_task(main()) \ No newline at end of file + await wait(1000) #prevent loop from iterating fast +# Main execution loop +run_task(main())