Update missions/tip the scale.py

Reviewed-on: #37

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -45,35 +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(1000,450)
-    right_arm.run_angle(1000,500)
+    left_arm.run_angle(500,80)
-    await drive_base.straight(320)
+    await drive_base.straight(200)
 
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await drive_base.turn(-40)
-    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await drive_base.straight(325)
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await left_arm.run_angle(500,-80)
-    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(-100)
-    await drive_base.straight(277)
+    await drive_base.straight(50)
-    await drive_base.turn(20)
+    await left_arm.run_angle(500,170)
-    await drive_base.straight(65)
+
+    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(70,500)
-    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(-150)
-    await left_arm.run_angle(1000,450)
-    await drive_base.straight(27.67)  #turns back to solve market place
-    await drive_base.turn(90)      #Will solve market place
-    await drive_base.straight(-450)
-    await drive_base.turn(70)
-    await drive_base.straight(600)
     
 async def Run2():  # From Heavy_lifting_final.py
     await drive_base.straight(200)
@@ -166,7 +176,6 @@ async def Run6():
     await drive_base.straight(-60)
     await drive_base.turn(80)
     await drive_base.straight(-900)
-
 # Function to classify color based on HSV
 def detect_color(h, s, v, reflected):
     if reflected > 4:

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 wait, StopWatch, run_task, multitask
-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)
 
-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(700)
-    await drive_base.straight(-650)
+    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/tip the scale.py

@@ -26,13 +26,13 @@ async def main():
     
     await drive_base.turn(-70)
     await drive_base.straight(900)
-    await drive_base.turn(115)
+    await drive_base.turn(110)
     
     await drive_base.straight(75)
-    await drive_base.straight(33)
+   
-    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(700,-250)
     await right_arm.run_angle(500,250)
-    await drive_base.turn(66)
+    await drive_base.turn(54)
     await drive_base.straight(7)
     
     await left_arm.run_angle(560,-390) #going down 
@@ -41,8 +41,8 @@ async def main():
     await left_arm.run_angle(-410,-400) #lift a little bit
     
     await drive_base.turn(-46.5) #ma din din din dun
-    await drive_base.turn(-40)
+    await drive_base.turn(25)
     await drive_base.straight(900)
+    
 run_task(main())
 
-

utils/tests/colorsensortest.py

@@ -0,0 +1,69 @@
+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()
+
+color_sensor = ColorSensor(Port.F)
+
+# Color Settings
+# https://docs.pybricks.com/en/latest/parameters/color.html
+print("Default Detected Colors:", color_sensor.detectable_colors())
+
+# Custom color Hue, Saturation, Brightness value for Lego bricks
+Color.MAGENTA = Color(315,100,60)
+Color.BLUE = Color(240,100,100)
+Color.CYAN = Color(180,100,100)
+Color.RED = Color(350, 100, 100)
+LEGO_BRICKS_COLOR = [
+    Color.BLUE, 
+    Color.GREEN, 
+    Color.WHITE,
+    Color.RED, 
+    Color.YELLOW, 
+    Color.MAGENTA, 
+    Color.NONE
+]
+magenta_counter = 0
+stable_color = None
+real_color = None
+#Update Detectable colors
+color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
+print(f'Yellow:{Color.YELLOW} : {Color.YELLOW.h}, {Color.YELLOW.s}, {Color.YELLOW.v}')
+print("Updated Detected Colors:", color_sensor.detectable_colors())
+async def main():  
+    while True:
+        global magenta_counter, stable_color, real_color
+        color_reflected_percent = await color_sensor.reflection()
+        print("Reflection: ", color_reflected_percent)
+        if color_reflected_percent > 15:
+            color_detected = await color_sensor.color()
+
+            if color_detected == Color.MAGENTA:
+                magenta_counter += 1
+            else:
+                magenta_counter = 0
+                stable_color = color_detected
+
+            # Only accept magenta if it's been stable for a while - usually triggers before other colors so we gotta do this :|
+            if magenta_counter > 10:
+                stable_color = Color.MAGENTA
+                if stable_color != Color.MAGENTA:
+                    stable_color = await color_sensor.color()
+
+            real_color = stable_color
+            #if(color_detected != Color.NONE):
+            #    return
+            
+            print("Magenta counter: ", magenta_counter)
+            if real_color is not None:
+                print(f'Detected color: {real_color} : {real_color.h}, {real_color.s}, {real_color.v}')
+            else:
+                print("No valid color detected yet.")
+        await wait(50)
+
+run_task(main())