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Johannes_D
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12
README.md
12
README.md
@@ -94,12 +94,12 @@ Repository
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||||
### Color Start System
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| Color | Mission |
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||||
|-------|-----------|
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| Green 🟩 | Run 1 |
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| Purple 🟪 | Run 2 |
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| Red 🟥| Run 3 |
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| Yellow 🟨| Run 4 |
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| Blue 🟦| Run 5 |
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| Orange 🟧| Run 6 |
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| ```Green 🟩 ```| Run 1 |
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| ```Purple 🟪 ```| Run 2 |
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| ```Red 🟥 ```| Run 3 |
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| ```Yellow 🟨 ```| Run 4 |
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| ```Blue 🟦 ```| Run 5 |
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| ```Orange 🟧 ```| Run 6 |
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---
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||||
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@@ -140,40 +140,41 @@ async def Run4(): # From Send_Over_Final.py
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||||
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||||
# Add Rishi's code here
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||||
async def Run5():
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await drive_base.straight(519)
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||||
await left_arm.run_angle(-10000, 300)
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await left_arm.run_angle(10000, 600)
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await drive_base.straight(160)
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await drive_base.turn(-30)
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await drive_base.straight(50)
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await right_arm.run_angle(3000, 3000)
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await drive_base.straight(-150)
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await drive_base.turn(120)
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await drive_base.straight(25)
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await right_arm.run_angle(10000, -3000)
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await drive_base.straight(-110)
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await drive_base.turn(-43)
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await right_arm.run_angle(10000, -3000)
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await drive_base.straight(295)
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await right_arm.run_angle(10000, 9000)
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await drive_base.straight(-65)
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await drive_base.turn(45)
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await drive_base.straight(175)
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await drive_base.turn(24.5)
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await drive_base.straight(-100)
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await right_arm.run_angle(10000, -8500)
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await drive_base.straight(700)
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await drive_base.turn(-18)
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await drive_base.straight(100)
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await right_arm.run_angle(10000, 3500)
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await drive_base.turn(-30)
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await drive_base.straight(-300)
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await drive_base.turn(-80)
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await drive_base.straight(-700)
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await drive_base.straight(-205)
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await drive_base.turn(63)
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await drive_base.straight(125)
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await arm_motor.run_angle(1000, -1200)
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await drive_base.straight(84)
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await arm_motor.run_angle(300, 1200)
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await drive_base.straight(-875)
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||||
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# Add - Adi's code here
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async def Run6():
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await drive_base.straight(750)
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await drive_base.straight(-650)
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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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await right_arm.run_angle(300, -900)
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await drive_base.straight(-350)
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await wait(1000)
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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(-94)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, 900)
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await drive_base.straight(50)
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await drive_base.turn(-10)
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await drive_base.straight(50)
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await left_arm.run_angle(700, -200)
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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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||||
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# Function to classify color based on HSV
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||||
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@@ -45,46 +45,36 @@ async def monitor_distance():
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# New Section
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async def Run1(): # From M8_5.py
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right_arm.run_angle(1000,450)
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left_arm.run_angle(500,-80)
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await drive_base.straight(200)
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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await drive_base.straight(320)
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||||
await drive_base.turn(-40)
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await drive_base.straight(325)
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||||
await left_arm.run_angle(500,80)
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||||
await drive_base.straight(-100)
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await drive_base.straight(50)
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await left_arm.run_angle(500,-170)
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await drive_base.straight(-270)
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await drive_base.turn(40)
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await drive_base.straight(135)
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left_arm.run_angle(1000,-670)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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await right_arm.run_angle(5000,450, Stop.HOLD)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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await right_arm.run_angle(5000,450, Stop.HOLD)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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right_arm.run_angle(5000,450, Stop.HOLD)
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await drive_base.turn(-35)
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await drive_base.straight(300)
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await drive_base.turn(63)
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await drive_base.straight(170)
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||||
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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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||||
await drive_base.straight(-120)
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await drive_base.turn(-100)
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await drive_base.straight(300)
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await drive_base.turn(-45)
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||||
await drive_base.straight(500)
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||||
await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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||||
await right_arm.run_angle(5000,-500, Stop.HOLD)
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||||
await right_arm.run_angle(5000,500, Stop.HOLD)
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||||
await right_arm.run_angle(5000,-500, Stop.HOLD)
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||||
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||||
await drive_base.turn(-20)
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||||
await drive_base.straight(277)
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||||
await drive_base.turn(20)
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||||
await drive_base.straight(65)
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||||
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||||
await drive_base.turn(-30)
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||||
right_arm.run_angle(70,500)
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||||
await drive_base.turn(45)
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||||
await drive_base.straight(-145)
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||||
await drive_base.turn(-60)
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||||
await drive_base.straight(90)
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||||
await left_arm.run_angle(1000,-450)
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||||
await drive_base.straight(-150)
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||||
await left_arm.run_angle(1000,450)
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||||
await drive_base.straight(27.67) #turns back to solve market place
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||||
await drive_base.turn(90) #Will solve market place
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||||
await drive_base.straight(-450)
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||||
await drive_base.turn(70)
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||||
await drive_base.straight(600)
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||||
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||||
async def Run2(): # From Heavy_lifting_final.py
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||||
await drive_base.straight(200)
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||||
await drive_base.turn(-20)
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||||
@@ -120,76 +110,62 @@ async def Run3(): # tip the scale.py
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||||
await drive_base.turn(40) # turning right
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||||
await left_arm.run_angle(410,-400) #lift a little bit
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||||
await drive_base.straight(80)
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||||
await drive_base.turn(-41) #ma din din din dun 67 41 21 69
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||||
await drive_base.turn(-41) #ma din din din dun 67 41 21
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||||
await drive_base.straight(900)
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||||
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||||
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||||
async def Run4(): # From Send_Over_Final.py
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||||
#Get to mission
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||||
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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 mission
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||||
#Solve
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||||
drive_base.turn(-10)
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||||
await left_arm.run_angle(10000, 4000)
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||||
#Get to Red Start
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||||
await left_arm.run_angle(10000,-4000)
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||||
await drive_base.straight(-110)
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||||
await drive_base.turn(90)
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||||
# while True:
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# distance_mm = await lazer_ranger.distance()
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# print('distancing...',distance_mm)
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||||
# if distance_mm < 300:
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# drive_base.stop
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# break
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# else:
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||||
# drive_base.straight(300)
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# print('running...')
