From 4102f776f67838f1ba9e98c6aea7a1ceba932712 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Fri, 15 May 2026 22:13:00 +0000 Subject: [PATCH] Add competition_codes/AROC/Tisimal.py --- competition_codes/AROC/Tisimal.py | 655 ++++++++++++++++++++++++++++++ 1 file changed, 655 insertions(+) create mode 100644 competition_codes/AROC/Tisimal.py diff --git a/competition_codes/AROC/Tisimal.py b/competition_codes/AROC/Tisimal.py new file mode 100644 index 0000000..bb40dd2 --- /dev/null +++ b/competition_codes/AROC/Tisimal.py @@ -0,0 +1,655 @@ +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +""" +Debugging helps +""" +DEBUG = 1 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 + +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 300 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(1000,0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + if distance is None: + continue + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Use this to set default +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + +# PID Controller Module +class PIDController: + def __init__(self, kp, ki, kd): + self.kp = kp # Proportional gain + self.ki = ki # Integral gain + self.kd = kd # Derivative gain + self.previous_error = 0 + self.integral = 0 + + def calculate(self, desired_value, actual_value, dt): + """ + Calculate PID output + + Args: + desired_value: Target value + actual_value: Current measured value + dt: Time delta in seconds + + Returns: + PID output value + """ + error = desired_value - actual_value + + # Proportional term + proportional = error * self.kp + + # Integral term + self.integral += error * dt + integral = self.integral * self.ki + + # Derivative term + derivative = (error - self.previous_error) / dt * self.kd if dt > 0 else 0 + + # Store current error for next iteration + self.previous_error = error + + # Calculate total output + output = proportional + integral + derivative + + return output + + def reset(self): + """Reset the PID controller""" + self.previous_error = 0 + self.integral = 0 + +# Create PID controllers for Missions 5, 11, and 12 +straight_pid = PIDController(kp=1.2, ki=0.0, kd=0.1) +turn_pid = PIDController(kp=2.0, ki=0.0, kd=0.2) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + # Fast approach to near-stall position + await left_arm.run_angle(2000, -210) # Fast movement downward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(-1500, duty_limit=15) + left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") + + await solve_whats_on_sale_v3() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale_v3(): + + right_arm.run_angle(500,30) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + await left_arm.run_angle(500, 75,Stop.HOLD) + #await left_arm.run_target(500,90,Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(190) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-80) + await drive_base.turn(45) + await drive_base.straight(120) + + SPEED = 10000 # speed in degree per second + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + + + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + await solve_flag() + + # return to base + await drive_base.turn(55) + await drive_base.straight(-190) + await drive_base.turn(30) + await drive_base.straight(-720) + drive_base.stop() + +async def solve_forge(): + left_arm.run_angle(100,90) + await right_arm.run_target(50,50) + await wait(800) + # await right_arm.run_angle(50,-30) + await drive_base.straight(50) + await drive_base.turn(-17) + await drive_base.straight(650) + await drive_base.turn(50) + + await drive_base.straight(90) + await drive_base.turn(-70) + await drive_base.straight(-60) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(35) + await drive_base.turn(-20) + await drive_base.straight(50) + await drive_base.turn(-25) + await drive_base.straight(-100) + await drive_base.turn(-5) + await drive_base.straight(300) + await drive_base.turn(60) + +async def solve_flag(): + await drive_base.straight(85) + await left_arm.run_angle(70,-90) + await wait(500) + await left_arm.run_angle(100,120) + await drive_base.straight(-45) + await drive_base.turn(-80) + await drive_base.straight(-20) + await left_arm.run_angle(250,-90) + await left_arm.run_angle(250,90) + + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_tip_the_scale() + await solve_angler_artifacts() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_tip_the_scale(): + drive_base.straight(20) + await