From 16bc6f0747d042285f39c32d73ff307c4ea60dc3 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Tue, 2 Jun 2026 23:41:08 +0000 Subject: [PATCH] Add competition_codes/NumberOne.py --- competition_codes/NumberOne.py | 652 +++++++++++++++++++++++++++++++++ 1 file changed, 652 insertions(+) create mode 100644 competition_codes/NumberOne.py diff --git a/competition_codes/NumberOne.py b/competition_codes/NumberOne.py new file mode 100644 index 0000000..9528dad --- /dev/null +++ b/competition_codes/NumberOne.py @@ -0,0 +1,652 @@ +""" +PID Straight Drive — heading-corrected forward / backward movement. + +Improvements over baseline: + • Derivative on measurement (not error) — no derivative kick on setpoint change + • Fixed-interval dt — loop sleeps a constant 20 ms, so /dt is dropped from the + derivative term (dividing by 0.02 was silently multiplying KD by 50) + • prev_error seeded from first real heading — eliminates first-tick spike + • Per-motor speed clamping — prevents one side pivoting at low speeds + • Deceleration ramp — smooth stop in the last RAMP_MM millimetres + • Dual-motor exit + timeout — survives stall on either wheel + • Integral freeze near target — stops windup right where it matters most +""" + +from pybricks.tools import StopWatch, wait +import umath + +WHEEL_DIAMETER = 68.8 # mm — adjust to your wheel (Done) +AXLE_TRACK = 180 # mm — used only if you add turning later (Done) +LOOP_MS = 20 # fixed control loop period +RAMP_MM = 50 # begin decelerating this far from target +MIN_SPEED = 80 # floor speed during ramp (avoid stall) +TIMEOUT_MS = 8_000 # safety abort +# Tuning sequence + +KP = 4.8 # Wide chassis = stable platform, can afford higher P gain + # without oscillation. Pushes harder through corrections. + +KI = 0.012 # Slightly lower than default — large wheels cover distance + # fast so the integrator has less time to build up per run. + # Raise to 0.012 if you see consistent sideways drift at end. + +KD = 7.5 # Higher than default. Big wheels = more rotational momentum, + # needs stronger damping to prevent overshoot on corrections. + +def _mm_to_deg(mm: float) -> float: + return (abs(mm) / (umath.pi * WHEEL_DIAMETER)) * 360.0 + + +def _motor_avg_angle(m1, m2) -> float: + return (abs(m1.angle()) + abs(m2.angle())) / 2.0 + + +async def pid_straight(distance_mm: float, speed: int = 600): + """ + Drive straight for distance_mm at speed (deg/s). + Positive = forward, negative = reverse. + """ + direction = 1 if distance_mm >= 0 else -1 + degrees_need = _mm_to_deg(distance_mm) + target_hdg = hub.imu.heading() + + left_motor.reset_angle(0) + right_motor.reset_angle(0) + + # ── seed integral and prev_error from the real opening heading ── + first_error = target_hdg - hub.imu.heading() # 0.0 on a perfect start, + integral = 0.0 # non-zero if robot is tilted + prev_heading = hub.imu.heading() # for derivative-on-measurement + + watchdog = StopWatch() + + while True: + traveled = _motor_avg_angle(left_motor, right_motor) + + # ── exit: distance reached or timeout ── + if traveled >= degrees_need: + break + if watchdog.time() > TIMEOUT_MS: + break + + # ── heading error with wrap ── + heading = hub.imu.heading() + error = target_hdg - heading + if error > 180: error -= 360 + if error < -180: error += 360 + + # ── derivative on measurement — no kick when target changes ── + d_heading = heading - prev_heading # raw delta (deg / loop) + if d_heading > 180: d_heading -= 360 + if d_heading < -180: d_heading += 360 + prev_heading = heading + + # ── integral with freeze near target ── + near_target = (degrees_need - traveled) < _mm_to_deg(RAMP_MM / 2) + if not near_target: + integral = max(-50.0, min(50.0, integral + error)) # dt=const → no *dt + + # ── PID output ── + # derivative term: -KD * d_heading (measurement, not error difference) + correction = KP * error + KI * integral - KD * d_heading + correction = max(-200.0, min(200.0, correction)) + + # ── ramp speed near end ── + remaining = degrees_need - traveled + ramp_degrees = _mm_to_deg(RAMP_MM) + if remaining < ramp_degrees and ramp_degrees > 0: + ramp_factor = max(float(MIN_SPEED) / speed, + remaining / ramp_degrees) + run_speed = int(speed * ramp_factor) + else: + run_speed = speed + + # ── per-motor clamping — prevents pivot at low speeds ── + l_cmd = max(-speed, min(speed, direction * run_speed + int(correction))) + r_cmd = max(-speed, min(speed, direction * run_speed - int(correction))) + + left_motor.run(l_cmd) + right_motor.run(r_cmd) + await wait(LOOP_MS) + + left_motor.brake() + right_motor.brake() + +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +""" +Debugging helps +""" +DEBUG = 1 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 + +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 300 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(1000,0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + + +async def monitor_distance(stop_mm: int = WALL_DISTANCE): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('Distancing...', distance) + + if distance is None: + await wait(50) + continue + if distance < stop_mm: + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Use this to set default +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + # Fast approach to near-stall position + await left_arm.run_angle(2000, -210) # Fast movement downward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(-1500, duty_limit=15) + left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") + + await solve_whats_on_sale_v3() + await solve_silo() + + # return to base + await drive_base.straight(-400) + drive_base.stop() + +async