Update codes_for_scrimmage/hazmat/mainhazmatUPD.py
This commit is contained in:
@@ -45,45 +45,35 @@ async def monitor_distance():
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# New Section
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# New Section
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async def Run1(): # From M8_5.py
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async def Run1(): # From M8_5.py
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right_arm.run_angle(1000,450)
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left_arm.run_angle(1000, 300)
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left_arm.run_angle(500,-80)
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right_arm.run_angle(1000,500)
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await drive_base.straight(200)
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await drive_base.straight(320)
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await drive_base.turn(-40)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.straight(325)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await left_arm.run_angle(500,80)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.straight(-100)
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await drive_base.turn(-20)
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await drive_base.straight(50)
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await drive_base.straight(277)
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await left_arm.run_angle(500,-170)
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await drive_base.turn(20)
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await drive_base.straight(65)
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await drive_base.straight(-270)
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await drive_base.turn(40)
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await drive_base.straight(135)
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left_arm.run_angle(1000,-670)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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await right_arm.run_angle(5000,450, Stop.HOLD)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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await right_arm.run_angle(5000,450, Stop.HOLD)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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right_arm.run_angle(5000,450, Stop.HOLD)
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await drive_base.turn(-35)
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await drive_base.straight(300)
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await drive_base.turn(63)
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await drive_base.straight(170)
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await drive_base.turn(-80)
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await drive_base.straight(87)
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await drive_base.turn(-15)
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await drive_base.straight(-120)
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await drive_base.turn(-100)
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await drive_base.straight(300)
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await drive_base.turn(-45)
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await drive_base.straight(500)
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await drive_base.turn(-30)
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right_arm.run_angle(70,500)
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await drive_base.turn(45)
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await drive_base.straight(-145)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(-150)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(27.67) #turns back to solve market place
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await drive_base.turn(90) #Will solve market place
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await drive_base.straight(-450)
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await drive_base.turn(70)
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await drive_base.straight(600)
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async def Run2(): # From Heavy_lifting_final.py
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async def Run2(): # From Heavy_lifting_final.py
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await drive_base.straight(200)
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await drive_base.straight(200)
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@@ -153,6 +143,153 @@ async def Run5():
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await arm_motor.run_angle(300, 1200)
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await arm_motor.run_angle(300, 1200)
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await drive_base.straight(-875)
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await drive_base.straight(-875)
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# Add - Adi's code here
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async def Run6():
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.tools import run_task, multitask
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from pybricks.tools import wait, StopWatch
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from pybricks.robotics import DriveBase
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from pybricks.hubs import PrimeHub
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# Initialize hub and devices
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hub = PrimeHub()
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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left_arm = Motor(Port.C)
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right_arm = Motor(Port.D)
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lazer_ranger = UltrasonicSensor(Port.E)
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color_sensor = ColorSensor(Port.F)
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# DriveBase configuration
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WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
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AXLE_TRACK = 180 # mm (distance between wheels)
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drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
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drive_base.settings(600, 500, 300, 200)
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drive_base.use_gyro(True)
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WALL_DISTANCE = 200 # mm
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async def drive_forward():
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"""Drive forward continuously using DriveBase."""
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drive_base.drive(400, 0)
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async def monitor_distance():
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"""Monitor ultrasonic sensor and stop when wall is detected."""
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while True:
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distance = await lazer_ranger.distance()
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print('Distancing...',distance)
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if distance < WALL_DISTANCE:
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# Stop the drivebase
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await drive_base.stop
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print(f"Wall detected at {distance}mm!")
