Merge pull request 'Update missions/Boat.py' (#37) from Rishi_dev into dev

Reviewed-on: #37

README.md

@@ -94,12 +94,12 @@ Repository
 ### Color Start System
 | Color | Mission |
 |-------|-----------|
-| Green  🟩 | Run 1 |
+| ```Green  🟩 ```| Run 1 |
-| Purple 🟪 | Run 2 |
+| ```Purple 🟪 ```| Run 2 |
-| Red    🟥| Run 3 |
+| ```Red    🟥 ```| Run 3 |
-| Yellow 🟨| Run 4 |
+| ```Yellow 🟨 ```| Run 4 |
-| Blue   🟦| Run 5 |
+| ```Blue   🟦 ```| Run 5 |
-| Orange 🟧| Run 6 |
+| ```Orange 🟧 ```| Run 6 |
 
 ---
 

codes_for_scrimmage/hazmat/HazmatCodeChanges.py

@@ -140,40 +140,41 @@ async def Run4():  # From Send_Over_Final.py
 
 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(519)
+    await drive_base.straight(700)
-    await left_arm.run_angle(-10000, 300)
+    await drive_base.turn(-18)
-    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.straight(-205)
-    await drive_base.turn(-30)
+    await drive_base.turn(63)
-    await drive_base.straight(-300)
+    await drive_base.straight(125)
-    await drive_base.turn(-80)
+    await arm_motor.run_angle(1000, -1200)
-    await drive_base.straight(-700)
+    await drive_base.straight(84)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
 
 
 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(750)
+    await drive_base.straight(500)
-    await drive_base.straight(-650)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
 
 
 # Function to classify color based on HSV

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 +45,35 @@ 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)
+    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(-145)
     await left_arm.run_angle(1000,-450)
-    await drive_base.straight(10)
+    await drive_base.straight(-150)
-    await drive_base.turn(35)
+    await left_arm.run_angle(1000,450)
-    await drive_base.straight(-600)
+    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)
@@ -105,76 +110,62 @@ async def Run3():  # tip the scale.py
     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.turn(-41) #ma din din din dun 67 41 21 
     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
+    #Solve
     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)
-    # 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 drive_base.straight(700)
-    await left_arm.run_angle(-10000, 300)
+    await drive_base.turn(-18)
-    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.straight(-205)
-    await drive_base.turn(-30)
+    await drive_base.turn(63)
-    await drive_base.straight(-300)
+    await drive_base.straight(125)
-    await drive_base.turn(-80)
+    await arm_motor.run_angle(1000, -1200)
-    await drive_base.straight(-700)
+    await drive_base.straight(84)
-
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
 
 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(750)
+    await drive_base.straight(500)
-    await drive_base.straight(-650)
+    await right_arm.run_angle(300,500)
-
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    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):

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/Boat_mission.py

@@ -1,27 +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
-from pybricks.tools import run_task,multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-
-drive_base.settings(880,850,700,700)
-
-drive_base.use_gyro(True)
-
-first_run = True
-
-async def main():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
-    
-run_task(main())

missions/Heavy lifting.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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await right_arm.run_angle(2000,1000)
-
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-    await drive_base.straight(30)
-
-    await right_arm.run_angle(2000,-1000)
-    await drive_base.straight(30)
-    await right_arm.run_angle(3000,1000)
-    await drive_base.straight(-60)
-
-    await drive_base.turn(-60)
-    await drive_base.straight(-525)
-    await drive_base.turn(20)
-    await drive_base.straight(-200)
-    

missions/Heavy_lifting_final.py

@@ -1,36 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    #Get to mission
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-    #Solve mission
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-    #Return home
-    await drive_base.straight(-100)
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-run_task(main())

missions/Hypo.py

@@ -2,7 +2,7 @@ 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
+from pybricks.tools import wait, StopWatch, run_task, multitask
 
 hub = PrimeHub()
 
