diff --git a/LICENSE b/LICENSE index 17cb286..e72bfdd 100644 --- a/LICENSE +++ b/LICENSE @@ -1,117 +1,674 @@ -GNU GENERAL PUBLIC LICENSE -Version 2, June 1991 + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 -Copyright (C) 1989, 1991 Free Software Foundation, Inc. -51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. -Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. + Preamble -Preamble + The GNU General Public License is a free, copyleft license for +software and other kinds of works. -The licenses for most software are designed to take away your freedom to share and change it. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. \ No newline at end of file diff --git a/README.md b/README.md index fc9cc11..5187815 100644 --- a/README.md +++ b/README.md @@ -1,25 +1,146 @@ -# 65266 Lego Dynamics - UNEARTHED Season Repository +# 65266 Lego Dynamics - UNEARTHED Season Robot Code + +
+ +**Competitive Robotics Code for FLL SUBMERGED℠ Season** + +![Team](https://img.shields.io/badge/Team-65266%20Lego%20Dynamics-blue?style=for-the-badge) +![Season](https://img.shields.io/badge/Season-UNEARTHED-green?style=for-the-badge) +![License](https://img.shields.io/badge/License-GPLv3-red?style=for-the-badge) + +
+ +--- ## Project Overview -This repository contains the Pybricks code for Team 65266 Lego Dynamics' robot for the UNEARTHED season. +Welcome to the official code repository for **Team 65266 - Lego Dynamics**! This repository contains all the Pybricks code powering our robot through the UNEARTHED season missions. Our modular approach allows for flexible mission execution and quick color-sensor-based run selection. + +--- ## Robot Hardware -* **Robot Name:** Optimus Prime III -* **Robot Firmware:** PyBricks firmware -* **Motors:** Two large motors for attachments, C left, D right, Two small motors for drive, A left, B right -* **Sensors:** visible up-facing color sensor for quick starts -* **Attachments:** Lots of 'em +### Meet Optimus Prime III + +| Component | Specification | +|-----------|--------------| +| **Robot Name** | Optimus Prime III | +| **Firmware** | Pybricks | +| **Attachment Motors** | 2x Large Motors (Ports C & D) | +| **Drive Motors** | 2x Small Motors (Ports A & B) | +| **Sensors** | Up-facing Color Sensor (Quick Start) | +| **Attachments** | Multiple mission-specific tools | + +### Motor Configuration +- **Port A**: Left Drive Motor (Small) +- **Port B**: Right Drive Motor (Small) +- **Port C**: Left Attachment Motor (Large) +- **Port D**: Right Attachment Motor (Large) + +--- ## Code Structure -Files are the different runs we do, with each run consisting of one or multiple mission completions. Another script combines these files into a "master" file, which then adds the color-sensor-to-start logic. +Our codebase is organized for maximum efficiency and modularity: + +``` +Repository + ┣ run_1.py # Individual mission runs + ┣ run_2.py + ┣ run_3.py + ┣ ... + ┗ masterFile.py # 🎯 Combined master file with color-start logic - this changes periodically as we release new versions. Check this README if you are unsure what code should be loaded on the robot. +``` + +### Workflow +1. **Individual Run Files** → Contain specific mission sequences +2. **Script Combination** → Merges runs into master file +3. **Color Sensor Logic** → Adds intelligent run selection based on color detection + +--- ## How to Use -Load the master file into PyBricks, then send it over to the robot. Then you hold a color LEGO up to the sensor to start it. +### Installation & Deployment - from the server - everyday + +1. Download the file codes_for_scrimmage/hazmat/mainhazmatUPD.py + - You can do this through the repo, by using cURL, or by using git. + - Repo - Go to [codes_for_scrimmage/hazmat/mainhazmatUPD.py](codes_for_scrimmage/hazmat/mainhazmatUPD.py) and click the "Download" button. + - cURL or another HTTP data transferrer - + + ```curl -o mainhazmatUPD.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/hazmat/mainhazmatUPD.py``` + - git CLI - + + ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/hazmat``` + + Then use mainhazmatUPD.py. + +2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button. + + - Import button looks like this: + ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/import.png) + - Bluetooth button looks like this: + ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/bluetooth.png) + +3. **Upload to Robot** - Click "Download and Run" or send the program to the robot + - Run button looks like this: ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/run.png) + + +4. **Start Your Run** + - If starting without Pybricks, press the center circular button on the SPIKE Prime Hub to start the program. + - Hold a colored LEGO brick up to the color sensor. + - Different colors trigger different mission runs - color mapping is below. + +### Color Start System +| Color | Mission | +|-------|-----------| +| Green 🟩 | Run 1 | +| Purple 🟪 | Run 2 | +| Red 🟥| Run 3 | +| Yellow 🟨| Run 4 | +| Blue 🟦| Run 5 | +| Orange 🟧| Run 6 | + +--- + +## Competition Notes + +- **Quick Start**: Color sensor enables rapid run switching without reprogramming +- **Modular Design**: Easy to test and modify individual missions +- **Flexible Attachments**: Multiple tools optimized for different challenges + +--- + +## Contributing + +Team members can contribute by: +- Reporting bugs via Issues +- Suggesting mission optimizations +- Testing new attachment designs +- Documenting successful strategies + +--- ## License -GNU General Public License -You can take inspiration from our code, but you can't take our exact code. \ No newline at end of file + +**GNU General Public License v3.0** + +You can take inspiration from our code, but you can't take our exact code. + +This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for complete details. + +### What This Means: +- Learn from our approaches and strategies +- Understand our logic and algorithms +- Don't copy-paste our exact code +- Create your own unique implementations + +--- + +## Contact & Support + +**Team 65266 - Lego Dynamics** + +Questions about our approach? Interested in collaboration? Reach out! + +--- \ No newline at end of file diff --git a/RoshoDaGoat.py b/RoshoDaGoat.py new file mode 100644 index 0000000..7d84ee2 --- /dev/null +++ b/RoshoDaGoat.py @@ -0,0 +1,42 @@ +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, 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) + +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) + +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) + +async def main(): + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 10000) +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py new file mode 100644 index 0000000..c48de0b --- /dev/null +++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py @@ -0,0 +1,227 @@ +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.tools import run_task, multitask +from pybricks.tools import wait, StopWatch +from pybricks.robotics import DriveBase +from pybricks.hubs import PrimeHub + +# Initialize hub and devices +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) +color_sensor = ColorSensor(Port.F) + +# DriveBase configuration +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.use_gyro(True) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + + +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.stop + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# New Section +async def Run1(): # From M8_5.py + left_arm.run_angle(1000, -300) + right_arm.run_angle(1000, 500) + await drive_base.straight(320) + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + await drive_base.turn(-30) + right_arm.run_angle(50, 500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000, 450) + await drive_base.straight(-145) + await left_arm.run_angle(1000, -450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-600) + +async def Run2(): # From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + await right_arm.run_angle(5000, 2900) + await drive_base.straight(40) + await right_arm.run_angle(5000, -4000) + await drive_base.straight(-60) + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): # tip the scale.py + left_arm.run_angle(600,-200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,390) #going down + print('turning now...') + await drive_base.turn(40) # turning right + await left_arm.run_angle(410,-400) #lift a little bit + await drive_base.straight(80) + await drive_base.turn(-41) #ma din din din dun 67 41 21 69 + await drive_base.straight(900) + + +async def Run4(): # From Send_Over_Final.py + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000, 4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + # while True: + # distance_mm = await lazer_ranger.distance() + # print('distancing...',distance_mm) + + # if distance_mm < 300: + # drive_base.stop + # break + # else: + # drive_base.straight(300) + # print('running...') + # await wait(10) + await multitask( + drive_forward(), + monitor_distance() + ) + + + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(519) + await left_arm.run_angle(-10000, 300) + await left_arm.