From 8b152a371d3d3e46cff0c2b1da9a6a1b4ea367c7 Mon Sep 17 00:00:00 2001
From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org>
Date: Thu, 8 Jan 2026 23:11:34 +0000
Subject: [PATCH] Add competition_codes/state/Updated state.py

---
 competition_codes/state/Updated state.py | 513 +++++++++++++++++++++++
 1 file changed, 513 insertions(+)
 create mode 100644 competition_codes/state/Updated state.py

diff --git a/competition_codes/state/Updated state.py b/competition_codes/state/Updated state.py
new file mode 100644
index 0000000..4b0cebb
--- /dev/null
+++ b/competition_codes/state/Updated state.py	
@@ -0,0 +1,513 @@
+#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 = 200  # 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)  
+
+"""
+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, 180)  # Fast movement upward
+
+    # 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_v2()
+    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():
+
+    right_arm.run_angle(500,30)
+
+    #Automated inconsistency
+    #left_arm.run_angle(500,-119.5)
+    left_arm.run_target(500,-121.5, Stop.HOLD)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    
+    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_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(42)
+    await drive_base.straight(95)
+
+    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()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge():
+    await right_arm.run_target(50,50)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.arc(350,113, None)
+
+    await drive_base.straight(20)
+    await drive_base.turn(-60)
+    await drive_base.straight(-47)
+
+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(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(-40)
+    await drive_base.straight(50)
+    right_arm.run_angle(1000,-160)
+    await drive_base.turn(-60)
+    await right_arm.run_angle(2000,160)
+
+"""
+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_angler_artifacts()
+    await solve_tip_the_scale()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_angler_artifacts():
+    await drive_base.straight(870)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(45)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-750)
+    await drive_base.straight(-130)
+    
+    await drive_base.turn(67)
+
+async def solve_tip_the_scale():
+    await drive_base.straight(-200)
+    await drive_base.straight(60)
+    await drive_base.turn(22)
+
+
+
+
+
+
+"""
+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():
+    # Getting the sand down
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    # Shoving the boat into place
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    # Solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -300)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    # Lift up statue
+    await left_arm.run_angle(500, 100, Stop.HOLD)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(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)
+
+"""
+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
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-100)
+    await drive_base.turn(30)
+    await drive_base.straight(-190)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    await left_arm.run_angle(300,-300)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run12():
+    await drive_base.straight(900)
+    await drive_base.turn(83)
+    await left_arm.run_angle(3000, -300)
+    await right_arm.run_angle(1100, -180)
+    drive_base.settings(150, 50, 50, 50)
+    await drive_base.straight(120)
+    left_arm.reset_angle(0)
+    await left_arm.run_angle(50, 50)
+    await right_arm.run_angle(50, 90)
+    await drive_base.straight(-100)
+    drive_base.settings(950, 750, 750, 750)
+    await drive_base.turn(110)
+    await drive_base.straight(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