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break
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# Small delay to prevent overwhelming the sensor
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await wait(50)
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# New Section
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async def Run1(): # From M8_5.py
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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await drive_base.straight(320)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(277)
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await drive_base.turn(20)
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await drive_base.straight(65)
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await drive_base.turn(-30)
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right_arm.run_angle(70,500)
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await drive_base.turn(45)
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await drive_base.straight(-145)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(-150)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(27.67) #turns back to solve market place
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await drive_base.turn(90) #Will solve market place
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await drive_base.straight(-450)
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await drive_base.turn(70)
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await drive_base.straight(600)
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async def Run2(): # From Heavy_lifting_final.py
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await drive_base.straight(200)
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await drive_base.turn(-20)
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await drive_base.straight(536)
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await drive_base.turn(60, Stop.HOLD)
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await drive_base.straight(30)
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await right_arm.run_angle(5000, 2900)
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await drive_base.straight(40)
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await right_arm.run_angle(5000, -4000)
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await drive_base.straight(-60)
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await drive_base.turn(-60)
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await drive_base.straight(-670)
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async def Run3(): # tip the scale.py
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left_arm.run_angle(600,-200)
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right_arm.run_angle(500,200)
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await drive_base.straight(70)
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await drive_base.turn(-70)
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await drive_base.straight(900)
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await drive_base.turn(115)
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await drive_base.straight(75)
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await drive_base.straight(33)
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await right_arm.run_angle(500,-250)
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await right_arm.run_angle(500,250)
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await drive_base.turn(66)
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await drive_base.straight(7)
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await left_arm.run_angle(560,390) #going down
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print('turning now...')
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await drive_base.turn(40) # turning right
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await left_arm.run_angle(410,-400) #lift a little bit
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await drive_base.straight(80)
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await drive_base.turn(-41) #ma din din din dun 67 41 21
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await drive_base.straight(900)
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async def Run4(): # From Send_Over_Final.py
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await drive_base.straight(920)
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await drive_base.turn(-90,Stop.HOLD)
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await drive_base.straight(65)
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#Solve
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-4000)
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await drive_base.straight(-110)
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await drive_base.turn(90)
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await multitask(
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drive_forward(),
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monitor_distance()
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)
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# Add Rishi's code here
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async def Run5():
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await drive_base.straight(700)
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await drive_base.turn(-18)
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await drive_base.straight(100)
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await drive_base.straight(-205)
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await drive_base.turn(63)
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await drive_base.straight(125)
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await right_arm.run_angle(1000, -1200)
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await drive_base.straight(84)
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await right_arm.run_angle(300, 1200)
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await drive_base.straight(-875)
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# Add - Adi's code here
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# Add - Adi's code here
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async def Run6():
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async def Run6():
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await drive_base.straight(500)
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await drive_base.straight(500)
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@@ -226,3 +363,53 @@ async def main():
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await wait(10)
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await wait(10)
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# Run the main function
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# Run the main function
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run_task(main())
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run_task(main())
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# Function to classify color based on HSV
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def detect_color(h, s, v, reflected):
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if reflected > 4:
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if h < 4 or h > 350: # red
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return "Red"
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elif 3 < h < 40 and s > 70: # orange
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return "Orange"
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elif 47 < h < 56: # yellow
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return "Yellow"
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elif 70 < h < 160: # green - do it vertically not horizontally for accuracy
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return "Green"
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elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy
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return "Blue"
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elif 260 < h < 350: # purple
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return "Purple"
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else:
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return "Unknown"
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return "Unknown"
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async def main():
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while True:
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h, s, v = await color_sensor.hsv()
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reflected = await color_sensor.reflection()
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color = detect_color(h, s, v, reflected)
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if color == "Red":
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print('Running Mission 3')
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await Run3() #red
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elif color == "Orange":
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print('Running Mission 6')
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await Run6() #orange
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elif color == "Yellow":
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print('Running Mission 4')
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await Run4() #yellow
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elif color == "Green":
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print('Running Mission 1')
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await Run1() #green - vertically
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elif color == "Blue":
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print('Running Mission 5')
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await Run5() #blue - vertically
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elif color == "Purple":
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print('Running Mission 2')
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await Run2() #purple - vertically
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else:
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print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
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await wait(10)
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# Run the main function
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run_task(main())
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Block a user