Merge pull request 'dev' (#32) from dev into atharv-dev

Reviewed-on: #32

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())