Uploaded files from Bitbucket

missions/mission_09.py

@@ -0,0 +1,43 @@
+# ---JOHANNES---
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+
+hub = PrimeHub()
+
+# Initialize both motors. In this example, the motor on the
+# left must turn counterclockwise to make the robot go forward.
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+arm_motor = Motor(Port.E, Direction.CLOCKWISE)
+arm_motor.run_angle(299,90, Stop.HOLD)
+# Initialize the drive base. In this example, the wheel diameter is 56mm.
+# The distance between the two wheel-ground contact points is 112mm.
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=54, axle_track=140)
+
+print('The default settings are: ' + str(drive_base.settings()))
+drive_base.settings(100,1000,166,750)
+# Optionally, uncomment the line below to use the gyro for improved accuracy.
+drive_base.use_gyro(True)
+
+async def solveM9():
+    print("Solving Mission 9")
+    await drive_base.turn(45)
+    await drive_base.straight(260)
+    await arm_motor.run_angle(500,-500, Stop.HOLD)
+    await drive_base.straight(-40)
+    await drive_base.turn(92)
+    await drive_base.straight(-120)
+    await drive_base.straight(220)
+    await arm_motor.run_angle(500,100, Stop.HOLD)
+    await drive_base.turn(-50)
+    await drive_base.straight(-600)
+async def main():
+    await drive_base.straight(50)
+    print("Hello, Robot is starting to run.")
+    await solveM9()
+
+run_task(main())