Update competition_codes/sectionals/sectional_main_experimental.py
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@@ -50,8 +50,24 @@ async def monitor_distance():
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# Small delay to prevent overwhelming the sensor
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await wait(50)
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# Experimental - Removed forge and who lived here part
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async def Run1(): # From M8_5.py
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"""
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Run#1
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- Removed forge and who lived here part
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- What's on sale + Silo
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- Green Key
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"""
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async def Run1():
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await solve_whats_on_sale()
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await solve_silo()
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# return to base
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await drive_base.straight(-90)
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#await drive_base.turn(-100)
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await drive_base.arc(200,None,-300)
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drive_base.stop()
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async def solve_whats_on_sale():
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right_arm.run_angle(500,30)
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left_arm.run_angle(500,90)
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await drive_base.straight(200)
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@@ -69,6 +85,7 @@ async def Run1(): # From M8_5.py
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await drive_base.turn(-20)
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await drive_base.turn(15)
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async def solve_silo():
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await drive_base.straight(-173)
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await drive_base.turn(45)
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await drive_base.straight(120)
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@@ -81,91 +98,86 @@ async def Run1(): # From M8_5.py
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await right_arm.run_angle(4000,-30, Stop.HOLD)
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right_arm.run_angle(4000,30, Stop.HOLD)
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# await drive_base.turn(-35)
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# await drive_base.straight(297)
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# await drive_base.turn(63)
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# await drive_base.straight(170)
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# await drive_base.turn(-80)
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# await drive_base.straight(87)
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# await drive_base.turn(-15)
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"""
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Run#2
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- This to solve forge, who lived here and heavy lifting combined
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- Red Key
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"""
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async def Run2():
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await solve_forge()
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await solve_heavy_lifting()
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await solve_who_lived_here()
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await drive_base.straight(-90)
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#await drive_base.turn(-100)
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await drive_base.arc(200,None,-300)
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# return to base
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await drive_base.arc(-500,None,600)
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drive_base.stop()
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async def Run2(): # experiment with ferris wheel for silo
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await drive_base.straight(410)
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#await drive_base.turn(-20)
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#await drive_base.straight(536)
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#await drive_base.turn(60, Stop.HOLD)
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#await drive_base.straight(30)
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for i in range(3):
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await right_arm.run_angle(10000, -360)
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await drive_base.straight(-400)
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# Experimental - This to solve forge, who lived here and heavy lifting combined
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async def Run2_1():
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async def solve_forge():
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await right_arm.run_target(50,50)
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#await right_arm.re
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#await multitask(
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await right_arm.run_angle(50,-30)
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await drive_base.arc(350,113, None)
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#)
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await drive_base.straight(20)
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await drive_base.turn(-60)
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await drive_base.straight(-47)
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async def solve_heavy_lifting():
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await right_arm.run_angle(500,-90) # arm down
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await wait(100)
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await drive_base.turn(20) # turn right a little bit
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#await wait(100)
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await right_arm.run_angle(500,140) #arm up
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await drive_base.turn(-20) #reset position
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async def solve_who_lived_here():
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await drive_base.straight(50)
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await drive_base.turn(-15)
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await drive_base.straight(50)
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await drive_base.turn(-25)
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await drive_base.straight(-50)
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await drive_base.turn(-100)
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"""
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Run#2.1
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- Alternate solution for Forge, Who lived here and Heavy Lifting combined
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- Light Blue Key
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- Different alignment
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"""
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async def Run2_1():
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await solve_forge_straight()
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await solve_heavy_lifting()
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await solve_who_lived_here()
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# return to base
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await drive_base.arc(-500,None,600)
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drive_base.stop()
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async def solve_forge_straight():
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await right_arm.run_target(50,50)
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await right_arm.run_angle(50,-30)
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await drive_base.straight(700)
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# await drive_base.turn(-30)
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# await drive_base.straight(20)
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await drive_base.turn(-40)
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await drive_base.straight(-30)
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async def Run3(): # tip the scale.py
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right_arm.run_angle(500,30)
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await drive_base.straight(800)
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await drive_base.turn(90)
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await drive_base.straight(86)
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await right_arm.run_angle(800,-140)
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await right_arm.run_angle(900,140)
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"""
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Run#3
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- Combined angler artifacts and tip the scale
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- Yellow key
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"""
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async def Run3():
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await solve_angler_artifacts()
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await solve_tip_the_scale()
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await drive_base.straight(-100)
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await drive_base.turn(90)
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await drive_base.straight(800)
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drive_base.stop()
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async def Run4(): # From Send_Over_Final.py
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await drive_base.straight(920)
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await drive_base.turn(-90,Stop.HOLD)
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await drive_base.straight(65)
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#Solve
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-3000)
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await drive_base.straight(-110)
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await drive_base.turn(90)
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#cross over to red side
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await multitask(
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drive_forward(),
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monitor_distance()
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)
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async def Run_3_4(): #combined angler artifacts and tip the scale - experimental
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async def solve_angler_artifacts():
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await drive_base.straight(920)
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await drive_base.turn(-90,Stop.HOLD)
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await drive_base.straight(65)
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@@ -173,9 +185,11 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-3000)
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await drive_base.straight(-110)
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await drive_base.turn(90)
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await drive_base.arc(-150,-100, None)
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async def solve_tip_the_scale():
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await drive_base.straight(135)
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await right_arm.run_angle(800,-150)
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await right_arm.run_angle(900,150)
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@@ -186,27 +200,48 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental
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await drive_base.arc(10,-47, None)
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#await drive_base.turn(-23, Stop.COAST_SMART)
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await multitask(
