Add competition_codes/state/Updated state.py
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513
competition_codes/state/Updated state.py
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513
competition_codes/state/Updated state.py
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#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.
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import umath
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.tools import run_task, multitask
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from pybricks.tools import wait, StopWatch
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from pybricks.robotics import DriveBase
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from pybricks.hubs import PrimeHub
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# Initialize hub and devices
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hub = PrimeHub()
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
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left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
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right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
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lazer_ranger = UltrasonicSensor(Port.E)
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color_sensor = ColorSensor(Port.F)
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# DriveBase configuration
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WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
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AXLE_TRACK = 180 # mm (distance between wheels)
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drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
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drive_base.settings(600, 500, 300, 200)
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drive_base.use_gyro(True)
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"""
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Debugging helps
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"""
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DEBUG = 1 # Enable when you want to show logs
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# Example conversion function (adjust min/max values as needed for your hub)
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async def get_battery_percentage(voltage_mV:float):
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max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
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min_voltage = 5000.0 # min battery level
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percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
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return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
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async def wait_button_release():
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"""Wait for all buttons to be released"""
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while hub.buttons.pressed():
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await wait(500)
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await wait(1000) # Debounce delay
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WALL_DISTANCE = 200 # mm
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async def drive_forward():
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"""Drive forward continuously using DriveBase."""
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drive_base.drive(1000,0)
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async def drive_backward():
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"""Drive forward continuously using DriveBase."""
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drive_base.drive(400, 0)
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async def monitor_distance():
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"""Monitor ultrasonic sensor and stop when wall is detected."""
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while True:
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distance = await lazer_ranger.distance()
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print('Distancing...',distance)
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if distance < WALL_DISTANCE:
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# Stop the drivebase
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drive_base.stop()
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print(f"Wall detected at {distance}mm!")
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break
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if distance is None:
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continue
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# Small delay to prevent overwhelming the sensor
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await wait(50)
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# Use this to set default
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def set_default_speed():
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drive_base.settings(600, 500, 300, 200)
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# Use this to change drive base movement
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def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
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drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
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"""
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Run#1
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- Removed forge and who lived here part
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- What's on sale + Silo
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- Green Key
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"""
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async def Run1():
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# Fast approach to near-stall position
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await left_arm.run_angle(2000, 180) # Fast movement upward
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# Gentle stall detection (shorter distance = faster)
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await left_arm.run_until_stalled(1500, duty_limit=15)
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left_arm.reset_angle(0)
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print(f"Initial left arm angle : {left_arm.angle()}")
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await solve_whats_on_sale_v2()
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await solve_silo()
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# return to base
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await drive_base.straight(-90)
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#await drive_base.turn(-100)
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await drive_base.arc(200,None,-300)
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drive_base.stop()
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async def solve_whats_on_sale():
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right_arm.run_angle(500,30)
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#Automated inconsistency
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#left_arm.run_angle(500,-119.5)
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left_arm.run_target(500,-121.5, Stop.HOLD)
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print(f"Position left arm angle : {left_arm.angle()}")
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await drive_base.straight(180)
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await drive_base.turn(-40)
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await drive_base.straight(335)
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await left_arm.run_angle(500,-20)
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await drive_base.straight(-100)
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await drive_base.straight(60)
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await left_arm.run_angle(500,50)
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await drive_base.straight(-100)
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left_arm.run_angle(500,-50)
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await drive_base.turn(-20)
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left_arm.run_angle(1000,180)
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await drive_base.turn(15)
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async def solve_whats_on_sale_v2():
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right_arm.run_angle(500,30)
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# Bring down left arm to position
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await left_arm.run_angle(2000, -120)
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#await left_arm.run_until_stalled(-500,duty_limit=15)
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print(f"Position left arm angle : {left_arm.angle()}")
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left_arm.reset_angle(0)
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await drive_base.straight(180)
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await drive_base.turn(-40)
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await drive_base.straight(335)
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await left_arm.run_angle(500,-20)
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await drive_base.straight(-100)
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await drive_base.straight(60)
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await left_arm.run_angle(500,50)
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await drive_base.straight(-100)
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left_arm.run_angle(500,-50)
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await drive_base.turn(-20)
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left_arm.run_angle(1000,180)
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await drive_base.turn(15)
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async def solve_silo():
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await drive_base.straight(-80)
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await drive_base.turn(42)
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await drive_base.straight(95)
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SPEED = 10000 # speed in degree per second
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SWING_ANGLE = 60 # the angle!
