Update codes_for_scrimmage/hazmat/mainhazmatUPD.py
This is the new version of Hazmat Code with the colors. Check to see if your color is different. Only Run2 is different, it was white, now violet.
This commit is contained in:
@@ -23,168 +23,13 @@ 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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# Color Settings
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# https://docs.pybricks.com/en/latest/parameters/color.html
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print("Default Detected Colors:", color_sensor.detectable_colors())
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# Custom color Hue, Saturation, Brightness value for Lego bricks
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Color.MAGENTA = Color(300,100,100)
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Color.VIOLET = Color(277,68,32)
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Color.BLUE = Color(240,100,100)
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Color.CYAN = Color(180,100,100)
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LEGO_BRICKS_COLOR = [
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Color.BLUE,
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Color.GREEN,
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Color.WHITE,
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Color.RED,
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Color.YELLOW,
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Color.MAGENTA,
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Color.VIOLET,
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Color.NONE
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]
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#Update Detectable colors
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color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
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print("Updated Detected Colors:", color_sensor.detectable_colors())
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hub.speaker.volume(50) # Set the volume of the speaker
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# Celebration sound types
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class CelebrationSound:
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VICTORY_FANFARE = 0
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LEVEL_UP = 1
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SUCCESS_CHIME = 2
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TA_DA = 3
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POWER_UP = 4
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RICKROLL_INSPIRED = 5
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async def play_victory_fanfare():
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"""Classic victory fanfare"""
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notes = [
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(262, 200), # C4
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(262, 200), # C4
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(262, 200), # C4
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(349, 600), # F4
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_level_up():
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"""Upward scale for level completion"""
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notesold = [
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(262, 100), # C4
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(294, 100), # D4
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(330, 100), # E4
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(349, 100), # F4
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(392, 100), # G4
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(440, 100), # A4
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(494, 100), # B4
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(523, 300), # C5
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]
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notes = [
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(277, 100),
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(330, 100),
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(277, 100),
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(554, 100),
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(277, 100),
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(413, 100),
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(330, 100),
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(277, 100),
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(413, 100),
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(277, 100),
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(554, 100),
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(413, 100),
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(277, 100),
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(413, 100),
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(554, 100),
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(413, 100)
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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#await wait(20)
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async def play_success_chime():
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"""Simple success notification"""
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notes = [
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(523, 150), # C5
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(659, 150), # E5
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(784, 300), # G5
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_ta_da():
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"""Classic "ta-da!" sound"""
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notes = [
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(392, 200), # G4
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(523, 400), # C5
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(100)
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async def play_power_up():
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"""Rising power-up sound"""
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for freq in range(200, 800, 50):
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await hub.speaker.beep(freq, 50)
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await wait(10)
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await hub.speaker.beep(1000, 200)
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async def play_rickroll_inspired():
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"""Fun 80s-style dance beat inspired sound"""
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# Upbeat bouncy rhythm
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pattern = [
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(392, 200), (440, 200), (494, 200), (523, 200),
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(440, 200), (392, 200), (349, 200), (392, 300),
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(440, 200), (392, 200), (349, 200), (330, 400),
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]
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for freq, duration in pattern:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
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"""
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Main celebration function to call after completing a mission.
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Plays a sound and shows light animation.
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Args:
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sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
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"""
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# Light show
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hub.light.on(Color.GREEN)
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# Play the selected celebration sound
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if sound_type == CelebrationSound.VICTORY_FANFARE:
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await play_victory_fanfare()
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elif sound_type == CelebrationSound.LEVEL_UP:
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await play_level_up()
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elif sound_type == CelebrationSound.SUCCESS_CHIME:
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await play_success_chime()
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elif sound_type == CelebrationSound.TA_DA:
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await play_ta_da()
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elif sound_type == CelebrationSound.POWER_UP:
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await play_power_up()
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elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
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await play_rickroll_inspired()
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else:
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await play_success_chime() # Default fallback
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# Blink the light
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for _ in range(3):
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hub.light.off()
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await wait(100)
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hub.light.on(Color.GREEN)
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await wait(100)
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hub.light.off()
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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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#await drive_base.straight(5000)
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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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@@ -200,6 +45,7 @@ async def monitor_distance():
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# Small delay to prevent overwhelming the sensor
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await wait(50)
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#New Section
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async def Run1(): #From M8_5.py
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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@@ -336,49 +182,40 @@ async def Run6():
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def main():
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while True:
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#await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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color_reflected_percent = await color_sensor.reflection()
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print(color_reflected_percent)
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if color_reflected_percent > 0: # Make sure we actually have color reflections before checking for color
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color_detected = await color_sensor.color() # Moved this inside the if clause
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print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}')
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if color_detected == Color.GREEN:
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print('Running Mission 1')
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await Run1()
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#await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
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elif color_detected == Color.WHITE:
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print('Running Mission 2')
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await Run2()
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#await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
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elif color_detected == Color.RED:
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# Function to classify color based on HSV
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async def main:
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if reflected > 4:
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if h < 4 or h > 350: #red
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return "Red"
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print('Running Mission 3')
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await Run3()
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#await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
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elif color_detected == Color.YELLOW:
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print('Running Mission 4')
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await Run4()
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#await celebrate_mission_complete(CelebrationSound.POWER_UP)
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elif color_detected == Color.BLUE:
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print('Running Mission 5')
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await Run5()
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#await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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elif color_detected == Color.VIOLET:
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elif 3 < h < 40 and s > 70: #orange
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return "Orange"
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print('Running Mission 6')
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await Run6()
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elif 47 < h < 56: #yellow
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return "Yellow"
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print('Running Mission 4')
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await Run4()
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elif 70 < h < 160: #green - do it vertically not horizontally for accuracy
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return "Green"
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print('Running Mission 1')
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await Run1()
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elif 210 < h < 225: #blue - do it vertically not horizontally for accuracy
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return "Blue"
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print('Running Mission 5')
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await Run5()
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elif 230 < h < 320: #purple
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return "Purple"
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print('Running Mission 2')
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await Run2()
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else:
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hub.light.off()
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left_motor.stop()
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right_motor.stop()
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color_detected = Color.NONE
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else:
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color_detected = Color.NONE
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return "Unknown"
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await wait(1000) #prevent loop from iterating fast
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# Main execution loop
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run_task(main())
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# Main loop
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while True:
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h, s, v = sensor.hsv()
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reflected = sensor.reflection()
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color = detect_color(h, s, v, reflected)
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print(f"Detected Color: {color} (Hue: {h}, Sat: {s}, Val: {v})")
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wait(1000)
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