Update final/main4.py
This commit is contained in:
158
final/main4.py
158
final/main4.py
@@ -9,82 +9,11 @@ left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
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right_arm = Motor(Port.D)
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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drive_base.settings(550,700,100,100)
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drive_base.use_gyro(True)
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color_sensor = ColorSensor(Port.F)
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async def Run1():
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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await drive_base.straight(320)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(275)
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await drive_base.turn(20)
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await drive_base.straight(63)
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await drive_base.turn(-30)
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right_arm.run_angle(50,500)
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await drive_base.turn(45)
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await drive_base.straight(-135)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(-145)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-500)
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async def Run2():
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await drive_base.straight(200)
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await drive_base.turn(-20)
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await drive_base.straight(525)
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await drive_base.turn(60)
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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await drive_base.turn(-100)
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await drive_base.straight(-600)
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async def Run3():
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await drive_base.straight(915)
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await drive_base.turn(-90)
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await drive_base.straight(60)
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await left_arm.run_angle(10000,-15000)
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await drive_base.straight(-60)
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await drive_base.turn(85)
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await drive_base.straight(2000)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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hub.speaker.volume(50) # Set the volume of the speaker
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# Celebration sound types
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class CelebrationSound:
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@@ -107,7 +36,6 @@ async def play_victory_fanfare():
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_level_up():
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"""Upward scale for level completion"""
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notes = [
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@@ -124,7 +52,6 @@ async def play_level_up():
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(20)
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async def play_success_chime():
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"""Simple success notification"""
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notes = [
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@@ -136,7 +63,6 @@ async def play_success_chime():
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_ta_da():
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"""Classic "ta-da!" sound"""
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notes = [
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@@ -147,14 +73,12 @@ async def play_ta_da():
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(100)
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async def play_power_up():
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"""Rising power-up sound"""
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for freq in range(200, 800, 50):
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await hub.speaker.beep(freq, 50)
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await wait(10)
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await hub.speaker.beep(1000, 200)
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async def play_rickroll_inspired():
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"""Fun 80s-style dance beat inspired sound"""
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# Upbeat bouncy rhythm
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@@ -167,7 +91,6 @@ async def play_rickroll_inspired():
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for freq, duration in pattern:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
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"""
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Main celebration function to call after completing a mission.
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@@ -204,16 +127,78 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
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hub.light.off()
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async def main():
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"""Use color sensor to select runs"""
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print("Place colored object in front of sensor:")
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print("RED=Run1, GREEN=Run2, BLUE=Run3, YELLOW=Test")
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async def Run1():
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await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
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await drive_base.straight(320)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(275)
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await drive_base.turn(20)
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await drive_base.straight(63)
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await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
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await drive_base.turn(45)
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await drive_base.straight(-135)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(-145)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-500)
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async def Run2():
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await drive_base.straight(200)
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await drive_base.turn(-20)
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await drive_base.straight(525)
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await drive_base.turn(60)
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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await drive_base.turn(-100)
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await drive_base.straight(-600)
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async def Run3():
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await drive_base.straight(915)
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await drive_base.turn(-90)
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await drive_base.straight(60)
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await left_arm.run_angle(10000,-15000)
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await drive_base.straight(-60)
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await drive_base.turn(85)
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await drive_base.straight(2000)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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while True:
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await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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color_reflected_percent = await color_sensor.reflection()
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print(color_reflected_percent)
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@@ -224,33 +209,26 @@ async def main():
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print('Running Mission 1')
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await Run1()
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await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
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elif color_detected == Color.WHITE:
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print('Running Mission 2')
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await Run2()
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await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
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elif color_detected == Color.YELLOW:
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print('Running Mission 3')
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await Run3()
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await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME)
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elif color_detected == Color.BLUE:
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print('Running Mission 5')
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await Run5()
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await celebrate_mission_complete(CelebrationSound.POWER_UP)
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elif color_detected == Color.RED:
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print('Running Mission 6')
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await Run6()
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await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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else:
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hub.light.off()
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left_motor.stop()
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right_motor.stop()
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await wait(100) #prevent loop from iterating fast
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# Main execution loop
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run_task(main())
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