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REBOUND_ADJ = 20
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# Repeat this motion 4 times
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for _ in range(4):
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await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
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await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
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right_arm.run_angle(4000,60, Stop.HOLD)
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"""
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Run#2
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- This to solve forge, who lived here and heavy lifting combined
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- Red Key
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"""
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async def Run2():
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await solve_forge()
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await solve_heavy_lifting()
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await solve_who_lived_here()
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# return to base
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await drive_base.arc(-500,None,600)
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drive_base.stop()
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async def solve_forge():
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await right_arm.run_target(50,50)
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# await right_arm.run_angle(50,-30)
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await drive_base.arc(350,113, None)
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await drive_base.straight(20)
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await drive_base.turn(-60)
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await drive_base.straight(-47)
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async def solve_heavy_lifting():
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await right_arm.run_angle(2000,-160) # arm down
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await wait(100)
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await drive_base.turn(30) # turn right a little bit
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await right_arm.run_angle(2000,160) #arm up
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await drive_base.turn(-30) #reset position
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async def solve_who_lived_here():
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await drive_base.straight(50)
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await drive_base.turn(-15)
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await drive_base.straight(50)
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await drive_base.turn(-25)
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await drive_base.straight(-50)
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await drive_base.turn(-40)
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await drive_base.straight(50)
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right_arm.run_angle(1000,-160)
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await drive_base.turn(-60)
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await right_arm.run_angle(2000,160)
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"""
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Run#2.1
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- Alternate solution for Forge, Who lived here and Heavy Lifting combined
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- Light Blue Key
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- Different alignment
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"""
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async def Run2_1():
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await solve_forge_straight()
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await solve_heavy_lifting()
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await solve_who_lived_here()
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# return to base
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await drive_base.arc(-500,None,600)
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drive_base.stop()
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async def solve_forge_straight():
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await right_arm.run_target(50,50)
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await right_arm.run_angle(50,-30)
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await drive_base.straight(700)
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# await drive_base.turn(-30)
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# await drive_base.straight(20)
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await drive_base.turn(-40)
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await drive_base.straight(-30)
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"""
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Run#3
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- Combined angler artifacts and tip the scale
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- Yellow key
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"""
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async def Run3():
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await solve_angler_artifacts()
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await solve_tip_the_scale()
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#cross over to red side
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await multitask(
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drive_forward(),
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monitor_distance()
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)
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async def solve_angler_artifacts():
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await drive_base.straight(870)
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await drive_base.turn(-90,Stop.HOLD)
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await drive_base.straight(45)
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#Solve
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-750)
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await drive_base.straight(-130)
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await drive_base.turn(67)
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async def solve_tip_the_scale():
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await drive_base.straight(-200)
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await drive_base.straight(60)
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await drive_base.turn(22)
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"""
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Run #4
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- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
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- Blue Key
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"""
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async def Run4():
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await drive_base.straight(700)
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await drive_base.turn(-18)
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await drive_base.straight(120)
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await drive_base.straight(-210)
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await drive_base.turn(61)
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await drive_base.straight(133)
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await right_arm.run_angle(400, -200)
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await drive_base.straight(90)
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await right_arm.run_angle(100, 95)
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await drive_base.straight(-875)
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async def solve_brush_reveal():
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await drive_base.straight(700)
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await drive_base.turn(-20)
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await drive_base.straight(110)
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await drive_base.straight(-210)
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async def solve_mineshaft_explorer():
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await drive_base.turn(63)
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await drive_base.straight(130)
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await right_arm.run_angle(1000, -90)
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await drive_base.straight(84)
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await right_arm.run_angle(300, 90)
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"""
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Run#5
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- Solves Salvage Operation + Statue Rebuild
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- Orange Key
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"""
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async def Run5():
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# Getting the sand down
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await drive_base.straight(550)
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await right_arm.run_angle(300,100)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, -100)
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# Shoving the boat into place
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await drive_base.straight(300)
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await drive_base.straight(-200)
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await drive_base.turn(-15)
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# Solving statue
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await drive_base.straight(350)
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await drive_base.turn(-104)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, -300)
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await drive_base.straight(120)
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await drive_base.turn(5)
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# Lift up statue
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await left_arm.run_angle(500, 100, Stop.HOLD)
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await drive_base.turn(18)
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await drive_base.straight(-100)
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await drive_base.turn(-90)
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await drive_base.straight(900)
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drive_base.stop()
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async def solve_salvage_operation():
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await drive_base.straight(500)
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await right_arm.run_angle(300,500)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, -900)
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await drive_base.straight(-350)
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await wait(1000)
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await drive_base.straight(800)
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await drive_base.straight(-200)
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await drive_base.turn(-15)
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await drive_base.straight(350)
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async def solve_statue_rebuild():
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await drive_base.turn(-100)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, -900)
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await drive_base.straight(50)
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await drive_base.straight(50)
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await left_arm.run_angle(700,200)
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await drive_base.turn(30)
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"""
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Run#6
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- Solve 2/3 Site Markings
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- Run only if have time
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- Purple Key
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"""
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async def Run6_7(): # experiment with ferris wheel for Site Markings
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solve_site_mark_1()
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solve_site_mark_2()
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#return to base
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||||||
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await drive_base.straight(-300)
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drive_base.stop()
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||||||
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async def solve_site_mark_1():
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await drive_base.straight(500)
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await right_arm.run_angle(100, -10)
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await wait(50)
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await drive_base.straight(-300)
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||||||
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await drive_base.arc(-150, -140, None)
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||||||
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async def solve_site_mark_2():
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||||||
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await drive_base.straight(-300)
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await wait(50)
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await right_arm.run_angle(50, 50)
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||||||
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||||||
|
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())
|
||||||
Reference in New Issue
Block a user