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await right_arm.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(120) + await drive_base.straight(25) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(-110) + await drive_base.turn(-43) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(295) + await right_arm.run_angle(10000, 9000) + await drive_base.straight(-65) + await drive_base.turn(45) + await drive_base.straight(175) + await drive_base.turn(24.5) + await drive_base.straight(-100) + await right_arm.run_angle(10000, -8500) + await drive_base.straight(100) + await right_arm.run_angle(10000, 3500) + await drive_base.turn(-30) + await drive_base.straight(-300) + await drive_base.turn(-80) + await drive_base.straight(-700) + + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(750) + await drive_base.straight(-650) + + +# 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 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: + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run2() #purple - vertically + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/Heavy_lifting_final.py b/codes_for_scrimmage/hazmat/Heavy_lifting_final.py new file mode 100644 index 0000000..86a67e9 --- /dev/null +++ b/codes_for_scrimmage/hazmat/Heavy_lifting_final.py @@ -0,0 +1,33 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,2900) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/M8_5.py b/codes_for_scrimmage/hazmat/M8_5.py new file mode 100644 index 0000000..95ecc9e --- /dev/null +++ b/codes_for_scrimmage/hazmat/M8_5.py @@ -0,0 +1,49 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + left_arm.run_angle(1000, 300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-600) +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/Send_Over_Final.py b/codes_for_scrimmage/hazmat/Send_Over_Final.py new file mode 100644 index 0000000..db9a179 --- /dev/null +++ b/codes_for_scrimmage/hazmat/Send_Over_Final.py @@ -0,0 +1,46 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(500) + while True: + distance_mm = await lazer_ranger.distance() + print('distancing...',distance_mm) + + if distance_mm < 300: + drive_base.stop + break + else: + drive_base.straight(300) + print('running...') + await wait(10) + +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/hazmat_main.py b/codes_for_scrimmage/hazmat/hazmat_main.py new file mode 100644 index 0000000..ea87f5e --- /dev/null +++ b/codes_for_scrimmage/hazmat/hazmat_main.py @@ -0,0 +1,384 @@ +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.tools import run_task, multitask +from pybricks.tools import wait, StopWatch +from pybricks.robotics import DriveBase +from pybricks.hubs import PrimeHub + +# Initialize hub and devices +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) +color_sensor = ColorSensor(Port.F) + +# DriveBase configuration +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.use_gyro(True) + +# Color Settings +# https://docs.pybricks.com/en/latest/parameters/color.html +print("Default Detected Colors:", color_sensor.detectable_colors()) + +# Custom color Hue, Saturation, Brightness value for Lego bricks +Color.MAGENTA = Color(300,100,100) +Color.VIOLET = Color(277,68,32) +Color.BLUE = Color(240,100,100) +Color.CYAN = Color(180,100,100) + +LEGO_BRICKS_COLOR = [ + Color.BLUE, + Color.GREEN, + Color.WHITE, + Color.RED, + Color.YELLOW, + Color.MAGENTA, + Color.VIOLET, + Color.NONE +] +#Update Detectable colors +color_sensor.detectable_colors(LEGO_BRICKS_COLOR) + +print("Updated Detected Colors:", color_sensor.detectable_colors()) + +hub.speaker.volume(50) # Set the volume of the speaker + +# Celebration sound types +class CelebrationSound: + VICTORY_FANFARE = 0 + LEVEL_UP = 1 + SUCCESS_CHIME = 2 + TA_DA = 3 + POWER_UP = 4 + RICKROLL_INSPIRED = 5 + +async def play_victory_fanfare(): + """Classic victory fanfare""" + notes = [ + (262, 200), # C4 + (262, 200), # C4 + (262, 200), # C4 + (349, 600), # F4 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_level_up(): + """Upward scale for level completion""" + notesold = [ + (262, 100), # C4 + (294, 100), # D4 + (330, 100), # E4 + (349, 100), # F4 + (392, 100), # G4 + (440, 100), # A4 + (494, 100), # B4 + (523, 300), # C5 + ] + notes = [ + (277, 100), + (330, 100), + (277, 100), + (554, 100), + (277, 100), + (413, 100), + (330, 100), + (277, 100), + (413, 100), + (277, 100), + (554, 100), + (413, 100), + (277, 100), + (413, 100), + (554, 100), + (413, 100) + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + #await wait(20) +async def play_success_chime(): + """Simple success notification""" + notes = [ + (523, 150), # C5 + (659, 150), # E5 + (784, 300), # G5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_ta_da(): + """Classic "ta-da!" sound""" + notes = [ + (392, 200), # G4 + (523, 400), # C5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(100) +async def play_power_up(): + """Rising power-up sound""" + for freq in range(200, 800, 50): + await hub.speaker.beep(freq, 50) + await wait(10) + await hub.speaker.beep(1000, 200) +async def play_rickroll_inspired(): + """Fun 80s-style dance beat inspired sound""" + # Upbeat bouncy rhythm + pattern = [ + (392, 200), (440, 200), (494, 200), (523, 200), + (440, 200), (392, 200), (349, 200), (392, 300), + (440, 200), (392, 200), (349, 200), (330, 400), + ] + + for freq, duration in pattern: + await hub.speaker.beep(freq, duration) + await wait(50) +async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME): + """ + Main celebration function to call after completing a mission. + Plays a sound and shows light animation. + + Args: + sound_type: CelebrationSound enum value (default: SUCCESS_CHIME) + """ + # Light show + hub.light.on(Color.GREEN) + + # Play the selected celebration sound + if sound_type == CelebrationSound.VICTORY_FANFARE: + await play_victory_fanfare() + elif sound_type == CelebrationSound.LEVEL_UP: + await play_level_up() + elif sound_type == CelebrationSound.SUCCESS_CHIME: + await play_success_chime() + elif sound_type == CelebrationSound.TA_DA: + await play_ta_da() + elif sound_type == CelebrationSound.POWER_UP: + await play_power_up() + elif sound_type == CelebrationSound.RICKROLL_INSPIRED: + await play_rickroll_inspired() + else: + await play_success_chime() # Default fallback + + # Blink the light + for _ in range(3): + hub.light.off() + await wait(100) + hub.light.on(Color.GREEN) + await wait(100) + + hub.light.off() + +WALL_DISTANCE = 200 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + #await drive_base.straight(5000) + drive_base.drive(400,0) +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.turn(-180) + drive_base.brake + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +async def Run1(): #From M8_5.py + left_arm.run_angle(1000, 300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-600) + +async def Run2(): #From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,2900) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): #tip the scale.py + left_arm.run_angle(600,200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,-390) #going down + await drive_base.turn(40) # turning right + await left_arm.run_angle(-410,-400) #lift a little bit + + await drive_base.turn(-46.5) #ma din din din dun + await drive_base.turn(-40) + await drive_base.straight(900) + +async def Run4(): #From Send_Over_Final.py + + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(500) + + # while True: + # distance_mm = await lazer_ranger.distance() + # print('distancing...',distance_mm) + + # if distance_mm < 300: + # drive_base.stop + # break + # else: + # drive_base.straight(300) + # print('running...') + # await wait(10) + await multitask( + drive_forward(), + monitor_distance() + ) + +#Add Rishi's code here +async def Run5(): + await drive_base.straight(519) + await left_arm.run_angle(-10000, 300) + await left_arm.