diff --git a/codes_for_scrimmage/hazmat/hazmat_main.py b/codes_for_scrimmage/hazmat/hazmat_main.py deleted file mode 100644 index f62eb01..0000000 --- a/codes_for_scrimmage/hazmat/hazmat_main.py +++ /dev/null @@ -1,356 +0,0 @@ -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() - - 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 - drive_base.settings(300,1000,300,200) #Custom drive_base setting based on Ayaan's code - - 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) - - drive_base.settings(600,500,300,200) #Reset it to the initial values - -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(): - pass - -#Add - Adi's code here -async def Run6(): - pass - -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 > 1: # 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())