Update missions/Boat.py

from risshi ramdom ahhhh repo

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."""
@@ -45,45 +45,30 @@ async def monitor_distance():
 
 # New Section
 async def Run1():  # From M8_5.py
-    right_arm.run_angle(1000,450)
-    left_arm.run_angle(500,-80)
-    await drive_base.straight(200)
-
-    await drive_base.turn(-40)
-    await drive_base.straight(325)
-    await left_arm.run_angle(500,80)
-
-    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)
-
+    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)

missions/Boat.py

@@ -2,26 +2,36 @@ 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
+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)
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
 
+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)
 
-drive_base.settings(550,700,100,100)
-
+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)
 
-first_run = False
-
 async def main():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
-    
+    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())

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())

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())