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await right_arm.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(25) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-55) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await right_arm.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(100) + await drive_base.turn(37) + await right_arm.run_angle(10000, -6000) + await drive_base.straight(90) + await right_arm.run_angle(3000, 3000) + await drive_base.turn(-40) + +#Add - Adi's code here +async def Run6(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + +async def main(): + while True: + + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + color_reflected_percent = await color_sensor.reflection() + print(color_reflected_percent) + + + if color_reflected_percent > 0: # Make sure we actually have color reflections before checking for color + color_detected = await color_sensor.color() # Moved this inside the if clause + print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}') + + if color_detected == Color.GREEN: + print('Running Mission 1') + await Run1() + #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE) + elif color_detected == Color.WHITE: + print('Running Mission 2') + await Run2() + #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED) + elif color_detected == Color.RED: + print('Running Mission 3') + await Run3() + #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME ) + elif color_detected == Color.YELLOW: + print('Running Mission 4') + await Run4() + #await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.BLUE: + print('Running Mission 5') + await Run5() + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + elif color_detected == Color.VIOLET: + print('Running Mission 6') + await Run6() + else: + hub.light.off() + left_motor.stop() + right_motor.stop() + color_detected = Color.NONE + else: + color_detected = Color.NONE + + await wait(1000) #prevent loop from iterating fast +# Main execution loop +run_task(main()) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py new file mode 100644 index 0000000..c48de0b --- /dev/null +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -0,0 +1,227 @@ +from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor +from pybricks.parameters import Button, Color, Direction, Port, Side, Stop +from pybricks.tools import run_task, multitask +from pybricks.tools import wait, StopWatch +from pybricks.robotics import DriveBase +from pybricks.hubs import PrimeHub + +# Initialize hub and devices +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) +color_sensor = ColorSensor(Port.F) + +# DriveBase configuration +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.use_gyro(True) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + + +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.stop + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# New Section +async def Run1(): # From M8_5.py + left_arm.run_angle(1000, -300) + right_arm.run_angle(1000, 500) + await drive_base.straight(320) + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + await drive_base.turn(-30) + right_arm.run_angle(50, 500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000, 450) + await drive_base.straight(-145) + await left_arm.run_angle(1000, -450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-600) + +async def Run2(): # From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + await right_arm.run_angle(5000, 2900) + await drive_base.straight(40) + await right_arm.run_angle(5000, -4000) + await drive_base.straight(-60) + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): # tip the scale.py + left_arm.run_angle(600,-200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,390) #going down + print('turning now...') + await drive_base.turn(40) # turning right + await left_arm.run_angle(410,-400) #lift a little bit + await drive_base.straight(80) + await drive_base.turn(-41) #ma din din din dun 67 41 21 69 + await drive_base.straight(900) + + +async def Run4(): # From Send_Over_Final.py + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000, 4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + # while True: + # distance_mm = await lazer_ranger.distance() + # print('distancing...',distance_mm) + + # if distance_mm < 300: + # drive_base.stop + # break + # else: + # drive_base.straight(300) + # print('running...') + # await wait(10) + await multitask( + drive_forward(), + monitor_distance() + ) + + + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(519) + await left_arm.run_angle(-10000, 300) + await left_arm.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await right_arm.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(120) + await drive_base.straight(25) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(-110) + await drive_base.turn(-43) + await right_arm.run_angle(10000, -3000) + await drive_base.straight(295) + await right_arm.run_angle(10000, 9000) + await drive_base.straight(-65) + await drive_base.turn(45) + await drive_base.straight(175) + await drive_base.turn(24.5) + await drive_base.straight(-100) + await right_arm.run_angle(10000, -8500) + await drive_base.straight(100) + await right_arm.run_angle(10000, 3500) + await drive_base.turn(-30) + await drive_base.straight(-300) + await drive_base.turn(-80) + await drive_base.straight(-700) + + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(750) + await drive_base.straight(-650) + + +# 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 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: + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run2() #purple - vertically + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file diff --git a/codes_for_scrimmage/hazmat/tip the scale.py b/codes_for_scrimmage/hazmat/tip the scale.py new file mode 100644 index 0000000..200b1ea --- /dev/null +++ b/codes_for_scrimmage/hazmat/tip the scale.py @@ -0,0 +1,42 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(300,1000,300,200) + +#drive_base.use_gyro(True) + +async def main(): + left_arm.run_angle(500,200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-55) + await drive_base.straight(900) + await drive_base.turn(92.5) + + await drive_base.straight(75) + await drive_base.straight(21) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(55) + + await left_arm.run_angle(300,-400) + + await drive_base.turn(46.5) + await drive_base.turn(-40) + await drive_base.straight(900) +run_task(main()) \ No newline at end of file diff --git a/final/1main.py b/final/1main.py new file mode 100644 index 0000000..f535603 --- /dev/null +++ b/final/1main.py @@ -0,0 +1,116 @@ + +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task +import asyncio + +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +atarm1 = Motor(Port.E, Direction.COUNTERCLOCKWISE) +atarm2 = Motor(Port.F) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112) +color_sensor = ColorSensor(Port.C) + +drive_base.settings(300, 500, 300, 200) +Color.ORANGE = Color(10, 100, 100) +Color.MAGENTA = Color(321, 100, 86) + + +async def Run1(): + left_arm.run_angle(1000, 