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utils/robot_control.py

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+# utils/robot_control.py - Shared driving and control functions
+from pybricks.robotics import DriveBase
+from config import ROBOT_CONFIG
+import time
+
+# Initialize drive base (done once)
+drive_base = DriveBase(
+    ROBOT_CONFIG['left_motor'], 
+    ROBOT_CONFIG['right_motor'], 
+    wheel_diameter=56, 
+    axle_track=114
+)
+
+def drive_straight(distance, speed=200):
+    """Drive straight for a given distance in mm"""
+    drive_base.straight(distance, speed=speed)
+
+def turn_angle(angle, speed=100):
+    """Turn by a given angle in degrees"""
+    drive_base.turn(angle, speed=speed)
+
+def drive_until_line(speed=100, sensor='color_left'):
+    """Drive until line is detected"""
+    sensor_obj = ROBOT_CONFIG[sensor]
+    drive_base.drive(speed, 0)
+    
+    while sensor_obj.color() != Color.BLACK:
+        time.sleep(0.01)
+    
+    drive_base.stop()
+
+def return_to_base():
+    """Return robot to launch area - implement based on your strategy"""
+    print("Returning to base...")
+    # Add your return-to-base logic here
+    pass
+
+def reset_robot():
+    """Reset all motors and sensors to default state"""
+    drive_base.stop()
+    for motor in ROBOT_CONFIG.get('attachment_motors', []):
+        motor.stop()
+    print("Robot reset completed")