Update competition_codes/sectionals/sectional_main_experimental.py

competition_codes/sectionals/sectional_main_experimental.py

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