300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + + 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 drive_base.turn(-20) + await drive_base.straight(275) + await drive_base.turn(20) + await drive_base.straight(63) + + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-135) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-500) + +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + + await drive_base.turn(-100) + await drive_base.straight(-600) + + +async def Run3(): + await drive_base.straight(915) + await drive_base.turn(-90) + await drive_base.straight(60) + await left_arm.run_angle(10000,-15000) + await drive_base.straight(-60) + await drive_base.turn(85) + await drive_base.straight(2000) + + +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def Run6(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def main(): + if color_sensor.color() == Color.ORANGE: + await Run1() + + if color_sensor.color() == Color.GREEN: + await Run2() + + if color_sensor.color() == Color.WHITE: + await Run3() + + if color_sensor.color() == Color.YELLOW: + await Run5() + + if color_sensor.color() == Color.BLUE: + await Run6() + + + print(f'Detected color: {color_sensor.color()}') + +# Main execution loop +while True: + run_task(main()) + wait(100) diff --git a/final/2main.py b/final/2main.py new file mode 100644 index 0000000..7c0940d --- /dev/null +++ b/final/2main.py @@ -0,0 +1,113 @@ + +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task + + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(550,700,100,100) + +drive_base.use_gyro(True) + +async def Run1(): + left_arm.run_angle(1000, 300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + + 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 drive_base.turn(-20) + await drive_base.straight(275) + await drive_base.turn(20) + await drive_base.straight(63) + + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-135) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-500) + +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + + await drive_base.turn(-100) + await drive_base.straight(-600) + + +async def Run3(): + await drive_base.straight(915) + await drive_base.turn(-90) + await drive_base.straight(60) + await left_arm.run_angle(10000,-15000) + await drive_base.straight(-60) + await drive_base.turn(85) + await drive_base.straight(2000) + + +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def Run6(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +def main(): + if color_sensor.color() == Color.GREEN: + Run1() + + if color_sensor.color() == Color.WHITE: + Run2() + + if color_sensor.color() == Color.YELLOW: + Run3() + + if color_sensor.color() == Color.BLUE: + Run5() + + if color_sensor.color() == Color.RED: + Run6() + + print(f'Detected color: {color_sensor.color()}') + +# Main execution loop +while True: + main() + wait(100) diff --git a/final/3main.py b/final/3main.py new file mode 100644 index 0000000..5475bd3 --- /dev/null +++ b/final/3main.py @@ -0,0 +1,102 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task + +async def Run1(): + await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500)) + await drive_base.straight(320) + + 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 drive_base.turn(-20) + await drive_base.straight(275) + await drive_base.turn(20) + await drive_base.straight(63) + + await multitask(drive_base.turn(-30), right_arm.run_angle(50,500)) + await drive_base.turn(45) + await drive_base.straight(-135) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-500) + +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + + await drive_base.turn(-100) + await drive_base.straight(-600) + +async def Run3(): + await drive_base.straight(915) + await drive_base.turn(-90) + await drive_base.straight(60) + await left_arm.run_angle(10000,-15000) + await drive_base.straight(-60) + await drive_base.turn(85) + await drive_base.straight(2000) + +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def Run6(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + +async def main(): + while True: + detected_color = color_sensor.color(True) + + if detected_color == Color.GREEN: + print('Detected color: Green') + await Run1() + + elif detected_color == Color.WHITE: + print('Detected color: White') + await Run2() + + elif detected_color == Color.YELLOW: + print('Detected color: Yellow') + await Run3() + + elif detected_color == Color.BLUE: + print('Detected color: Blue') + await Run5() + + elif detected_color == Color.RED: + print('Detected color: Red') + await Run6() + + else: + print("None detected") + +# Main execution +run_task(main()) \ No newline at end of file diff --git a/final/4main.py b/final/4main.py new file mode 100644 index 0000000..147822a --- /dev/null +++ b/final/4main.py @@ -0,0 +1,295 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task + +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(550,700,100,100) +drive_base.use_gyro(True) +color_sensor = ColorSensor(Port.F) +hub.speaker.volume(50) # Set the volume of the speaker + +cn = { + "Cs3": 138.59, + "D3": 146.83, + "Ds3": 155.56, + "E3": 164.81, + "F3": 174.61, + "Fs3": 185.00, + "G3": 196.00, + "Gs3": 207.65, + "A3": 220.00, + "As3": 233.08, + "B3": 246.94, + "C4": 261.63, + "Cs4": 277.18, + "D4": 293.66, + "Ds4": 311.13, + "E4": 329.63, + "F4": 349.23, + "Fs4": 369.99, + "G4": 392.00, + "Gs4": 415.30, + "A4": 440.00, + "As4": 466.16, + "B4": 493.88, + "C5": 523.25, + "Cs5": 554.37 +} + + + +async def Run1(): + left_arm.run_angle(1000, 300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-600) +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + await drive_base.straight(-100) + await drive_base.turn(-100) + await drive_base.straight(-600) +async def Run3(): + await drive_base.straight(920) +<<<<<<< HEAD:final/4main.py + await drive_base.turn(-90) + await drive_base.straight(60) + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-110) +======= + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-100) +>>>>>>> Vickram_dev_:final/main4.py + await drive_base.turn(90) + await drive_base.straight(2000) +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) +async def Run6(): + left_arm.run_angle(500,200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + await drive_base.turn(-55) + await drive_base.straight(900) + await drive_base.turn(92.5) + await drive_base.straight(75) + await drive_base.straight(21) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.straight(-20) + await drive_base.turn(55) + await left_arm.run_angle(300,-400) + await drive_base.turn(70) + await left_arm.run_angle(300,400) + await drive_base.turn(-60) + await drive_base.straight(900) +# Celebration sound types +class CelebrationSound: + VICTORY_FANFARE = 0 + LEVEL_UP = 1 + SUCCESS_CHIME = 2 + TA_DA = 3 + POWER_UP = 4 + RICKROLL_INSPIRED = 5 + +async def play_victory_fanfare(): + """Classic victory fanfare""" + notes = [ + (330, 200), # E4 + (330, 100), # E4 + (330, 100), # E4 + (440, 600), # A4 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_level_up(): + """Upward scale for level completion""" + notes = [ + (cn["Cs4"], 100), + (cn["E4"], 100), + (cn["Cs4"], 100), + (cn["Cs5"], 100), + (cn["Cs4"], 100), + (cn["Gs4"], 100), + (cn["E4"], 100), + (cn["Cs4"], 100), + (cn["Gs4"], 100), + (cn["Cs4"], 100), + (cn["Cs5"], 100), + (cn["Gs4"], 100), + (cn["Cs4"], 100), + (cn["Gs4"], 100), + (cn["Cs5"], 100), + (cn["Gs4"], 100) + ] + + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(20) +async def play_success_chime(): + """Simple success notification""" + notes = [ + (cn["E4"], 150), + (cn["Gs4"], 150), + (cn["B4"], 300), + ] + + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_ta_da(): + """Classic "ta-da!" sound""" + notes = [ + (cn["B3"], 200), # B4 + (cn["E4"], 400), # E5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(100) +async def play_power_up(): + """Rising power-up sound""" + frequencies = [ + 164.81, 207.65, 246.94, 329.63, 415.30, 493.88 + ] + + for freq in frequencies: + await hub.speaker.beep(freq, 50) + await wait(10) + + + await