Merge pull request 'atharv-dev' (#47) from atharv-dev into dev

Reviewed-on: #47

competition_codes/sectionals/sectional_main_experimental.py

@@ -0,0 +1,350 @@
+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) # 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)
+
+WALL_DISTANCE = 300  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 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)
+
+# Experimental - Removed forge and who lived here part
+async def Run1():  # From M8_5.py
+    right_arm.run_angle(500,30)
+    left_arm.run_angle(500,90)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,-90)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,-180)
+    await drive_base.turn(-20)
+    await drive_base.turn(15)
+
+    await drive_base.straight(-173)
+    await drive_base.turn(45)
+    await drive_base.straight(120)
+    left_arm.run_angle(1000,670)
+
+    await right_arm.run_angle(4000,-30, Stop.HOLD)
+    await right_arm.run_angle(4000,30, Stop.HOLD)
+    await right_arm.run_angle(4000,-30, Stop.HOLD)
+    await right_arm.run_angle(4000,30, Stop.HOLD)
+    await right_arm.run_angle(4000,-30, Stop.HOLD)
+    right_arm.run_angle(4000,30, Stop.HOLD)
+
+    # await drive_base.turn(-35)
+    # await drive_base.straight(297)
+    # 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(-90)
+    #await drive_base.turn(-100)
+    await drive_base.arc(200,None,-300)
+    drive_base.stop()
+    
+async def Run2():  # experiment with ferris wheel for silo
+    await drive_base.straight(410)
+    #await drive_base.turn(-20)
+    #await drive_base.straight(536)
+    #await drive_base.turn(60, Stop.HOLD)
+    #await drive_base.straight(30)
+    for i in range(3):
+        await right_arm.run_angle(10000, -360)
+    await drive_base.straight(-400)
+
+# Experimental - This to solve forge, who lived here and heavy lifting combined
+async def Run2_1():  
+    await right_arm.run_target(50,50)
+    #await right_arm.re
+    #await multitask(
+    await right_arm.run_angle(50,-30)
+    await drive_base.arc(350,113, None)
+    #)
+    await drive_base.turn(-60)
+    await drive_base.straight(-40)
+
+    await right_arm.run_angle(500,-90) # arm down
+    await wait(100)
+    await drive_base.turn(20) # turn right a little bit
+    #await wait(100)
+    await right_arm.run_angle(500,90) #arm up
+    await drive_base.turn(-20) #reset position
+
+    await drive_base.straight(50)
+    await drive_base.turn(-15)
+    await drive_base.straight(50)
+    await drive_base.turn(-25)
+
+    await drive_base.straight(-50)
+    await drive_base.turn(-100)
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+
+async def Run3():  # tip the scale.py
+    right_arm.run_angle(500,30)
+    await drive_base.straight(800)
+    await drive_base.turn(90)
+    await drive_base.straight(86)
+    await right_arm.run_angle(800,-140)
+    await right_arm.run_angle(900,140)
+    
+    await drive_base.straight(-100)
+    await drive_base.turn(90)
+    await drive_base.straight(800)
+    drive_base.stop()
+
+
+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,-3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def Run_3_4(): #combined angler artifacts and tip the scale - experimental
+    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,-3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.arc(-150,-95, None)
+
+    await drive_base.straight(100)
+    await right_arm.run_angle(800,-150)
+    await right_arm.run_angle(900,150)
+    
+    await drive_base.straight(-80)
+    await drive_base.turn(-67)
+    await drive_base.straight(450,Stop.COAST_SMART)
+    await drive_base.arc(10,-25, None)
+    #await drive_base.turn(-23, Stop.COAST_SMART)
+
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+    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)
+    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(-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, 250)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+
+async def arc_back(radius, angle):
+    #print(radius, angle)
+    drive_base.arc(radius, angle, None)
+
+async def lift_right_arm():
+    await right_arm.run_angle(100, -90)
+
+# This is a refactor of Salvage operation mission without wait and realignment
+async def Run6_1(): #experimental
+
+    await drive_base.straight(500)
+    await right_arm.run_angle(100,90)
+    await drive_base.straight(-75)
+
+    #ack back while raising arm
+    await multitask (
+        lift_right_arm(),
+        arc_back(-215, -45)
+    )
+    
+    #align to raise the ship
+    await drive_base.straight(-150)
+    await drive_base.turn(-45)
+
+    #await drive_base.straight(-350)
+    #await wait(1000)
+
+    #Solve ship
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -700)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, 250)
+    await drive_base.turn(15)
+    await drive_base.straight(-80)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+    drive_base.stop()
+
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    await drive_base.straight(500)
+    
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    #await multitask (
+    #lift_right_arm()
+    #await right_arm.run_angle(100, 10)
+    #await arc_back(-215, -140)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+    
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+    #await drive_base.straight(-300)
+    drive_base.stop()
+
+# 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:
+        h, s, v = await color_sensor.hsv()
+        print(color_sensor.color())
+        print(h,s,v)
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        print(color)
+        
+
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6_1() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run_3_4() #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 Run6_7()  #purple - vertically
+        elif color == "Light_Blue":
+            print("Running Mission 2_1")
+            await Run2_1()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())