HazmatCodeChanges

This is the code we changed at the scrimmage.

codes_for_scrimmage/hazmat/HazmatCodeChanges.py

@@ -0,0 +1,227 @@
+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 = 300  # 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)
+
+# 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)
+
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    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)
+    # 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()
+    )
+
+
+
+# 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(-100)
+    await right_arm.run_angle(10000, -8500)
+    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)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())

codes_for_scrimmage/hazmat/hazmat_main.py

@@ -189,6 +189,7 @@ 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
@@ -246,30 +247,29 @@ async def Run2(): #From Heavy_lifting_final.py
 
 
 async def Run3(): #tip the scale.py
-    drive_base.settings(300,1000,300,200) #Custom drive_base setting based on Ayaan's code
+    left_arm.run_angle(600,200)   
-    
-    left_arm.run_angle(500,200)   
     right_arm.run_angle(500,200)
     await drive_base.straight(70)
     
-    await drive_base.turn(-55)
+    await drive_base.turn(-70)
     await drive_base.straight(900)
-    await drive_base.turn(92.5)
+    await drive_base.turn(115)
     
     await drive_base.straight(75)
-    await drive_base.straight(21)
+    await drive_base.straight(33)
     await right_arm.run_angle(500,-250)
     await right_arm.run_angle(500,250)
-    await drive_base.turn(55)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
     
-    await left_arm.run_angle(300,-400)
+    await left_arm.run_angle(560,-390) #going down 
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(-410,-400) #lift a little bit
     
-    await drive_base.turn(46.5)
+    await drive_base.turn(-46.5) #ma din din din dun
     await drive_base.turn(-40)
     await drive_base.straight(900)
 
-    drive_base.settings(600,500,300,200) #Reset it to the initial values
-
 async def Run4(): #From Send_Over_Final.py
 
         #Get to mission

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -7,10 +7,8 @@ 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)
@@ -23,22 +21,22 @@ 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."""
-    #await drive_base.straight(5000)
     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.turn(-180)
+            await drive_base.stop
-            drive_base.brake
             print(f"Wall detected at {distance}mm!")
             break
         
@@ -47,30 +45,27 @@ async def monitor_distance():
 
 # New Section
 async def Run1():  # From M8_5.py
-    left_arm.run_angle(1000, 300)
+    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(-145)
+    await left_arm.run_angle(1000, -450)
     await drive_base.straight(10)
     await drive_base.turn(35)
     await drive_base.straight(-600)
@@ -81,55 +76,50 @@ async def Run2(): #From Heavy_lifting_final.py
     await drive_base.straight(536)
     await drive_base.turn(60, Stop.HOLD)
     await drive_base.straight(30)
-
     await right_arm.run_angle(5000, 2900)
     await drive_base.straight(40)
     await right_arm.run_angle(5000, -4000)
     await drive_base.straight(-60)
-
     await drive_base.turn(-60)
     await drive_base.straight(-670)
 
 
 async def Run3():  # tip the scale.py
-    drive_base.settings(300,1000,300,200) #Custom drive_base setting based on Ayaan's code
+    left_arm.run_angle(600,-200)   
-    
-    left_arm.run_angle(500,200)   
     right_arm.run_angle(500,200)
     await drive_base.straight(70)
     
-    await drive_base.turn(-55)
+    await drive_base.turn(-70)
     await drive_base.straight(900)
-    await drive_base.turn(92.5)
+    await drive_base.turn(115)
     
     await drive_base.straight(75)
-    await drive_base.straight(21)
+    await drive_base.straight(33)
     await right_arm.run_angle(500,-250)
     await right_arm.run_angle(500,250)
-    await drive_base.turn(55)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
     
-    await left_arm.run_angle(300,-400)
+    await left_arm.run_angle(560,390) #going down 
-    
+    print('turning now...')
-    await drive_base.turn(46.5)
+    await drive_base.turn(40) # turning right
-    await drive_base.turn(-40)
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
     await drive_base.straight(900)
 
-    drive_base.settings(600,500,300,200) #Reset it to the initial values
 
 async def Run4():  # From Send_Over_Final.py
-
         #Get to mission
     await drive_base.straight(920)
     await drive_base.turn(-90,Stop.HOLD)
     await drive_base.straight(65)
     #Solve mission
     drive_base.turn(-10)
-    await left_arm.run_angle(10000,-4000)
+    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)
@@ -146,6 +136,8 @@ async def Run4(): #From Send_Over_Final.py
         monitor_distance()
     )
 
+
+
 # Add Rishi's code here
 async def Run5(): 
     await drive_base.straight(519)
@@ -156,66 +148,80 @@ async def Run5():
     await drive_base.straight(50)
     await right_arm.run_angle(3000, 3000)
     await drive_base.straight(-150)
-    await drive_base.turn(135)
+    await drive_base.turn(120)
     await drive_base.straight(25)
     await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(-100)
+    await drive_base.straight(-110)
-    await drive_base.turn(-55)
+    await drive_base.turn(-43)
     await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(250)
+    await drive_base.straight(295)
-    await drive_base.turn(-5)
+    await right_arm.run_angle(10000, 9000)
-    await right_arm.run_angle(10000, 7000)
+    await drive_base.straight(-65)
-    await drive_base.straight(-50)
     await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -8500)
     await drive_base.straight(100)
-    await drive_base.turn(37)
+    await right_arm.run_angle(10000, 3500)
-    await right_arm.run_angle(10000, -6000)
+    await drive_base.turn(-30)
-    await drive_base.straight(90)
+    await drive_base.straight(-300)
-    await right_arm.run_angle(3000, 3000)
+    await drive_base.turn(-80)
-    await drive_base.turn(-40)
+    await drive_base.straight(-700)
+
 
 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(420)
+    await drive_base.straight(750)
-    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-650)
-    await drive_base.straight(-100)
+
-    await right_arm.run_angle(300, 100)
-    await drive_base.straight(-350)
 
 # Function to classify color based on HSV
-async def main:
+def detect_color(h, s, v, reflected):
     if reflected > 4:
         if h < 4 or h > 350:  # red
             return "Red"
-            print('Running Mission 3')
-            await Run3()
         elif 3 < h < 40 and s > 70:  # orange
             return "Orange"
-            print('Running Mission 6')
-            await Run6()
         elif 47 < h < 56:  # yellow
             return "Yellow"
-            print('Running Mission 4')
-            await Run4()
         elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
             return "Green"
-            print('Running Mission 1')
-            await Run1()
         elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
             return "Blue"
-            print('Running Mission 5')
+        elif 260 < h < 350:  # purple
-            await Run5()
-        elif 230 < h < 320:   #purple
             return "Purple"
-            print('Running Mission 2')
-            await Run2()
         else:
             return "Unknown"
+    return "Unknown"
 
-# Main loop
+
+async def main():
     while True:
-    h, s, v = sensor.hsv()
+        h, s, v = await color_sensor.hsv()
-    reflected = sensor.reflection()
+        reflected = await color_sensor.reflection()
         color = detect_color(h, s, v, reflected)
-    print(f"Detected Color: {color} (Hue: {h}, Sat: {s}, Val: {v})")
+        
-    wait(1000)
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())

missions/tip the scale.py

@@ -40,3 +40,6 @@ async def main():
     await drive_base.turn(-40)
     await drive_base.straight(900)
 run_task(main())
+
+
+