FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
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Update final/main4.py

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Atharv
2025-10-10 20:03:09 +00:00
parent c2204e71ab
commit a3e7be20d1
1 changed files with 19 additions and 3 deletions
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22
final/main4.py
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@@ -128,38 +128,47 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
hub.light.off() hub.light.off()
async def Run1(): async def Run1():
# Brings both arms up while moving to first mission
await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500)) await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
await drive_base.straight(320) await drive_base.straight(320)
# Slaps down "Silo" 3 times
await right_arm.run_angle(5000,-500, Stop.HOLD) await right_arm.run_angle(5000,-500, Stop.HOLD)
await right_arm.run_angle(5000,500, Stop.HOLD) await right_arm.run_angle(5000,500, Stop.HOLD)
await right_arm.run_angle(5000,-500, Stop.HOLD) await right_arm.run_angle(5000,-500, Stop.HOLD)
await right_arm.run_angle(5000,500, Stop.HOLD) await right_arm.run_angle(5000,500, Stop.HOLD)
await right_arm.run_angle(5000,-500, Stop.HOLD) await right_arm.run_angle(5000,-500, Stop.HOLD)
# Moves to the next mission, solving "Who lived here?"
await drive_base.turn(-20) await drive_base.turn(-20)
await drive_base.straight(275) await drive_base.straight(277)
await drive_base.turn(20) await drive_base.turn(20)
await drive_base.straight(63) await drive_base.straight(65)
# Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
await multitask(drive_base.turn(-30), right_arm.run_angle(50,500)) await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
await drive_base.turn(45) await drive_base.turn(45)
await drive_base.straight(-135) await drive_base.straight(-135)
await drive_base.turn(-60) await drive_base.turn(-60)
# Solves "What's on Sale?"
await drive_base.straight(90) await drive_base.straight(90)
await left_arm.run_angle(1000,-450) await left_arm.run_angle(1000,-450)
await drive_base.straight(-145) await drive_base.straight(-145)
await left_arm.run_angle(1000,450) await left_arm.run_angle(1000,450)
await drive_base.straight(10) await drive_base.straight(10)
# Moves the robot back to base
await drive_base.turn(35) await drive_base.turn(35)
await drive_base.straight(-500) await drive_base.straight(-600)
async def Run2(): async def Run2():
# Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
await drive_base.straight(200) await drive_base.straight(200)
await drive_base.turn(-20) await drive_base.turn(-20)
await drive_base.straight(525) await drive_base.straight(525)
await drive_base.turn(60) await drive_base.turn(60)
# Throws "Heavy Lifting" to the side
await drive_base.straight(50) await drive_base.straight(50)
await right_arm.run_angle(2000,1000) await right_arm.run_angle(2000,1000)
await drive_base.straight(-50) await drive_base.straight(-50)
@@ -167,15 +176,22 @@ async def Run2():
await drive_base.straight(50) await drive_base.straight(50)
await right_arm.run_angle(350,-1000) await right_arm.run_angle(350,-1000)
# Moves the robot back to base
await drive_base.turn(-100) await drive_base.turn(-100)
await drive_base.straight(-600) await drive_base.straight(-600)
async def Run3(): async def Run3():
# Runs robot to "Angler Artifacts"
await drive_base.straight(915) await drive_base.straight(915)
await drive_base.turn(-90) await drive_base.turn(-90)
# Solves "Angler Artifacts"
await drive_base.straight(60) await drive_base.straight(60)
await left_arm.run_angle(10000,-15000) await left_arm.run_angle(10000,-15000)
# Moves to the Red home area
await drive_base.straight(-60) await drive_base.straight(-60)
await drive_base.turn(85) await drive_base.turn(85)
await drive_base.straight(2000) await drive_base.straight(2000)