Add codes_for_scrimmage/regional-final/Final_combined.py

from risshi ramdom ahhhh repo

codes_for_scrimmage/regional-final/Final_combined.py

@@ -0,0 +1,221 @@
+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
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,90)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,-90)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,-180)
+    await drive_base.turn(-20)
+    await drive_base.turn(15)
+
+    await drive_base.straight(-173)
+    await drive_base.turn(45)
+    await drive_base.straight(120)
+    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(297)
+    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(-90)
+    await drive_base.turn(-100)
+    await drive_base.arc(-500,None,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
+    right_arm.run_angle(500,400)
+    await drive_base.straight(800)
+    await drive_base.turn(90)
+    await drive_base.straight(86)
+    await right_arm.run_angle(800,-600)
+    await right_arm.run_angle(900,800)
+    
+    await drive_base.straight(-100)
+    await drive_base.turn(90)
+    await drive_base.straight(800)
+    drive_base.brake()
+
+
+async def Run4():  # From Send_Over_Final.py
+    
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+    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)
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(500)
+    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(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, 250)
+    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):
+    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())

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 run_task,multitask
+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)
-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(-650)
-    
+    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/Hypo.py

@@ -0,0 +1,37 @@
+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/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 drive_base.turn(-40)
-    await arm_motor.run_angle(10000, 7000)
+    await arm_motor.run_angle(10000, 10000)
 run_task(main())