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/Bautism.py b/missions/Bautism.py new file mode 100644 index 0000000..aeb80c2 --- /dev/null +++ b/missions/Bautism.py @@ -0,0 +1,45 @@ +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 + +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(300, -100) + await arm_motor_left.run_angle(300, 500) + await drive_base.straight(180) + await drive_base.turn(-37) + await drive_base.straight(50) + await arm_motor.run_angle(300, -400) + await drive_base.straight(-150) + await drive_base.turn(135) + await drive_base.straight(50) + await arm_motor.run_angle(300, 400) + await drive_base.straight(-75) + await arm_motor.run_angle(300, 300) + await drive_base.turn(-50) + await drive_base.straight(162) + await arm_motor.run_angle(100, -200) + await drive_base.straight(30) + await arm_motor.run_angle(50,-500) + +run_task(main()) \ 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/M8_5.py b/missions/M8_5.py index 69e364d..95ecc9e 100644 --- a/missions/M8_5.py +++ b/missions/M8_5.py @@ -30,14 +30,14 @@ async def main(): await right_arm.run_angle(5000,-500, Stop.HOLD) await drive_base.turn(-20) - await drive_base.straight(275) + await drive_base.straight(277) await drive_base.turn(20) - await drive_base.straight(63) + 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(-135) + await drive_base.straight(-145) await drive_base.turn(-60) await drive_base.straight(90) await left_arm.run_angle(1000,-450) @@ -45,5 +45,5 @@ async def main(): await left_arm.run_angle(1000,450) await drive_base.straight(10) await drive_base.turn(35) - await drive_base.straight(-500) + 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/mission_09_old.py b/missions/mission_09_old.py index 3337624..ffdf445 100644 --- a/missions/mission_09_old.py +++ b/missions/mission_09_old.py @@ -1,4 +1,5 @@ # ---JOHANNES--- +# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!! from pybricks.hubs import PrimeHub from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor from pybricks.parameters import Button, Color, Direction, Port, Side, Stop 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