drive_base.arc(-275,None,365) + await drive_base.straight(280) + await drive_base.straight(-80) + await drive_base.turn(-50) + await drive_base.straight(80) + await drive_base.turn(40) + await drive_base.straight(295) + await drive_base.turn(-90) + +async def solve_angler_artifacts(): + await drive_base.straight(55) + await drive_base.turn(-10) + await left_arm.run_angle(10000,-800) + await drive_base.straight(-120) + await drive_base.turn(110) + await drive_base.turn(-25) + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" +async def Run5(): + # Reset PID controller for this mission + straight_pid.reset() + + # Getting the sand down with PID control + await drive_straight_pid(550) + await right_arm.run_angle(300,100) + await drive_straight_pid(-75) + await right_arm.run_angle(300, -100) + + # Shoving the boat into place + await drive_straight_pid(300) + await drive_straight_pid(-200) + await drive_turn_pid(-15) + + # Solving statue + await drive_straight_pid(350) + await drive_turn_pid(-104) + await drive_straight_pid(-80) + await left_arm.run_angle(500, -300) + await drive_straight_pid(120) + await drive_turn_pid(5) + + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) + await drive_turn_pid(18) + await drive_straight_pid(-100) + await drive_turn_pid(-90) + await drive_straight_pid(900) + drive_base.stop() + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700,200) + await drive_base.turn(30) + +# PID-enhanced drive functions for Mission 5 +async def drive_straight_pid(distance_mm): + """Drive straight using PID control""" + start_distance = drive_base.distance() + target_distance = start_distance + distance_mm + straight_pid.reset() + + stopwatch = StopWatch() + stopwatch.reset() + + # Drive with PID correction + while abs(drive_base.distance() - target_distance) > 5: # 5mm tolerance + elapsed_time = stopwatch.time() / 1000.0 # Convert to seconds + stopwatch.reset() + + # Calculate PID correction + correction = straight_pid.calculate(target_distance, drive_base.distance(), elapsed_time) + + # Apply correction (limit to reasonable values) + correction = max(min(correction, 100), -100) + + # Drive with correction + drive_base.drive(200, correction) # Base speed 200 mm/s + await wait(10) + + drive_base.stop() + +async def drive_turn_pid(angle_degrees): + """Turn using PID control""" + start_angle = drive_base.angle() + target_angle = start_angle + angle_degrees + turn_pid.reset() + + stopwatch = StopWatch() + stopwatch.reset() + + # Turn with PID correction + while abs(drive_base.angle() - target_angle) > 2: # 2 degree tolerance + elapsed_time = stopwatch.time() / 1000.0 # Convert to seconds + stopwatch.reset() + + # Calculate PID correction + correction = turn_pid.calculate(target_angle, drive_base.angle(), elapsed_time) + + # Apply correction (limit to reasonable values) + correction = max(min(correction, 100), -100) + + # Turn with correction + drive_base.drive(0, correction) # No forward movement, just turning + await wait(10) + + drive_base.stop() + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment with PID + # Reset PID controllers + straight_pid.reset() + turn_pid.reset() + + # Drive forward with PID + await drive_straight_pid(600) + + # Turn with PID + await drive_turn_pid(-30) + + # Drive forward with PID + await drive_straight_pid(250) + + # Return with PID control + await drive_straight_pid(-100) + await drive_turn_pid(30) + await drive_straight_pid(-600) + drive_base.stop() + +async def Run12(): + # Reset PID controllers for this mission + straight_pid.reset() + turn_pid.reset() + + # Drive forward with PID + await drive_straight_pid(900) + + # Turn with PID + await drive_turn_pid(83) + + await left_arm.run_angle(3000, -300) + await right_arm.run_angle(1100, -180) + drive_base.settings(150, 50, 50, 50) + await drive_straight_pid(120) + left_arm.reset_angle(0) + await left_arm.run_angle(50, 50) + await right_arm.run_angle(50, 90) + await drive_straight_pid(-100) + drive_base.settings(950, 750, 750, 750) + + # Turn with PID + await drive_turn_pid(110) + + # Drive forward with PID + await drive_straight_pid(1000) + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + pressed = hub.buttons.pressed() + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run11() + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file