Update final/main4.py
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149
final/main4.py
149
final/main4.py
@@ -15,6 +15,64 @@ drive_base.use_gyro(True)
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color_sensor = ColorSensor(Port.F)
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hub.speaker.volume(50) # Set the volume of the speaker
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async def Run1():
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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(275)
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await drive_base.turn(20)
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await drive_base.straight(63)
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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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await drive_base.straight(-135)
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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(-145)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-500)
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async def Run2():
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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(525)
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await drive_base.turn(60)
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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await drive_base.turn(-100)
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await drive_base.straight(-600)
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async def Run3():
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await drive_base.straight(915)
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await drive_base.turn(-90)
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await drive_base.straight(60)
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await left_arm.run_angle(10000,-15000)
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await drive_base.straight(-60)
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await drive_base.turn(85)
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await drive_base.straight(2000)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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# Celebration sound types
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class CelebrationSound:
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VICTORY_FANFARE = 0
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@@ -126,92 +184,8 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
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await wait(100)
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hub.light.off()
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async def Run1():
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# Brings both arms up while moving to first mission
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await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
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await drive_base.straight(320)
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# Slaps down "Silo" 3 times
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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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# Moves to the next mission, solving "Who lived here?"
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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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# Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
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await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
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await drive_base.turn(45)
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await drive_base.straight(-135)
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await drive_base.turn(-60)
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# Solves "What's on Sale?"
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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(-145)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(10)
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# Moves the robot back to base
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await drive_base.turn(35)
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await drive_base.straight(-600)
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async def Run2():
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# Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
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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(525)
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await drive_base.turn(60)
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# Throws "Heavy Lifting" to the side
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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# Moves the robot back to base
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await drive_base.turn(-100)
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await drive_base.straight(-600)
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async def Run3():
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# Runs robot to "Angler Artifacts"
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await drive_base.straight(915)
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await drive_base.turn(-90)
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# Solves "Angler Artifacts"
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await drive_base.straight(60)
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await left_arm.run_angle(10000,-15000)
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# Moves to the Red home area
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await drive_base.straight(-60)
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await drive_base.turn(85)
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await drive_base.straight(2000)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def main():
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while True:
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await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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@@ -246,5 +220,6 @@ async def Run6():
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left_motor.stop()
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right_motor.stop()
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await wait(100) #prevent loop from iterating fast
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# Main execution loop
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run_task(main())
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run_task(main())
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