Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

Reviewed-on: #33

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."""
@@ -45,30 +45,45 @@ 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)
-    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)
+    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)
+
 
 async def Run2():  # From Heavy_lifting_final.py
     await drive_base.straight(200)

missions/Boat.py

@@ -2,36 +2,26 @@ 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
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import 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)
 
-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.settings(550,700,100,100)
+
 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)
+first_run = False
 
+async def main():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+    
 run_task(main())

missions/Hypo.py

@@ -1,37 +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, 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/Set2.py

@@ -37,6 +37,14 @@ 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, 10000)
+    await arm_motor.run_angle(10000, 4000)
+    await drive_base.turn(-40)
+    await arm_motor.run_angle(10000, 7000)
 run_task(main())