Merge pull request 'dev' (#35) from dev into main

Reviewed-on: #35

README.md

@@ -94,12 +94,12 @@ Repository
 ### Color Start System
 | Color | Mission |
 |-------|-----------|
-| ```Green  🟩 ```| Run 1 |
+| Green  🟩 | Run 1 |
-| ```Purple 🟪 ```| Run 2 |
+| Purple 🟪 | Run 2 |
-| ```Red    🟥 ```| Run 3 |
+| Red    🟥| Run 3 |
-| ```Yellow 🟨 ```| Run 4 |
+| Yellow 🟨| Run 4 |
-| ```Blue   🟦 ```| Run 5 |
+| Blue   🟦| Run 5 |
-| ```Orange 🟧 ```| Run 6 |
+| Orange 🟧| Run 6 |
 
 ---
 

codes_for_scrimmage/hazmat/HazmatCodeChanges.py

@@ -140,41 +140,40 @@ async def Run4():  # From Send_Over_Final.py
 
 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(700)
+    await drive_base.straight(519)
-    await drive_base.turn(-18)
+    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 drive_base.straight(-205)
+    await right_arm.run_angle(10000, 3500)
-    await drive_base.turn(63)
+    await drive_base.turn(-30)
-    await drive_base.straight(125)
+    await drive_base.straight(-300)
-    await arm_motor.run_angle(1000, -1200)
+    await drive_base.turn(-80)
-    await drive_base.straight(84)
+    await drive_base.straight(-700)
-    await arm_motor.run_angle(300, 1200)
-    await drive_base.straight(-875)
 
 
 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(500)
+    await drive_base.straight(750)
-    await right_arm.run_angle(300,500)
+    await drive_base.straight(-650)
-    await drive_base.straight(-75)
-    await right_arm.run_angle(300, -900)
-    await drive_base.straight(-350)
-    await wait(1000)
-    await drive_base.straight(800)
-    await drive_base.straight(-200)
-    await drive_base.turn(-15)
-    await drive_base.straight(350)
-    await drive_base.turn(-94)
-    await drive_base.straight(-80)
-    await left_arm.run_angle(500, 900)
-    await drive_base.straight(50)
-    await drive_base.turn(-10)
-    await drive_base.straight(50)
-    await left_arm.run_angle(700, -200)
-    await drive_base.turn(30)
-    await drive_base.straight(-60)
-    await drive_base.turn(80)
-    await drive_base.straight(-900)
 
 
 # Function to classify color based on HSV

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -21,7 +21,7 @@ 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 = 200  # mm
+WALL_DISTANCE = 300  # mm
 
 async def drive_forward():
     """Drive forward continuously using DriveBase."""
@@ -45,35 +45,30 @@ async def monitor_distance():
 
 # New Section
 async def Run1():  # From M8_5.py
-    left_arm.run_angle(1000, 300)
+    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(70,500)
+    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(-150)
     await left_arm.run_angle(1000, 450)
-    await drive_base.straight(27.67)  #turns back to solve market place
+    await drive_base.straight(-145)
-    await drive_base.turn(90)      #Will solve market place
+    await left_arm.run_angle(1000, -450)
-    await drive_base.straight(-450)
+    await drive_base.straight(10)
-    await drive_base.turn(70)
+    await drive_base.turn(35)
-    await drive_base.straight(600)
+    await drive_base.straight(-600)
 
 async def Run2():  # From Heavy_lifting_final.py
     await drive_base.straight(200)
@@ -110,62 +105,76 @@ async def Run3():  # tip the scale.py
     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 
+    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
+    #Solve mission
     drive_base.turn(-10)
-    await left_arm.run_angle(10000,-4000)
+    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(700)
+    await drive_base.straight(519)
-    await drive_base.turn(-18)
+    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 drive_base.straight(-205)
+    await right_arm.run_angle(10000, 3500)
-    await drive_base.turn(63)
+    await drive_base.turn(-30)
-    await drive_base.straight(125)
+    await drive_base.straight(-300)
-    await arm_motor.run_angle(1000, -1200)
+    await drive_base.turn(-80)
-    await drive_base.straight(84)
+    await drive_base.straight(-700)
-    await arm_motor.run_angle(300, 1200)
+
-    await drive_base.straight(-875)
 
 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(500)
+    await drive_base.straight(750)
-    await right_arm.run_angle(300,500)
+    await drive_base.straight(-650)
-    await drive_base.straight(-75)
+
-    await right_arm.run_angle(300, -900)
-    await drive_base.straight(-350)
-    await wait(1000)
-    await drive_base.straight(800)
-    await drive_base.straight(-200)
-    await drive_base.turn(-15)
-    await drive_base.straight(350)
-    await drive_base.turn(-94)
-    await drive_base.straight(-80)
-    await left_arm.run_angle(500, 900)
-    await drive_base.straight(50)
-    await drive_base.turn(-10)
-    await drive_base.straight(50)
-    await left_arm.run_angle(700, -200)
-    await drive_base.turn(30)
-    await drive_base.straight(-60)
-    await drive_base.turn(80)
-    await drive_base.straight(-900)
 
 # Function to classify color based on HSV
 def detect_color(h, s, v, reflected):

missions/M8_5.py

@@ -19,44 +19,31 @@ 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)
 
-    right_arm.run_angle(1000,450)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
-    left_arm.run_angle(500,-80)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
-    await drive_base.straight(200)
+    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(-40)
+    await drive_base.turn(-20)
-    await drive_base.straight(325)
+    await drive_base.straight(277)
-    await left_arm.run_angle(500,80)
+    await drive_base.turn(20)
-
+    await drive_base.straight(65)
-    await drive_base.straight(-100)
-    await drive_base.straight(50)
-    await left_arm.run_angle(500,-170)
-
-    await drive_base.straight(-270)
-    await drive_base.turn(40)
-    await drive_base.straight(135)
-    left_arm.run_angle(1000,-670)
-
-    await right_arm.run_angle(5000,-450, Stop.HOLD)
-    await right_arm.run_angle(5000,450, Stop.HOLD)
-    await right_arm.run_angle(5000,-450, Stop.HOLD)
-    await right_arm.run_angle(5000,450, Stop.HOLD)
-    await right_arm.run_angle(5000,-450, Stop.HOLD)
-    right_arm.run_angle(5000,450, Stop.HOLD)
-
-    await drive_base.turn(-35)
-    await drive_base.straight(300)
-    await drive_base.turn(63)
-    await drive_base.straight(170)
-
-    await drive_base.turn(-80)
-    await drive_base.straight(87)
-    await drive_base.turn(-15)
-
-    await drive_base.straight(-120)
-    await drive_base.turn(-100)
-    await drive_base.straight(300)
-    await drive_base.turn(-45)
-    await drive_base.straight(500)
 
+    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())