Merge pull request 'Rishi_dev' (#36 ) from Rishi_dev into dev

Reviewed-on: #36
Add missions/Hypo.py
2025-11-06 01:01:39 +00:00 · 2025-11-06 00:58:52 +00:00 · 2025-11-06 00:03:28 +00:00 · 2025-11-06 00:03:03 +00:00 · 2025-11-04 18:21:26 +00:00 · 2025-11-04 02:57:00 +00:00
6 changed files with 166 additions and 132 deletions
--- a/README.md
+++ b/README.md
@@ -94,12 +94,12 @@ Repository
 ### Color Start System
 | Color | Mission |
 |-------|-----------|
-| Green  🟩 | Run 1 |
-| Purple 🟪 | Run 2 |
-| Red    🟥| Run 3 |
-| Yellow 🟨| Run 4 |
-| Blue   🟦| Run 5 |
-| Orange 🟧| Run 6 |
+| ```Green  🟩 ```| Run 1 |
+| ```Purple 🟪 ```| Run 2 |
+| ```Red    🟥 ```| Run 3 |
+| ```Yellow 🟨 ```| Run 4 |
+| ```Blue   🟦 ```| Run 5 |
+| ```Orange 🟧 ```| Run 6 |

 ---

--- a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
+++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
@@ -140,40 +140,41 @@ async def Run4():  # From Send_Over_Final.py

 # 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(700)
+    await drive_base.turn(-18)
    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)
+    await drive_base.straight(-205)
+    await drive_base.turn(63)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)


 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    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
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/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 = 300  # mm
+WALL_DISTANCE = 200  # mm

 async def drive_forward():
    """Drive forward continuously using DriveBase."""
@@ -45,31 +45,36 @@ async def monitor_distance():

 # New Section
 async def Run1():  # From M8_5.py
-    left_arm.run_angle(1000, -300)
-    right_arm.run_angle(1000, 500)
+    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 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)
+    right_arm.run_angle(70,500)
    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)
-
+    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.turn(90)      #Will solve market place
+    await drive_base.straight(-450)
+    await drive_base.turn(70)
+    await drive_base.straight(600)
+    
 async def Run2():  # From Heavy_lifting_final.py
    await drive_base.straight(200)
    await drive_base.turn(-20)
@@ -105,76 +110,62 @@ 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 69
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 
    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
+    #Solve
    drive_base.turn(-10)
-    await left_arm.run_angle(10000, 4000)
-    #Get to Red Start
+    await left_arm.run_angle(10000,-4000)
    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(700)
+    await drive_base.turn(-18)
    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)
-
+    await drive_base.straight(-205)
+    await drive_base.turn(63)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)

 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
-
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    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):
--- a/missions/Hypo.py
+++ b/missions/Hypo.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, 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(700)
+    await drive_base.turn(-17)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(62)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(87)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+run_task(main())
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -19,31 +19,44 @@ 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)
+    left_arm.run_angle(500,-80)
+    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 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.straight(325)
+    await left_arm.run_angle(500,80)

-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    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())
--- a/missions/Rishi.py
+++ b/missions/Rishi.py
@@ -37,14 +37,6 @@ async def main():
    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)
+    await arm_motor.run_angle(10000, 10000)
 run_task(main())
Author	SHA1	Message	Date
Atharv	a0a4fa4792	Merge pull request 'Rishi_dev' (#36 ) from Rishi_dev into dev Reviewed-on: #36	2025-11-06 01:01:39 +00:00
Rishikesh Lolapu	14bc8d291a	Add missions/Hypo.py	2025-11-06 00:58:52 +00:00
Atharv	b91e701f4c	Upload files to "missions" from risshi ramdom ahhhh repo	2025-11-06 00:03:28 +00:00
Atharv	debbc4e4d0	Delete missions/Set2.py	2025-11-06 00:03:03 +00:00
Johannes	0c7633d92d	Update missions/M8_5.py	2025-11-04 18:21:26 +00:00
Johannes	3b81a3ff2b	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 02:57:00 +00:00
Rishikesh Lolapu	401033b185	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 01:18:44 +00:00
Rishikesh Lolapu	9cdd9886e3	Update codes_for_scrimmage/hazmat/HazmatCodeChanges.py	2025-11-04 01:15:50 +00:00
Johannes	3a45721812	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 01:10:02 +00:00
Atharv	a65ad1470c	Update README.md	2025-10-31 16:09:41 +00:00
Atharv	b36a9f3355	Merge pull request 'dev' (#34 ) from dev into Rishi_dev Reviewed-on: #34	2025-10-31 11:57:36 +00:00