hub.speaker.beep(659.24, 200) +async def play_rickroll_inspired(): + """Fun 80s-style dance beat inspired sound""" + # Upbeat bouncy rhythm + pattern = [ + (cn["B3"], 200), (cn["Cs4"], 200), (cn["Ds4"], 200), (cn["E4"], 200), + (cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["B3"], 300), + (cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["Gs3"], 400), + ] + + + + for freq, duration in pattern: + await hub.speaker.beep(freq, duration) + await wait(50) +async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED): + """ + Main celebration function to call after completing a mission. + Plays a sound and shows light animation. + + Args: + sound_type: CelebrationSound enum value (default: SUCCESS_CHIME) + """ + # Light show + hub.light.on(Color.GREEN) + + # Play the selected celebration sound + if sound_type == CelebrationSound.VICTORY_FANFARE: + await play_victory_fanfare() + elif sound_type == CelebrationSound.LEVEL_UP: + await play_level_up() + elif sound_type == CelebrationSound.SUCCESS_CHIME: + await play_success_chime() + elif sound_type == CelebrationSound.TA_DA: + await play_ta_da() + elif sound_type == CelebrationSound.POWER_UP: + await play_power_up() + elif sound_type == CelebrationSound.RICKROLL_INSPIRED: + await play_rickroll_inspired() + else: + await play_success_chime() # Default fallback + + # Blink the light + for _ in range(3): + hub.light.off() + await wait(100) + hub.light.on(Color.GREEN) + await wait(100) + + hub.light.off() + +async def main(): + while True: + + await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + color_reflected_percent = await color_sensor.reflection() + print(color_reflected_percent) + + color_detected = await color_sensor.color() + print(f'Detected color: {color_detected}') + + if color_detected == Color.GREEN: + print('Running Mission 1') + await Run1() + await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE) + elif color_detected == Color.WHITE: + print('Running Mission 2') + await Run2() + await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED) + elif color_detected == Color.YELLOW: + print('Running Mission 3') + await Run3() + await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME) + elif color_detected == Color.BLUE: + print('Running Mission 5') + await Run5() + await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.RED: + print('Running Mission 6') + await Run6() + await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + else: + hub.light.off() + left_motor.stop() + right_motor.stop() + await wait(100) #prevent loop from iterating fast + +# Main execution loop +run_task(main()) \ No newline at end of file diff --git a/final/main5.py b/final/main5.py new file mode 100644 index 0000000..7461d72 --- /dev/null +++ b/final/main5.py @@ -0,0 +1,280 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task + +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C)#, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(550,700,100,100) +drive_base.use_gyro(True) +color_sensor = ColorSensor(Port.F) +Color.ORANGE = Color(37, 85, 95) +Color.BLUE = Color(230,100,100) +color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW]) +hub.speaker.volume(50) # Set the volume of the speaker +color_sensor.detectable_colors() +# Celebration sound types +class CelebrationSound: + VICTORY_FANFARE = 0 + LEVEL_UP = 1 + SUCCESS_CHIME = 2 + TA_DA = 3 + POWER_UP = 4 + RICKROLL_INSPIRED = 5 + +async def play_victory_fanfare(): + """Classic victory fanfare""" + notes = [ + (262, 200), # C4 + (262, 200), # C4 + (262, 200), # C4 + (349, 600), # F4 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_level_up(): + """Upward scale for level completion""" + notesold = [ + (262, 100), # C4 + (294, 100), # D4 + (330, 100), # E4 + (349, 100), # F4 + (392, 100), # G4 + (440, 100), # A4 + (494, 100), # B4 + (523, 300), # C5 + ] + notes = [ + (277, 100), + (330, 100), + (277, 100), + (554, 100), + (277, 100), + (413, 100), + (330, 100), + (277, 100), + (413, 100), + (277, 100), + (554, 100), + (413, 100), + (277, 100), + (413, 100), + (554, 100), + (413, 100) + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + #await wait(20) +async def play_success_chime(): + """Simple success notification""" + notes = [ + (523, 150), # C5 + (659, 150), # E5 + (784, 300), # G5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_ta_da(): + """Classic "ta-da!" sound""" + notes = [ + (392, 200), # G4 + (523, 400), # C5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(100) +async def play_power_up(): + """Rising power-up sound""" + for freq in range(200, 800, 50): + await hub.speaker.beep(freq, 50) + await wait(10) + await hub.speaker.beep(1000, 200) +async def play_rickroll_inspired(): + """Fun 80s-style dance beat inspired sound""" + # Upbeat bouncy rhythm + pattern = [ + (392, 200), (440, 200), (494, 200), (523, 200), + (440, 200), (392, 200), (349, 200), (392, 300), + (440, 200), (392, 200), (349, 200), (330, 400), + ] + + for freq, duration in pattern: + await hub.speaker.beep(freq, duration) + await wait(50) +async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME): + """ + Main celebration function to call after completing a mission. + Plays a sound and shows light animation. + + Args: + sound_type: CelebrationSound enum value (default: SUCCESS_CHIME) + """ + # Light show + hub.light.on(Color.GREEN) + + # Play the selected celebration sound + if sound_type == CelebrationSound.VICTORY_FANFARE: + await play_victory_fanfare() + elif sound_type == CelebrationSound.LEVEL_UP: + await play_level_up() + elif sound_type == CelebrationSound.SUCCESS_CHIME: + await play_success_chime() + elif sound_type == CelebrationSound.TA_DA: + await play_ta_da() + elif sound_type == CelebrationSound.POWER_UP: + await play_power_up() + elif sound_type == CelebrationSound.RICKROLL_INSPIRED: + await play_rickroll_inspired() + else: + await play_success_chime() # Default fallback + + # Blink the light + for _ in range(3): + hub.light.off() + await wait(100) + hub.light.on(Color.GREEN) + await wait(100) + + hub.light.off() + +async def Run1(): + await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500)) + await drive_base.straight(320) + + 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 drive_base.turn(-20) + await drive_base.straight(275) + await drive_base.turn(20) + await drive_base.straight(63) + + await multitask(drive_base.turn(-30), right_arm.run_angle(50,500)) + await drive_base.turn(45) + await drive_base.straight(-135) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000,-450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-500) + +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + + await drive_base.turn(-100) + await drive_base.straight(-600) + + +async def Run3(): + await drive_base.straight(915) + await drive_base.turn(-90) + await drive_base.straight(60) + await left_arm.run_angle(10000,-15000) + await drive_base.straight(-60) + await drive_base.turn(85) + await drive_base.straight(2000) + +async def Run4(): + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await arm_motor.