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# await wait(10)
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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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||||
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||||
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||||
# Add Rishi's code here
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||||
async def Run5():
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||||
await drive_base.straight(519)
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||||
await left_arm.run_angle(-10000, 300)
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||||
await left_arm.run_angle(10000, 600)
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||||
await drive_base.straight(160)
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||||
await drive_base.turn(-30)
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||||
await drive_base.straight(50)
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||||
await right_arm.run_angle(3000, 3000)
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||||
await drive_base.straight(-150)
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||||
await drive_base.turn(120)
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||||
await drive_base.straight(25)
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||||
await right_arm.run_angle(10000, -3000)
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||||
await drive_base.straight(-110)
|
||||
await drive_base.turn(-43)
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||||
await right_arm.run_angle(10000, -3000)
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||||
await drive_base.straight(295)
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||||
await right_arm.run_angle(10000, 9000)
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||||
await drive_base.straight(-65)
|
||||
await drive_base.turn(45)
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||||
await drive_base.straight(175)
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||||
await drive_base.turn(24.5)
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||||
await drive_base.straight(-100)
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||||
await right_arm.run_angle(10000, -8500)
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||||
await drive_base.straight(700)
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||||
await drive_base.turn(-18)
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||||
await drive_base.straight(100)
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||||
await right_arm.run_angle(10000, 3500)
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||||
await drive_base.turn(-30)
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||||
await drive_base.straight(-300)
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||||
await drive_base.turn(-80)
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||||
await drive_base.straight(-700)
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||||
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||||
await drive_base.straight(-205)
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||||
await drive_base.turn(63)
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||||
await drive_base.straight(125)
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||||
await arm_motor.run_angle(1000, -1200)
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||||
await drive_base.straight(84)
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||||
await arm_motor.run_angle(300, 1200)
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||||
await drive_base.straight(-875)
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||||
|
||||
# Add - Adi's code here
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||||
async def Run6():
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||||
await drive_base.straight(750)
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||||
await drive_base.straight(-650)
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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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await right_arm.run_angle(300, -900)
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await drive_base.straight(-350)
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await wait(1000)
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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(-94)
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||||
await drive_base.straight(-80)
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||||
await left_arm.run_angle(500, 900)
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||||
await drive_base.straight(50)
|
||||
await drive_base.turn(-10)
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||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(700, -200)
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||||
await drive_base.turn(30)
|
||||
await drive_base.straight(-60)
|
||||
await drive_base.turn(80)
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||||
await drive_base.straight(-900)
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||||
|
||||
# Function to classify color based on HSV
|
||||
def detect_color(h, s, v, reflected):
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||||
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||||
@@ -1,27 +0,0 @@
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||||
from pybricks.hubs import PrimeHub
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||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
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||||
from pybricks.tools import wait, StopWatch
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||||
from pybricks.tools import run_task,multitask
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||||
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||||
hub = PrimeHub()
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||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
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||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
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||||
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||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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||||
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drive_base.settings(880,850,700,700)
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||||
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||||
drive_base.use_gyro(True)
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||||
|
||||
first_run = True
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(750)
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||||
