FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
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Update missions/Boat.py

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Rishikesh Lolapu
2025-11-06 01:06:09 +00:00
parent 14bc8d291a
commit 9ca07a36a8
1 changed files with 21 additions and 11 deletions
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missions/Boat.py
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@@ -2,26 +2,36 @@ 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
from pybricks.tools import run_task,multitask
from pybricks.tools import wait, StopWatch, run_task, multitask
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)
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
right_arm = Motor(Port.D)
arm_motor = Motor(Port.D, Direction.CLOCKWISE)
arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
# 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=68.8, axle_track=180)
drive_base.settings(550,700,100,100)
print('The default settings are: ' + str(drive_base.settings()))
drive_base.settings(300,1000,300,750)
# Optionally, uncomment the line below to use the gyro for improved accuracy.
drive_base.use_gyro(True)
first_run = False
async def main():
await drive_base.straight(750)
await drive_base.straight(-650)
await drive_base.straight(700)
await drive_base.turn(-17)
await drive_base.straight(100)
await drive_base.straight(-205)
await drive_base.turn(62)
await drive_base.straight(125)
await arm_motor.run_angle(1000, -1200)
await drive_base.straight(87)
await arm_motor.run_angle(300, 1200)
await drive_base.straight(-875)
run_task(main())