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(68) + await arm_motor.run_angle(10000, -6000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 4000) + await drive_base.turn(-40) + await arm_motor.run_angle(10000, 7000) + +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def Run6(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) +async def main(): + while True: + + await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + color_reflected_percent = await color_sensor.reflection() + print(color_reflected_percent) + + color_detected = await color_sensor.color() + print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}') + if color_reflected_percent > 0: + if color_detected == Color.GREEN: + print('Running Mission 1') + await Run1() + await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE) + elif color_detected == Color.WHITE: + print('Running Mission 2') + await Run2() + await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED) + elif color_detected == Color.YELLOW: + print('Running Mission 3') + await Run3() + await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME ) + elif color_detected == Color.BLUE: + print('Running Mission 4') + await Run4() + await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.RED: + print('Running Mission 5') + await Run5() + await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + else: + hub.light.off() + left_motor.stop() + right_motor.stop() + await wait(1000) #prevent loop from iterating fast +# Main execution loop +run_task(main()) diff --git a/members/Rishi.txt b/members/Rishi.txt new file mode 100644 index 0000000..88bea53 --- /dev/null +++ b/members/Rishi.txt @@ -0,0 +1,2 @@ +Hi I'm Rishi, the coding manager for Team: 65266 +I love coding and making things that probably end the world. \ No newline at end of file diff --git a/missions/Boat_mission.py b/missions/Boat_mission.py new file mode 100644 index 0000000..6d87949 --- /dev/null +++ b/missions/Boat_mission.py @@ -0,0 +1,27 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(880,850,700,700) + +drive_base.use_gyro(True) + +first_run = True + +async def main(): + await drive_base.straight(750) + await drive_base.straight(-650) + +run_task(main()) \ No newline at end of file diff --git a/missions/HEAVY_LIFTING_UPD.py b/missions/HEAVY_LIFTING_UPD.py new file mode 100644 index 0000000..da0f004 --- /dev/null +++ b/missions/HEAVY_LIFTING_UPD.py @@ -0,0 +1,33 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + + await right_arm.run_angle(5000,3000) + await drive_base.straight(40) + await right_arm.run_angle(5000,-4000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-670) +run_task(main()) \ No newline at end of file diff --git a/missions/Heavy lifting.py b/missions/Heavy lifting.py new file mode 100644 index 0000000..643e47d --- /dev/null +++ b/missions/Heavy lifting.py @@ -0,0 +1,37 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await right_arm.run_angle(2000,1000) + + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + await drive_base.straight(30) + + await right_arm.run_angle(2000,-1000) + await drive_base.straight(30) + await right_arm.run_angle(3000,1000) + await drive_base.straight(-60) + + await drive_base.turn(-60) + await drive_base.straight(-525) + await drive_base.turn(20) + await drive_base.straight(-200) + diff --git a/missions/Heavy_lifting_final.py b/missions/Heavy_lifting_final.py new file mode 100644 index 0000000..5a9dd1d --- /dev/null +++ b/missions/Heavy_lifting_final.py @@ -0,0 +1,36 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #Get to mission + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + #Solve mission + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + #Return home + await drive_base.straight(-100) + await drive_base.turn(-100) + await drive_base.straight(-600) +run_task(main()) \ No newline at end of file diff --git a/missions/Lift.py b/missions/Lift.py new file mode 100644 index 0000000..a5e1773 --- /dev/null +++ b/missions/Lift.py @@ -0,0 +1,34 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + + await drive_base.turn(-100) + await drive_base.straight(-600) +run_task(main()) \ No newline at end of file diff --git a/missions/Lift2.py b/missions/Lift2.py new file mode 100644 index 0000000..a5e1773 --- /dev/null +++ b/missions/Lift2.py @@ -0,0 +1,34 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + + await drive_base.turn(-100) + await drive_base.straight(-600) +run_task(main()) \ No newline at end of file diff --git a/missions/Sand Mission.py b/missions/Sand Mission.py index 73e1e16..368ba5c 100644 --- a/missions/Sand Mission.py +++ b/missions/Sand Mission.py @@ -20,10 +20,10 @@ drive_base.use_gyro(True) async def main(): - await drive_base.straight(420) - await right_arm.run_angle(300,-100) + await drive_base.straight(500) + await right_arm.run_angle(300,100) await drive_base.straight(-100) - await right_arm.run_angle(300, 100) + await right_arm.run_angle(300,-100) await drive_base.straight(-350) run_task(main()) \ No newline at end of file diff --git a/missions/Sand_mission.py b/missions/Sand_mission.py new file mode 100644 index 0000000..368ba5c --- /dev/null +++ b/missions/Sand_mission.py @@ -0,0 +1,29 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(400,500,100,100) + +drive_base.use_gyro(True) + + +async def main(): + await drive_base.straight(500) + await right_arm.run_angle(300,100) + await drive_base.straight(-100) + await right_arm.run_angle(300,-100) + await drive_base.straight(-350) + +run_task(main()) \ No newline at end of file diff --git a/missions/Send_Over.py b/missions/Send_Over.py index 97bed5f..61e2d37 100644 --- a/missions/Send_Over.py +++ b/missions/Send_Over.py @@ -23,9 +23,9 @@ async def main(): await drive_base.straight(915) await drive_base.turn(-90) await drive_base.straight(60) - await left_arm.run_angle(10000,-15000) - await drive_base.straight(-60) - await drive_base.turn(85) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-90) + await drive_base.turn(80) await drive_base.straight(2000) - + run_task(main()) \ No newline at end of file diff --git a/missions/Send_Over_Final.py b/missions/Send_Over_Final.py new file mode 100644 index 0000000..db9a179 --- /dev/null +++ b/missions/Send_Over_Final.py @@ -0,0 +1,46 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +lazer_ranger = UltrasonicSensor(Port.E) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) + +drive_base.settings(600,500,300,200) +drive_base.use_gyro(True) + +async def main(): + #Get to mission + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve mission + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + #Get to Red Start + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(500) + while True: + distance_mm = await lazer_ranger.distance() + print('distancing...',distance_mm) + + if distance_mm < 300: + drive_base.stop + break + else: + drive_base.straight(300) + print('running...') + await wait(10) + +run_task(main()) \ No newline at end of file diff --git a/missions/Set2.py b/missions/Set2.py new file mode 100644 index 0000000..9298da3 --- /dev/null +++ b/missions/Set2.py @@ -0,0 +1,50 @@ +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, 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) + +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) + +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) + +async def main(): + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await arm_motor.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(68) + await arm_motor.run_angle(10000, -6000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 4000) + await drive_base.turn(-40) + await arm_motor.run_angle(10000, 7000) +run_task(main()) \ No newline at end of file diff --git a/missions/tip the scale.py b/missions/tip the scale.py new file mode 100644 index 0000000..3a4264e --- /dev/null +++ b/missions/tip the scale.py @@ -0,0 +1,48 @@ +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 + +hub = PrimeHub() + +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) + + +left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) + +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(600,500,300,200) + +drive_base.use_gyro(True) + +async def main(): + left_arm.run_angle(600,200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-70) + await drive_base.straight(900) + await drive_base.turn(115) + + await drive_base.straight(75) + await drive_base.straight(33) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(66) + await drive_base.straight(7) + + await left_arm.run_angle(560,-390) #going down + print('turning now...') + await drive_base.turn(40) # turning right + await left_arm.run_angle(-410,-400) #lift a little bit + + await drive_base.turn(-46.5) #ma din din din dun + await drive_base.turn(-40) + await drive_base.straight(900) +run_task(main()) + + diff --git a/test_10_17_2025.py b/test_10_17_2025.py new file mode 100644 index 0000000..1d89281 --- /dev/null +++ b/test_10_17_2025.py @@ -0,0 +1,303 @@ +# Stuff from 