Update twist_scrimmage.py

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)
@@ -17,59 +15,157 @@ 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.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW]) 
-color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.ORANGE, Color.NONE]) 
 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
     
-# Notes to hertz for nice music
+async def play_victory_fanfare():
-cn = {
+    """Classic victory fanfare"""
-    "Cs3": 138.59,
+    notes = [
-    "D3": 146.83,
+        (262, 200),  # C4
-    "Ds3": 155.56,
+        (262, 200),  # C4
-    "E3": 164.81,
+        (262, 200),  # C4
-    "F3": 174.61,
+        (349, 600),  # F4
-    "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
-}
     
+    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()
 
-# RUNS - contains the mission code that will be executed on color sensor detection
 async def Run1():
-    left_arm.run_angle(1000, 300)
+    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
-    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.straight(275)
     await drive_base.turn(20)
-    await drive_base.straight(65)
+    await drive_base.straight(63)
-    await drive_base.turn(-30)
+
-    right_arm.run_angle(50,500)
+    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
     await drive_base.turn(45)
-    await drive_base.straight(-145)
+    await drive_base.straight(-135)
     await drive_base.turn(-60)
     await drive_base.straight(90)
     await left_arm.run_angle(1000,-450)
@@ -77,31 +173,32 @@ async def Run1():
     await left_arm.run_angle(1000,450)
     await drive_base.straight(10)
     await drive_base.turn(35)
-    await drive_base.straight(-600)
+    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.straight(-100)
+
     await drive_base.turn(-100)
     await drive_base.straight(-600)
 
+
 async def Run3():
-    await drive_base.straight(920)
+    await drive_base.straight(915)
     await drive_base.turn(-90)
     await drive_base.straight(60)
-    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-15000)
-    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-60)
-    await drive_base.straight(-110)
+    await drive_base.turn(85)
-    await drive_base.turn(90)
     await drive_base.straight(2000)
 
 async def Run4():
@@ -135,177 +232,22 @@ async def Run5():
     await right_arm.run_angle(300, 100)
     await drive_base.straight(-350)
 
+
 async def Run6():
-    left_arm.run_angle(500,200)   
+    await drive_base.straight(420)
-    right_arm.run_angle(500,200)
+    await right_arm.run_angle(300,-100)
-    await drive_base.straight(70)
+    await drive_base.straight(-100)
-    await drive_base.turn(-55)
+    await right_arm.run_angle(300, 100)
-    await drive_base.straight(900)
+    await drive_base.straight(-350)
-    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
-    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)
-    ]
-    
-    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)
-    ]
-
-    
-    for freq, duration in notes:
-        await hub.speaker.beep(freq, duration)
-async def play_success_chime():
-    """Simple success notification"""
-    notes = [
-    (cn["E4"], 150),
-    (cn["Gs4"], 150),
-    (cn["B4"], 300),
-    ]
-
-    
-    for freq, duration in notes:
-        await hub.speaker.beep(freq, duration)
-        await wait(50)
-async def play_ta_da():
-    """Classic "ta-da!" sound"""
-    notes = [
-    (cn["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)
-    ]
-    
-    for freq, duration in notes:
-        await hub.speaker.beep(freq, duration)
-        #await wait(100)
-async def play_power_up():
-    """Rising power-up sound"""
-    frequencies = [
-    164.81, 207.65, 246.94, 329.63, 415.30, 493.88
-    ]
-
-    for freq in frequencies:
-        await hub.speaker.beep(freq, 50)
-        await wait(10)
-
-
-    await hub.speaker.beep(659.24, 200)
-async def play_rickroll_inspired():
-    """Fun 80s-style dance beat inspired sound"""
-    # Upbeat bouncy rhythm
-    pattern = [ (cn["B3"], 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), ]
-
-
-    
-    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):
-    """
-    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.WAITING_SOUND:
-        await play_waiting_sound()
-    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()
-
-# This where everything happens    
 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}')
+        print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
-        hsv = await color_sensor.hsv()
-        print(f"Measured HSV: {hsv}")
         if color_reflected_percent > 0:
             if color_detected == Color.GREEN:
                 print('Running Mission 1')
@@ -318,24 +260,19 @@ async def main():
             elif color_detected == Color.YELLOW:
                 print('Running Mission 3')
                 await Run3()
-                await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME)
+                await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
-            elif color_detected == Color.ORANGE:
+            elif color_detected == Color.BLUE:
                 print('Running Mission 4')
                 await Run4()
                 await celebrate_mission_complete(CelebrationSound.POWER_UP)
-            elif color_detected == Color.BLUE:
+            elif color_detected == Color.RED:
                 print('Running Mission 5')
                 await Run5()
-                await celebrate_mission_complete(CelebrationSound.POWER_UP)
+                await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
-            elif color_detected == Color.RED:
-                print('Running Mission 6')
-                await Run6()
-                await celebrate_mission_complete(CelebrationSound.TA_DA)
             else:
                 hub.light.off()
                 left_motor.stop()
                 right_motor.stop()
-        else:
+        await wait(1000) #prevent loop from iterating fast
-            print("No color was detected.")
+# Main execution loop
-        await wait(100) # prevent loop from iterating fast
 run_task(main())