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drive_forward(),
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monitor_distance()
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)
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"""
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Run #4
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- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
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- Blue Key
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"""
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async def Run4():
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await solve_brush_reveal()
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await solve_mineshaft_explorer()
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#return to base
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await drive_base.straight(-875)
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# Add Rishi's code here
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async def Run5():
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async def solve_brush_reveal():
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await drive_base.straight(700)
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await drive_base.turn(-20)
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await drive_base.straight(110)
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await drive_base.straight(-210)
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async def solve_mineshaft_explorer():
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await drive_base.turn(63)
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await drive_base.straight(130)
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await right_arm.run_angle(1000, -90)
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await drive_base.straight(84)
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await right_arm.run_angle(300, 90)
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await drive_base.straight(-875)
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# Add - Adi's code here
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"""
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Run#5
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- Solves Salvage Operation + Statue Rebuild
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- Orange Key
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"""
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async def Run6():
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await solve_salvage_operation()
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await solve_statue_rebuild()
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#return to base
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await drive_base.straight(-60)
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await drive_base.turn(80)
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await drive_base.straight(-900)
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async def solve_salvage_operation():
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await drive_base.straight(500)
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await right_arm.run_angle(300,500)
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await drive_base.straight(-75)
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@@ -217,6 +252,8 @@ async def Run6():
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await drive_base.straight(-200)
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await drive_base.turn(-15)
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await drive_base.straight(350)
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async def solve_statue_rebuild():
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await drive_base.turn(-100)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, -900)
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@@ -224,71 +261,33 @@ async def Run6():
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await drive_base.straight(50)
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await left_arm.run_angle(700, 250)
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await drive_base.turn(30)
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await drive_base.straight(-60)
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await drive_base.turn(80)
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await drive_base.straight(-900)
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async def arc_back(radius, angle):
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#print(radius, angle)
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drive_base.arc(radius, angle, None)
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async def lift_right_arm():
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await right_arm.run_angle(100, -90)
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# This is a refactor of Salvage operation mission without wait and realignment
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async def Run6_1(): #experimental
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await drive_base.straight(500)
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await right_arm.run_angle(100,90)
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await drive_base.straight(-75)
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#ack back while raising arm
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await multitask (
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lift_right_arm(),
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arc_back(-215, -45)
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)
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#align to raise the ship
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await drive_base.straight(-150)
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await drive_base.turn(-45)
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#await drive_base.straight(-350)
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#await wait(1000)
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#Solve ship
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await drive_base.straight(800)
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await drive_base.straight(-200)
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await drive_base.turn(-15)
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await drive_base.straight(350)
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await drive_base.turn(-100)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, -700)
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await drive_base.straight(50)
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await drive_base.straight(50)
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await left_arm.run_angle(700, 250)
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await drive_base.turn(15)
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await drive_base.straight(-80)
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await drive_base.turn(80)
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await drive_base.straight(-900)
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"""
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Run#6
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- Solve 2/3 Site Markings
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- Run only if have time
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- Purple Key
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"""
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async def Run6_7(): # experiment with ferris wheel for Site Markings
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solve_site_mark_1()
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solve_site_mark_2()
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#return to base
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await drive_base.straight(-300)
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drive_base.stop()
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async def Run6_7(): # experiment with ferris wheel for Site Markings
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async def solve_site_mark_1():
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await drive_base.straight(500)
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await right_arm.run_angle(100, -10)
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await wait(50)
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#await multitask (
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#lift_right_arm()
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#await right_arm.run_angle(100, 10)
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#await arc_back(-215, -140)
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await drive_base.straight(-300)
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await drive_base.arc(-150, -140, None)
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async def solve_site_mark_2():
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await drive_base.straight(-300)
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await wait(50)
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await right_arm.run_angle(50, 50)
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#await drive_base.straight(-300)
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drive_base.stop()
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# Function to classify color based on HSV
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def detect_color(h, s, v, reflected):
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@@ -323,27 +322,27 @@ async def main():
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print(color)
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if color == "Red":
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print('Running Mission 3')
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await Run2_1() #red
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elif color == "Orange":
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print('Running Mission 6')
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await Run6_1() #orange
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elif color == "Yellow":
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print('Running Mission 4')
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await Run_3_4() #yellow
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elif color == "Green":
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if color == "Green":
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print('Running Mission 1')
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await Run1() #green - vertically
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elif color == "Blue":
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print('Running Mission 5')
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await Run5() #blue - vertically
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elif color == "Purple":
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await Run1()
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elif color == "Red":
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print('Running Mission 2')
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await Run6_7() #purple - vertically
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await Run2()
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elif color == "Yellow":
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print('Running Mission 3')
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await Run3()
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elif color == "Blue":
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print('Running Mission 4')
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await Run4()
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elif color == "Orange":
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print('Running Mission 5')
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await Run5()
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elif color == "Purple":
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print('Running Mission 6')
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await Run6_7()
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elif color == "Light_Blue":
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print("Running Mission 2_1")
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await Run3()
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await Run2_1()
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else:
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print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
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await wait(10)
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