FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
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Update competition_codes/AROC/Nationals_Main.py

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Johannes
2026-05-15 23:09:21 +00:00
parent 4102f776f6
commit 9771118d39
1 changed files with 21 additions and 20 deletions
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41
competition_codes/AROC/Nationals_Main.py
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@@ -20,7 +20,7 @@ color_sensor = ColorSensor(Port.F)
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.settings(1000, 600, 500, 300)
drive_base.use_gyro(True)
"""
@@ -110,20 +110,21 @@ async def solve_whats_on_sale_v3():
#await left_arm.run_target(500,90,Stop.HOLD)
print(f"Position left arm angle : {left_arm.angle()}")
await drive_base.straight(190)
await drive_base.straight(210)
await drive_base.turn(-40)
await drive_base.straight(335)
await left_arm.run_angle(500,-20)
await drive_base.straight(320)
await left_arm.run_angle(490,-30)
await drive_base.straight(-100)
await drive_base.straight(60)
await left_arm.run_angle(500,50)
await left_arm.run_angle(600,50)
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(5)
await drive_base.turn(-25)
left_arm.run_angle(5000,180)
await drive_base.turn(15)
async def solve_whats_on_sale_v2():
@@ -136,7 +137,7 @@ async def solve_whats_on_sale_v2():
print(f"Position left arm angle : {left_arm.angle()}")
left_arm.reset_angle(0)
await drive_base.straight(180)
await drive_base.straight(175)
await drive_base.turn(-40)
await drive_base.straight(335)
@@ -146,22 +147,22 @@ async def solve_whats_on_sale_v2():
await drive_base.straight(60)
await left_arm.run_angle(500,50)
await drive_base.straight(-100)
await drive_base.straight(-90)
left_arm.run_angle(500,-50)
left_arm.run_angle(1000,6)
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.straight(-75)
await drive_base.turn(45)
await drive_base.straight(120)
await drive_base.straight(110)
SPEED = 10000 # speed in degree per second
SWING_ANGLE = 60 # the angle!
REBOUND_ADJ = 20
# Repeat this motion 4 times
# Repeat this motion 3 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
@@ -182,8 +183,8 @@ async def Run2():
await solve_flag()
# return to base
await drive_base.turn(55)
await drive_base.straight(-190)
await drive_base.turn(50)
await drive_base.straight(-220)
await drive_base.turn(30)
await drive_base.straight(-720)
drive_base.stop()
@@ -198,7 +199,7 @@ async def solve_forge():
await drive_base.straight(650)
await drive_base.turn(50)
await drive_base.straight(90)
await drive_base.straight(95)
await drive_base.turn(-70)
await drive_base.straight(-60)
@@ -213,9 +214,9 @@ async def solve_who_lived_here():
await drive_base.straight(35)
await drive_base.turn(-20)
await drive_base.straight(50)
await drive_base.turn(-25)
await drive_base.turn(-23 )
await drive_base.straight(-100)
await drive_base.turn(-5)
await drive_base.turn(-3)
await drive_base.straight(300)
await drive_base.turn(60)
@@ -272,7 +273,7 @@ async def Run3():
async def solve_tip_the_scale():
drive_base.straight(20)
await drive_base.arc(-275,None,365)
await drive_base.arc(-270,None,365)
await drive_base.straight(280)
await drive_base.straight(-80)
await drive_base.turn(-50)
@@ -285,7 +286,7 @@ async def solve_angler_artifacts():
await drive_base.straight(55)
await drive_base.turn(-10)
await left_arm.run_angle(10000,-800)
await drive_base.straight(-120)
await drive_base.straight(-130)
await drive_base.turn(110)
await drive_base.turn(-25)