Update codes_for_scrimmage/hazmat/mainhazmatUPD.py
This commit is contained in:
@@ -145,256 +145,7 @@ async def Run5():
|
|||||||
|
|
||||||
# Add - Adi's code here
|
# Add - Adi's code here
|
||||||
async def Run6():
|
async def Run6():
|
||||||
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)
|
|
||||||
|
|
||||||
WALL_DISTANCE = 200 # mm
|
|
||||||
|
|
||||||
async def drive_forward():
|
|
||||||
"""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
|
|
||||||
await drive_base.stop
|
|
||||||
print(f"Wall detected at {distance}mm!")
|
|
||||||
break
|
|
||||||
|
|
||||||
# Small delay to prevent overwhelming the sensor
|
|
||||||
await wait(50)
|
|
||||||
|
|
||||||
# New Section
|
|
||||||
async def Run1(): # From M8_5.py
|
|
||||||
right_arm.run_angle(1000,450)
|
|
||||||
left_arm.run_angle(500,-80)
|
|
||||||
await drive_base.straight(200)
|
|
||||||
|
|
||||||
await drive_base.turn(-40)
|
|
||||||
await drive_base.straight(325)
|
|
||||||
await left_arm.run_angle(500,80)
|
|
||||||
|
|
||||||
await drive_base.straight(-100)
|
|
||||||
await drive_base.straight(50)
|
|
||||||
await left_arm.run_angle(500,-170)
|
|
||||||
|
|
||||||
await drive_base.straight(-270)
|
|
||||||
await drive_base.turn(40)
|
|
||||||
await drive_base.straight(135)
|
|
||||||
left_arm.run_angle(1000,-670)
|
|
||||||
|
|
||||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
|
||||||
await right_arm.run_angle(5000,450, Stop.HOLD)
|
|
||||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
|
||||||
await right_arm.run_angle(5000,450, Stop.HOLD)
|
|
||||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
|
||||||
right_arm.run_angle(5000,450, Stop.HOLD)
|
|
||||||
|
|
||||||
await drive_base.turn(-35)
|
|
||||||
await drive_base.straight(300)
|
|
||||||
await drive_base.turn(63)
|
|
||||||
await drive_base.straight(170)
|
|
||||||
|
|
||||||
await drive_base.turn(-80)
|
|
||||||
await drive_base.straight(87)
|
|
||||||
await drive_base.turn(-15)
|
|
||||||
|
|
||||||
await drive_base.straight(-120)
|
|
||||||
await drive_base.turn(-100)
|
|
||||||
await drive_base.straight(300)
|
|
||||||
await drive_base.turn(-45)
|
|
||||||
await drive_base.straight(500)
|
|
||||||
|
|
||||||
|
|
||||||
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
|
|
||||||
left_arm.run_angle(600,-200)
|
|
||||||
right_arm.run_angle(500,200)
|
|
||||||
await drive_base.straight(70)
|
|
||||||
|
|
||||||
await drive_base.turn(-70)
|
|
||||||
await drive_base.straight(900)
|
|
||||||
await drive_base.turn(115)
|
|
||||||
|
|
||||||
await drive_base.straight(75)
|
|
||||||
await drive_base.straight(33)
|
|
||||||
await right_arm.run_angle(500,-250)
|
|
||||||
await right_arm.run_angle(500,250)
|
|
||||||
await drive_base.turn(66)
|
|
||||||
await drive_base.straight(7)
|
|
||||||
|
|
||||||
await left_arm.run_angle(560,390) #going down
|
|
||||||
print('turning now...')
|
|
||||||
await drive_base.turn(40) # turning right
|
|
||||||
await left_arm.run_angle(410,-400) #lift a little bit
|
|
||||||
await drive_base.straight(80)
|
|
||||||
await drive_base.turn(-41) #ma din din din dun 67 41 21
|
|
||||||
await drive_base.straight(900)
|
|
||||||
|
|
||||||
|
|
||||||
async def Run4(): # From Send_Over_Final.py
|
|
||||||
|
|
||||||
await drive_base.straight(920)
|
|
||||||
await drive_base.turn(-90,Stop.HOLD)
|
|
||||||
await drive_base.straight(65)
|
|
||||||
#Solve
|
|
||||||
drive_base.turn(-10)
|
|
||||||
await left_arm.run_angle(10000,-4000)
|
|
||||||
await drive_base.straight(-110)
|
|
||||||
await drive_base.turn(90)
|
|
||||||
|
|
||||||
await multitask(
|
|
||||||
drive_forward(),
|
|
||||||
monitor_distance()
|
|
||||||
)
|
|
||||||
|
|
||||||
# Add Rishi's code here
|
|
||||||
async def Run5():
|
|
||||||
await drive_base.straight(700)
|
|
||||||
await drive_base.turn(-18)
|
|
||||||
await drive_base.straight(100)
|
|
||||||
await drive_base.straight(-205)
|
|
||||||
await drive_base.turn(63)
|
|
||||||
await drive_base.straight(125)
|
|
||||||
await right_arm.run_angle(1000, -1200)
|
|
||||||
await drive_base.straight(84)
|
|
||||||
await right_arm.run_angle(300, 1200)
|
|
||||||
await drive_base.straight(-875)
|
|
||||||
|
|
||||||
# Add - Adi's code here
|
|
||||||
async def Run6():
|
|
||||||
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)
|
|
||||||
await drive_base.turn(-94)
|
|
||||||
await drive_base.straight(-80)
|
|
||||||
await left_arm.run_angle(500, 900)
|
|
||||||
await drive_base.straight(50)
|
|
||||||
await drive_base.turn(-10)
|
|
||||||
await drive_base.straight(50)
|
|
||||||
await left_arm.run_angle(700, -200)
|
|
||||||
await drive_base.turn(30)
|
|
||||||
await drive_base.straight(-60)
|
|
||||||
await drive_base.turn(80)
|
|
||||||
await drive_base.straight(-900)
|
|
||||||
|
|
||||||
# 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 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:
|
|
||||||
h, s, v = await color_sensor.hsv()
|
|
||||||
reflected = await color_sensor.reflection()
|
|
||||||
color = detect_color(h, s, v, reflected)
|
|
||||||
|
|
||||||
if color == "Red":
|
|
||||||
print('Running Mission 3')
|
|
||||||
await Run3() #red
|
|
||||||
elif color == "Orange":
|
|
||||||
print('Running Mission 6')
|
|
||||||
await Run6() #orange
|
|
||||||
elif color == "Yellow":
|
|
||||||
print('Running Mission 4')
|
|
||||||
await Run4() #yellow
|
|
||||||
elif color == "Green":
|
|
||||||
print('Running Mission 1')
|
|
||||||
await Run1() #green - vertically
|
|
||||||
elif color == "Blue":
|
|
||||||
print('Running Mission 5')
|
|
||||||
await Run5() #blue - vertically
|
|
||||||
elif color == "Purple":
|
|
||||||
print('Running Mission 2')
|
|
||||||
await Run2() #purple - vertically
|
|
||||||
else:
|
|
||||||
print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
|
|
||||||
await wait(10)
|
|
||||||
# Run the main function
|
|
||||||
run_task(main())
|
|
||||||
|
|
||||||
# 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 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:
|
while True:
|
||||||
h, s, v = await color_sensor.hsv()
|
h, s, v = await color_sensor.hsv()
|
||||||
reflected = await color_sensor.reflection()
|
reflected = await color_sensor.reflection()
|
||||||
|
|||||||
Reference in New Issue
Block a user