@@ -23,23 +23,15 @@ drive_base.settings(300,1000,300,750)
 drive_base.use_gyro(True)
 
 async def main():
-    await drive_base.straight(519)
+    await drive_base.straight(700)
-    await arm_motor_left.run_angle(300, -100)
+    await drive_base.turn(-17)
-    await arm_motor_left.run_angle(300, 500)
+    await drive_base.straight(100)
-    await drive_base.straight(180)
+    await drive_base.straight(-205)
-    await drive_base.turn(-37)
+    await drive_base.turn(62)
-    await drive_base.straight(50)
+    await drive_base.straight(125)
-    await arm_motor.run_angle(300, -400)
+    await arm_motor.run_angle(1000, -1200)
-    await drive_base.straight(-150)
+    await drive_base.straight(87)
-    await drive_base.turn(135)
+    await arm_motor.run_angle(300, 1200)
-    await drive_base.straight(50)
+    await drive_base.straight(-875)
-    await arm_motor.run_angle(300, 400)
-    await drive_base.straight(-75)
-    await arm_motor.run_angle(300, 300)
-    await drive_base.turn(-50)
-    await drive_base.straight(162)
-    await arm_motor.run_angle(100, -200)
-    await drive_base.straight(30)
-    await arm_motor.run_angle(50,-500)
 
 run_task(main())

missions/Lift.py

@@ -1,34 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-run_task(main())

missions/Lift2.py

@@ -1,34 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-run_task(main())

missions/M8_5.py

@@ -19,31 +19,44 @@ drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)
 
 async def main():
-    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)
+    right_arm.run_angle(1000,450)
-    await right_arm.run_angle(5000,500, Stop.HOLD)
+    left_arm.run_angle(500,-80)
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await drive_base.straight(200)
-    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.turn(-40)
-    await drive_base.straight(277)
+    await drive_base.straight(325)
-    await drive_base.turn(20)
+    await left_arm.run_angle(500,80)
-    await drive_base.straight(65)
+
+    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)
 
-    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)
 run_task(main())

missions/Rishi.py

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

missions/Sand Mission.py

@@ -1,29 +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
-from pybricks.tools import run_task,multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-
-drive_base.settings(400,500,100,100)
-
-drive_base.use_gyro(True)
-
-
-async def main():
-    await drive_base.straight(500)
-    await right_arm.run_angle(300,100)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(300,-100)
-    await drive_base.straight(-350)
-    
-run_task(main())

missions/Send_Over.py

@@ -1,31 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-
-    await drive_base.straight(915)
-    await drive_base.turn(-90)
-    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-4000)
-    await drive_base.straight(-90)
-    await drive_base.turn(80)
-    await drive_base.straight(2000)
-
-run_task(main())

missions/Send_Over_Final.py

@@ -19,28 +19,41 @@ drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=
 drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)
 
+WALL_DISTANCE = 200  # 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)
+
 async def main():
-    #Get to mission
+    await drive_base.straight(-920)
-    await drive_base.straight(920)
     await drive_base.turn(-90,Stop.HOLD)
     await drive_base.straight(65)
-    #Solve mission
+    #Solve
     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)
-    await drive_base.straight(500)
-    while True:
-        distance_mm = await lazer_ranger.distance()
-        print('distancing...',distance_mm)
 
-        if distance_mm < 300:
+await multitask(
-            drive_base.stop
+        drive_forward(), 
-            break
+        monitor_distance()
-        else:
+    )
-            drive_base.straight(300)
-            print('running...')
-        await wait(10)
     
 run_task(main())

missions/mission_09_old.py

@@ -1,44 +0,0 @@
-# ---JOHANNES---
-# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!!
-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
-
-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.E, Direction.CLOCKWISE)
-arm_motor.run_angle(299,90, Stop.HOLD)
-# 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=54, axle_track=140)
-
-print('The default settings are: ' + str(drive_base.settings()))
-drive_base.settings(100,1000,166,750)
-# Optionally, uncomment the line below to use the gyro for improved accuracy.
-drive_base.use_gyro(True)
-
-async def solveM9():
-    print("Solving Mission 9")
-    await drive_base.turn(45)
-    await drive_base.straight(260)
-    await arm_motor.run_angle(500,-500, Stop.HOLD)
-    await drive_base.straight(-40)
-    await drive_base.turn(92)
-    await drive_base.straight(-120)
-    await drive_base.straight(220)
-    await arm_motor.run_angle(500,100, Stop.HOLD)
-    await drive_base.turn(-50)
-    await drive_base.straight(-600)
-async def main():
-    await drive_base.straight(50)
-    print("Hello, Robot is starting to run.")
-    await solveM9()
-
-run_task(main())