Add missions/New_MapReveal/New_MapReveal_Mineshaft.py

Rishi's updated code

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -140,35 +140,16 @@ 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(600)
     await drive_base.straight(-100)
-    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(150)
+    await drive_base.turn(60)
     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.turn(-86)
+    await drive_base.straight(120)
+    await drive_base.turn(-45)
+    await drive_base.straight(-200)
+    await drive_base.turn(75)
 
 # Add - Adi's code here
 async def Run6():

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/New_MapReveal/New_MapReveal_Mineshaft.py

@@ -0,0 +1,38 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+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
+
+async def main():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-220)
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await right_arm.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())