Update codes_for_scrimmage/hazmat/mainhazmatUPD.py
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@@ -7,10 +7,8 @@ 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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@@ -23,22 +21,22 @@ 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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#await drive_base.straight(5000)
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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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distance = lazer_ranger.distance()
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if distance < WALL_DISTANCE:
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# Stop the drivebase
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await drive_base.turn(-180)
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drive_base.brake
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drive_base.brake()
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print(f"Wall detected at {distance}mm!")
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break
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@@ -50,18 +48,15 @@ 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(50, 500)
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await drive_base.turn(45)
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@@ -81,12 +76,10 @@ async def Run2(): #From Heavy_lifting_final.py
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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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@@ -113,11 +106,10 @@ async def Run3(): #tip the scale.py
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await drive_base.turn(46.5)
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await drive_base.turn(-40)
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await drive_base.straight(900)
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drive_base.settings(600, 500, 300, 200) # Reset it to the initial values
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async def Run4(): #From Send_Over_Final.py
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async def Run4(): # From Send_Over_Final.py
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# Get to mission
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await drive_base.straight(920)
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await drive_base.turn(-90, Stop.HOLD)
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@@ -130,22 +122,12 @@ async def Run4(): #From Send_Over_Final.py
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await drive_base.turn(90)
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await drive_base.straight(500)
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# while True:
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# distance_mm = await lazer_ranger.distance()
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# print('distancing...',distance_mm)
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# if distance_mm < 300:
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# drive_base.stop
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# break
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# else:
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# drive_base.straight(300)
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# print('running...')
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# await wait(10)
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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(519)
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@@ -174,6 +156,7 @@ async def Run5():
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await right_arm.run_angle(3000, 3000)
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await drive_base.turn(-40)
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# Add - Adi's code here
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async def Run6():
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await drive_base.straight(420)
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@@ -182,40 +165,53 @@ async def Run6():
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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# Function to classify color based on HSV
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async def main:
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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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print('Running Mission 3')
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await Run3()
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elif 3 < h < 40 and s > 70: # orange
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return "Orange"
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print('Running Mission 6')
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await Run6()
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elif 47 < h < 56: # yellow
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return "Yellow"
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print('Running Mission 4')
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await Run4()
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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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print('Running Mission 1')
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await Run1()
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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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print('Running Mission 5')
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await Run5()
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elif 230 < h < 320: #purple
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elif 260 < h < 350: # purple
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return "Purple"
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print('Running Mission 2')
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await Run2()
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else:
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return "Unknown"
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return "Unknown"
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# Main loop
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async def main():
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while True:
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h, s, v = sensor.hsv()
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reflected = sensor.reflection()
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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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print(f"Detected Color: {color} (Hue: {h}, Sat: {s}, Val: {v})")
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wait(1000)
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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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