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Delete codes_for_scrimmage/hazmat/hazmat_main.py

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Atharv
2025-10-23 00:34:40 +00:00
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codes_for_scrimmage/hazmat/hazmat_main.py
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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())