10/15/2025 +# Atharv trying with no avail to add more colors to the color sensor logic 😭😭😭😭😭😭😭 +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task + +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C)#, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(550,700,100,100) +drive_base.use_gyro(True) +color_sensor = ColorSensor(Port.F) +Color.ORANGE = Color(28, 61, 61) +Color.BLUE = Color(230,100,100) +Color.YELLOW = Color(37, 85, 95) +Color.PURPLE = Color(326, 60, 87) +color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW, Color.NONE, Color.PURPLE]) +hub.speaker.volume(50) # Set the volume of the speaker +color_sensor.detectable_colors() +# Celebration sound types +class CelebrationSound: + VICTORY_FANFARE = 0 + LEVEL_UP = 1 + SUCCESS_CHIME = 2 + TA_DA = 3 + POWER_UP = 4 + RICKROLL_INSPIRED = 5 + +async def play_victory_fanfare(): + """Classic victory fanfare""" + notes = [ + (262, 200), # C4 + (262, 200), # C4 + (262, 200), # C4 + (349, 600), # F4 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_level_up(): + """Upward scale for level completion""" + notesold = [ + (262, 100), # C4 + (294, 100), # D4 + (330, 100), # E4 + (349, 100), # F4 + (392, 100), # G4 + (440, 100), # A4 + (494, 100), # B4 + (523, 300), # C5 + ] + notes = [ + (277, 100), + (330, 100), + (277, 100), + (554, 100), + (277, 100), + (413, 100), + (330, 100), + (277, 100), + (413, 100), + (277, 100), + (554, 100), + (413, 100), + (277, 100), + (413, 100), + (554, 100), + (413, 100) + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + #await wait(20) +async def play_success_chime(): + """Simple success notification""" + notes = [ + (523, 150), # C5 + (659, 150), # E5 + (784, 300), # G5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_ta_da(): + """Classic "ta-da!" sound""" + notes = [ + (392, 200), # G4 + (523, 400), # C5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(100) +async def play_power_up(): + """Rising power-up sound""" + for freq in range(200, 800, 50): + await hub.speaker.beep(freq, 50) + await wait(10) + await hub.speaker.beep(1000, 200) +async def play_rickroll_inspired(): + """Fun 80s-style dance beat inspired sound""" + # Upbeat bouncy rhythm + pattern = [ + (392, 200), (440, 200), (494, 200), (523, 200), + (440, 200), (392, 200), (349, 200), (392, 300), + (440, 200), (392, 200), (349, 200), (330, 400), + ] + + for freq, duration in pattern: + await hub.speaker.beep(freq, duration) + await wait(50) +async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME): + """ + Main celebration function to call after completing a mission. + Plays a sound and shows light animation. + + Args: + sound_type: CelebrationSound enum value (default: SUCCESS_CHIME) + """ + # Light show + hub.light.on(Color.GREEN) + + # Play the selected celebration sound + if sound_type == CelebrationSound.VICTORY_FANFARE: + await play_victory_fanfare() + elif sound_type == CelebrationSound.LEVEL_UP: + await play_level_up() + elif sound_type == CelebrationSound.SUCCESS_CHIME: + await play_success_chime() + elif sound_type == CelebrationSound.TA_DA: + await play_ta_da() + elif sound_type == CelebrationSound.POWER_UP: + await play_power_up() + elif sound_type == CelebrationSound.RICKROLL_INSPIRED: + await play_rickroll_inspired() + else: + await play_success_chime() # Default fallback + + # Blink the light + for _ in range(3): + hub.light.off() + await wait(100) + hub.light.on(Color.GREEN) + await wait(100) + + hub.light.off() + +async def Run1(): + left_arm.run_angle(1000, -300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000, 450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,-450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-700) + +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + await drive_base.straight(-100) + await drive_base.turn(-100) + await drive_base.straight(-750) + + +async def Run3(): + await drive_base.straight(920) + await drive_base.turn(-90) + await drive_base.straight(60) + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(2000) + +async def Run4(): + await drive_base.straight(519) + await drive_base.straight(519) + await arm_motor_left.run_angle(-10000, 300) + await arm_motor_left.run_angle(10000, 600) + await drive_base.straight(160) + await drive_base.turn(-30) + await drive_base.straight(50) + await arm_motor.run_angle(3000, 3000) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(-100) + await drive_base.turn(-54) + await arm_motor.run_angle(10000, -3000) + await drive_base.straight(250) + await drive_base.turn(-5) + await arm_motor.run_angle(10000, 7000) + await drive_base.straight(-50) + await drive_base.turn(68) + await arm_motor.run_angle(10000, -6000) + await drive_base.straight(200) + await arm_motor.run_angle(10000, 4000) + await drive_base.turn(-40) + await arm_motor.run_angle(10000, 7000) + +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def Run6(): + left_arm.run_angle(500,200) + right_arm.run_angle(500,200) + await drive_base.straight(70) + + await drive_base.turn(-55) + await drive_base.straight(900) + await drive_base.turn(92.5) + + await drive_base.straight(75) + await drive_base.straight(21) + await right_arm.run_angle(500,-250) + await right_arm.run_angle(500,250) + await drive_base.turn(55) + + await left_arm.run_angle(300,-400) + + await drive_base.turn(46.5) + await drive_base.turn(-40) + await drive_base.straight(900) +async def main(): + while True: + + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + color_reflected_percent = await color_sensor.reflection() + print(color_reflected_percent) + + color_detected = await color_sensor.color() + print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}') + if color_reflected_percent > 1: + if color_detected == Color.GREEN: + print('Running Mission 1') + await Run1() + #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE) + elif color_detected == Color.WHITE: + print('Running Mission 2') + await Run2() + #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED) + elif color_detected == Color.YELLOW: + print('Running Mission 3') + await Run3() + #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME ) + elif color_detected == Color.BLUE: + print('Running Mission 4') + await Run4() + #await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.ORANGE: + print('Running Mission 5') + await Run5() + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + elif color_detected == Color.PURPLE: + print('Running Mission 6 (this is ayaan\'s code)') + await Run6() + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + else: + hub.light.off() + left_motor.stop() + right_motor.stop() + await wait(1000) #prevent loop from iterating fast +# Main execution loop +run_task(main()) diff --git a/twist_scrimmage.py b/twist_scrimmage.py new file mode 100644 index 0000000..8f68b24 --- /dev/null +++ b/twist_scrimmage.py @@ -0,0 +1,281 @@ +from pybricks.hubs import PrimeHub +from pybricks.pupdevices import Motor, ColorSensor +from pybricks.parameters import Port, Stop, Color, Direction +from pybricks.robotics import DriveBase +from pybricks.tools import wait, StopWatch, multitask, run_task + +hub = PrimeHub() +left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) +right_motor = Motor(Port.B) +left_arm = Motor(Port.C)#, Direction.COUNTERCLOCKWISE) +right_arm = Motor(Port.D) +drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) +drive_base.settings(550,700,100,100) +drive_base.use_gyro(True) +color_sensor = ColorSensor(Port.F) +Color.ORANGE = Color(37, 85, 95) +Color.BLUE = Color(230,100,100) +Color.YELLOW = Color(37, 85, 95) +color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW]) +hub.speaker.volume(50) # Set the volume of the speaker +color_sensor.detectable_colors() +# Celebration sound types +class CelebrationSound: + VICTORY_FANFARE = 0 + LEVEL_UP = 1 + SUCCESS_CHIME = 2 + TA_DA = 3 + POWER_UP = 4 + RICKROLL_INSPIRED = 5 + +async def play_victory_fanfare(): + """Classic victory fanfare""" + notes = [ + (262, 200), # C4 + (262, 200), # C4 + (262, 200), # C4 + (349, 600), # F4 