await drive_base.straight(-650)
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||||
|
||||
run_task(main())
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||||
@@ -1,37 +0,0 @@
|
||||
from pybricks.hubs import PrimeHub
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||||
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
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||||
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||||
hub = PrimeHub()
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||||
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||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
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||||
right_arm = Motor(Port.D)
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||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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drive_base.settings(600,500,300,200)
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||||
drive_base.use_gyro(True)
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||||
|
||||
async def main():
|
||||
await right_arm.run_angle(2000,1000)
|
||||
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
await drive_base.straight(30)
|
||||
|
||||
await right_arm.run_angle(2000,-1000)
|
||||
await drive_base.straight(30)
|
||||
await right_arm.run_angle(3000,1000)
|
||||
await drive_base.straight(-60)
|
||||
|
||||
await drive_base.turn(-60)
|
||||
await drive_base.straight(-525)
|
||||
await drive_base.turn(20)
|
||||
await drive_base.straight(-200)
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
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
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
#Get to mission
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
#Solve mission
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(2000,1000)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(350,-1000)
|
||||
#Return home
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
@@ -2,7 +2,7 @@ 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
|
||||
from pybricks.tools import wait, StopWatch, run_task, multitask
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
@@ -23,23 +23,15 @@ drive_base.settings(300,1000,300,750)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(519)
|
||||
await arm_motor_left.run_angle(300, -100)
|
||||
await arm_motor_left.run_angle(300, 500)
|
||||
await drive_base.straight(180)
|
||||
await drive_base.turn(-37)
|
||||
await drive_base.straight(50)
|
||||
await arm_motor.run_angle(300, -400)
|
||||
await drive_base.straight(-150)
|
||||
await drive_base.turn(135)
|
||||
await drive_base.straight(50)
|
||||
await arm_motor.run_angle(300, 400)
|
||||
await drive_base.straight(-75)
|
||||
await arm_motor.run_angle(300, 300)
|
||||
await drive_base.turn(-50)
|
||||
await drive_base.straight(162)
|
||||
await arm_motor.run_angle(100, -200)
|
||||
await drive_base.straight(30)
|
||||
await arm_motor.run_angle(50,-500)
|
||||
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())
|
||||
@@ -1,34 +0,0 @@
|
||||
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
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(2000,1000)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(350,-1000)
|
||||
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
@@ -1,34 +0,0 @@
|
||||
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
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(2000,1000)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(350,-1000)
|
||||
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
@@ -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())
|
||||
@@ -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())
|
||||
@@ -1,29 +0,0 @@
|
||||
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
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
|
||||
drive_base.settings(400,500,100,100)
|
||||
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(300,100)
|
||||
await drive_base.straight(-100)
|
||||
await right_arm.run_angle(300,-100)
|
||||
await drive_base.straight(-350)
|
||||
|
||||
run_task(main())
|
||||
@@ -1,31 +0,0 @@
|
||||
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
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
|
||||
await drive_base.straight(915)
|
||||
await drive_base.turn(-90)
|
||||
await drive_base.straight(60)
|
||||
await left_arm.run_angle(10000,-4000)
|
||||
await drive_base.straight(-90)
|
||||
await drive_base.turn(80)
|
||||
await drive_base.straight(2000)
|
||||
|
||||
run_task(main())
|
||||
@@ -19,28 +19,41 @@ drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
WALL_DISTANCE = 200 # mm
|
||||
|
||||
async def drive_forward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(400, 0)
|
||||
|
||||
|
||||
async def monitor_distance():
|
||||
"""Monitor ultrasonic sensor and stop when wall is detected."""
|
||||
while True:
|
||||
distance = await lazer_ranger.distance()
|
||||
print('Distancing...',distance)
|
||||
|
||||
if distance < WALL_DISTANCE:
|
||||
# Stop the drivebase
|
||||
await drive_base.stop
|
||||
print(f"Wall detected at {distance}mm!")
|
||||
break
|
||||
|
||||
# Small delay to prevent overwhelming the sensor
|
||||
await wait(50)
|
||||
|
||||
async def main():
|
||||
#Get to mission
|
||||
await drive_base.straight(920)
|
||||
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 drive_base.straight(-110)
|
||||
await drive_base.turn(90)
|
||||
await drive_base.straight(500)
|
||||
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()
|
||||
)
|
||||
|
||||
run_task(main())
|
||||
@@ -1,44 +0,0 @@
|
||||
# ---JOHANNES---
|
||||
# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!!
|
||||
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
|
||||
|
||||
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.E, Direction.CLOCKWISE)
|
||||
arm_motor.run_angle(299,90, Stop.HOLD)
|
||||
# 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=54, axle_track=140)
|
||||
|
||||
print('The default settings are: ' + str(drive_base.settings()))
|
||||
drive_base.settings(100,1000,166,750)
|
||||
# Optionally, uncomment the line below to use the gyro for improved accuracy.
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def solveM9():
|
||||
print("Solving Mission 9")
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(260)
|
||||
await arm_motor.run_angle(500,-500, Stop.HOLD)
|
||||
await drive_base.straight(-40)
|
||||
await drive_base.turn(92)
|
||||
await drive_base.straight(-120)
|
||||
await drive_base.straight(220)
|
||||
await arm_motor.run_angle(500,100, Stop.HOLD)
|
||||
await drive_base.turn(-50)
|
||||
await drive_base.straight(-600)
|
||||
async def main():
|
||||
await drive_base.straight(50)
|
||||
print("Hello, Robot is starting to run.")
|
||||
await solveM9()
|
||||
|
||||
run_task(main())
|
||||
Reference in New Issue
Block a user