def solve_whats_on_sale_v3(): + + right_arm.run_angle(500,30) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + await left_arm.run_angle(500, 75,Stop.HOLD) + #await left_arm.run_target(500,90,Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(210) + + await drive_base.turn(-40) + await drive_base.straight(320) + await left_arm.run_angle(490,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(600,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(5000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-75) + await drive_base.turn(45) + await drive_base.straight(110) + + SPEED = 20000 # speed in degree per second + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + + + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + await solve_flag() + + # return to base + await drive_base.turn(50) + await drive_base.straight(-210) + await drive_base.turn(30) + await drive_base.straight(-720) + drive_base.stop() + +async def solve_forge(): + left_arm.run_angle(100,90) + await right_arm.run_target(50,50) + await wait(800) + # await right_arm.run_angle(50,-30) + await drive_base.straight(50) + await drive_base.turn(-17) + await drive_base.straight(650) + await drive_base.turn(50) + + await drive_base.straight(95) + await drive_base.turn(-70) + await drive_base.straight(-60) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(35) + await drive_base.turn(-20) + await drive_base.straight(50) + await drive_base.turn(-23) + await drive_base.straight(-100) + await drive_base.turn(-20) + await drive_base.straight(50) + await drive_base.turn(18) + await drive_base.straight(250) + await drive_base.turn(55) + +async def solve_flag(): + await drive_base.straight(100) + await left_arm.run_angle(70,-90) + await wait(500) + await left_arm.run_angle(100,120) + await drive_base.straight(-60) + await drive_base.turn(-80) + await drive_base.straight(-20) + await left_arm.run_angle(250,-90) + await left_arm.run_angle(250,90) + + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_tip_the_scale() + await solve_angler_artifacts() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_tip_the_scale(): + drive_base.straight(20) + await drive_base.arc(-270,None,365) + await drive_base.straight(280) + await drive_base.straight(-80) + await drive_base.turn(-50) + await drive_base.straight(80) + await drive_base.turn(40) + await drive_base.straight(290) + await drive_base.turn(-90) + +async def solve_angler_artifacts(): + await drive_base.straight(55) + await drive_base.turn(-10) + await left_arm.run_angle(10000,-800) + await drive_base.straight(-140) + await drive_base.turn(110) + await drive_base.turn(-25) + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +- Uses PID straight drive for precision +""" +async def Run5(): + # Getting the sand down + await drive_base.straight(550) + await right_arm.run_angle(300,120) + await drive_base.straight(-75) + await right_arm.run_angle(300, -100) + # Shoving the boat into place + await drive_base.straight(300) + await drive_base.straight(-200) + await drive_base.turn(-17) + # Solving statue + await drive_base.straight(350) + await drive_base.turn(-104) + await drive_base.straight(-80) + await left_arm.run_angle(500, -300) + await drive_base.straight(120) + await drive_base.turn(5) + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) + await drive_base.turn(18) + await drive_base.straight(-100) + await drive_base.turn(-90) + await drive_base.straight(900) + drive_base.stop() + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700,200) + await drive_base.turn(30) + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment with PID straight + # Using PID straight drive for better precision on long runs + await pid_straight(665, 600) # Forward 600mm with PID + await drive_base.turn(-35) # Regular turn for small angles + await pid_straight(200, 200) # Forward 250mm with PID + await pid_straight(-250, 300) # Backward 100mm with PID + await drive_base.turn(45) # Regular turn + await pid_straight(-705,700) # Fast backward 600mm with PID + drive_base.stop() + +KP = 4 # Wide chassis = stable platform, can afford higher P gain + # without oscillation. Pushes harder through corrections. + +KI = 0.012 # Slightly lower than default — large wheels cover distance + # fast so the integrator has less time to build up per run. + # Raise to 0.012 if you see consistent sideways drift at end. + +KD = 7.5 # Higher than default. Big wheels = more rotational momentum, + # needs stronger damping to prevent overshoot on corrections. + +async def Run12(): + await pid_straight(920) + + + # Using PID straight drive for precision on long run # Forward 900mm with await drive_base.turn(84) # Regular tuawait left_arm.run_angle(3250, -300) + await drive_base.turn(86) + await left_arm.run_angle(1800, -300) + await right_arm.run_angle(1000, -180) + await pid_straight(120, 100) # Short precise forward with PID + left_arm.reset_angle(0) + await drive_base.turn(3) + await left_arm.run_angle(65, 56) + await right_arm.run_angle(100, 120) + await pid_straight(-170, 200) # Short precise backward with PID + await drive_base.turn(100) # Regular turn + await pid_straight(900) # Long return to base with PID + drive_base.stop() + +# 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 195 < h < 198: # light blue + return "Light_Blue" + 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: + pressed = hub.buttons.pressed() + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 11') + await Run11() + elif color == "Light_Blue": + print("Running Mission 12") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file