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_level_up(): + """Upward scale for level completion""" + notesold = [ + (262, 100), # C4 + (294, 100), # D4 + (330, 100), # E4 + (349, 100), # F4 + (392, 100), # G4 + (440, 100), # A4 + (494, 100), # B4 + (523, 300), # C5 + ] + notes = [ + (277, 100), + (330, 100), + (277, 100), + (554, 100), + (277, 100), + (413, 100), + (330, 100), + (277, 100), + (413, 100), + (277, 100), + (554, 100), + (413, 100), + (277, 100), + (413, 100), + (554, 100), + (413, 100) + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + #await wait(20) +async def play_success_chime(): + """Simple success notification""" + notes = [ + (523, 150), # C5 + (659, 150), # E5 + (784, 300), # G5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(50) +async def play_ta_da(): + """Classic "ta-da!" sound""" + notes = [ + (392, 200), # G4 + (523, 400), # C5 + ] + + for freq, duration in notes: + await hub.speaker.beep(freq, duration) + await wait(100) +async def play_power_up(): + """Rising power-up sound""" + for freq in range(200, 800, 50): + await hub.speaker.beep(freq, 50) + await wait(10) + await hub.speaker.beep(1000, 200) +async def play_rickroll_inspired(): + """Fun 80s-style dance beat inspired sound""" + # Upbeat bouncy rhythm + pattern = [ + (392, 200), (440, 200), (494, 200), (523, 200), + (440, 200), (392, 200), (349, 200), (392, 300), + (440, 200), (392, 200), (349, 200), (330, 400), + ] + + for freq, duration in pattern: + await hub.speaker.beep(freq, duration) + await wait(50) +async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME): + """ + Main celebration function to call after completing a mission. + Plays a sound and shows light animation. + + Args: + sound_type: CelebrationSound enum value (default: SUCCESS_CHIME) + """ + # Light show + hub.light.on(Color.GREEN) + + # Play the selected celebration sound + if sound_type == CelebrationSound.VICTORY_FANFARE: + await play_victory_fanfare() + elif sound_type == CelebrationSound.LEVEL_UP: + await play_level_up() + elif sound_type == CelebrationSound.SUCCESS_CHIME: + await play_success_chime() + elif sound_type == CelebrationSound.TA_DA: + await play_ta_da() + elif sound_type == CelebrationSound.POWER_UP: + await play_power_up() + elif sound_type == CelebrationSound.RICKROLL_INSPIRED: + await play_rickroll_inspired() + else: + await play_success_chime() # Default fallback + + # Blink the light + for _ in range(3): + hub.light.off() + await wait(100) + hub.light.on(Color.GREEN) + await wait(100) + + hub.light.off() + +async def Run1(): + left_arm.run_angle(1000, -300) + right_arm.run_angle(1000,500) + await drive_base.straight(320) + 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 drive_base.turn(-20) + await drive_base.straight(277) + await drive_base.turn(20) + await drive_base.straight(65) + await drive_base.turn(-30) + right_arm.run_angle(50,500) + await drive_base.turn(45) + await drive_base.straight(-145) + await drive_base.turn(-60) + await drive_base.straight(90) + await left_arm.run_angle(1000, 450) + await drive_base.straight(-145) + await left_arm.run_angle(1000,-450) + await drive_base.straight(10) + await drive_base.turn(35) + await drive_base.straight(-700) + +async def Run2(): + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(525) + await drive_base.turn(60) + + await drive_base.straight(50) + await right_arm.run_angle(2000,1000) + await drive_base.straight(-50) + await drive_base.turn(45) + await drive_base.straight(50) + await right_arm.run_angle(350,-1000) + await drive_base.straight(-100) + await drive_base.turn(-100) + await drive_base.straight(-750) + + +async def Run3(): + await drive_base.straight(920) + await drive_base.turn(-90) + await drive_base.straight(60) + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.straight(2000) + +async def Run4(): + await drive_base.straight(519) + await left_arm.run_angle(300, -200) + await left_arm.run_angle(800, 1000) + await drive_base.straight(180) + await drive_base.turn(-37) + await right_arm.run_angle(300, -50) + await drive_base.straight(50) + await right_arm.run_angle(300, -350) + await drive_base.straight(-150) + await drive_base.turn(125) + await drive_base.straight(50) + await right_arm.run_angle(300, 400) + await drive_base.straight(-75) + await right_arm.run_angle(300, -200) + await drive_base.turn(-40) + await right_arm.run_angle(300, 250) + await drive_base.straight(260) + await right_arm.run_angle(100, -300) + await drive_base.straight(30) + await right_arm.run_angle(50,-250) + await drive_base.turn(30) + await drive_base.straight(-200) + await drive_base.turn(-67) + await drive_base.straight(-800) + +async def Run5(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) + + +async def Run6(): + await drive_base.straight(420) + await right_arm.run_angle(300,-100) + await drive_base.straight(-100) + await right_arm.run_angle(300, 100) + await drive_base.straight(-350) +async def main(): + while True: + + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + color_reflected_percent = await color_sensor.reflection() + print(color_reflected_percent) + + color_detected = await color_sensor.color() + print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}') + if color_reflected_percent > 1: + if color_detected == Color.GREEN: + print('Running Mission 1') + await Run1() + #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE) + elif color_detected == Color.WHITE: + print('Running Mission 2') + await Run2() + #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED) + elif color_detected == Color.YELLOW: + print('Running Mission 3') + await Run3() + #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME ) + elif color_detected == Color.BLUE: + print('Running Mission 4') + await Run4() + #await celebrate_mission_complete(CelebrationSound.POWER_UP) + elif color_detected == Color.RED: + print('Running Mission 5') + await Run5() + #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) + else: + hub.light.off() + left_motor.stop() + right_motor.stop() + await wait(1000) #prevent loop from iterating fast +# Main execution loop +run_task(main()) diff --git a/utils/combine_runs.py b/utils/combine_runs.py index 0d3fab1..c377d13 100644 --- a/utils/combine_runs.py +++ b/utils/combine_runs.py @@ -1,5 +1,5 @@ # Guys please use the same setup code and put into the imports for consistency -script_names = ["untitled14.py", "untitled13.py"] # This is a list of the files of the mission runs +script_names = ["Run1.py", "Run2.py", "Run3.py", "Run5.py", "Run6.py"] # This is a list of the files of the mission runs content = "" imports = """ from pybricks.hubs import PrimeHub @@ -72,7 +72,7 @@ function_calls = [] # Define colors properly - one per script colors = [ - 'Color.ORANGE', 'Color.GREEN', 'Color.BLACK', 'Color.WHITE', + 'Color.ORANGE', 'Color.GREEN', 'Color.WHITE', 'Color.YELLOW', 'Color.BLUE', 'Color.MAGENTA', 'Color.RED', 'Color.BROWN' ] @@ -96,7 +96,7 @@ for i, f_name in enumerate(script_names): m.write(func_def) # Assign one color per script - color_condition = colors[i % len(colors)] + color_condition = colors[i] function_calls.append({ 'name': func_name, 'is_async': is_async, @@ -120,10 +120,10 @@ with open("main.py", 'a') as m: m.write(f" await {func_info['name']}()\n") else: m.write(f" {func_info['name']}()\n") - m.write(" return # Exit after running one function\n") + m.write(" \n") # Add a default case - m.write(" # Default case - no matching color detected\n") + m.write(" \n") m.write(" print(f'Detected color: {color_sensor.color()}')\n") # Write the main loop @@ -131,9 +131,4 @@ with open("main.py", 'a') as m: m.write("\n# Main execution loop\n") m.write("while True:\n") m.write(" run_task(main())\n") - m.write(" wait(100)\n") - -print("Script merger completed successfully!") -print("Functions created:") -for func_info in function_calls: - print(f" - {func_info['name']}() triggered by {func_info['color']} (from {func_info['filename']})") \ No newline at end of file + m.write(" wait(100)\n") \ No newline at end of file