Fixed motor angles for the left arm

Updates to run 10.

README.md

@@ -63,17 +63,14 @@ Repository
 
 ### Installation & Deployment - from the server - everyday
 
-1. Download the file codes_for_scrimmage/regional-final/Final_combined.py
+1. Download the file competition_codes/sectionals/sectional_main_dec_6.py 
  - You can do this through the repo, by using cURL, or by using git.
- - Repo - Go to [codes_for_scrimmage/regional-final/Final_combined.py](codes_for_scrimmage/regional-final/Final_combined.py) and click the "Download" button.
+ - Repo - Go to the [latest release](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/releases) and click the "Download as ZIP" button to get the full repository.
- - cURL or another HTTP data transferrer - 
+ - Single file - Go to the latest release and click the file link to get the raw master file.
-
- ```curl -o Final_combined.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/regional-final/Final_combined.py```
  - git CLI - 
-
+ ```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git```
- ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/regional-final```
  
-   Then use Final_combined.py.
+   Then use the master file.
 
 2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button.
 

competition_codes/sectionals/mukwonago_sectionals_final.py

@@ -123,10 +123,10 @@ async def solve_forge():
     await drive_base.straight(-47)
 
 async def solve_heavy_lifting():
-    await right_arm.run_angle(500,-90) # arm down
+    await right_arm.run_angle(500,-160) # arm down
     await wait(100)
     await drive_base.turn(20) # turn right a little bit
-    await right_arm.run_angle(500,140) #arm up
+    await right_arm.run_angle(500,160) #arm up
     await drive_base.turn(-20) #reset position
 
 async def solve_who_lived_here():
@@ -176,9 +176,8 @@ async def Run3():
         monitor_distance()
     )
 
-
 async def solve_angler_artifacts():
-    await drive_base.straight(920)
+    await drive_base.straight(940)
     await drive_base.turn(-90,Stop.HOLD)
     await drive_base.straight(65)
     #Solve
@@ -187,20 +186,25 @@ async def solve_angler_artifacts():
     await drive_base.straight(-110)
     
     await drive_base.turn(90)
-    await drive_base.arc(-150,-100, None)
+    await drive_base.arc(-150,-103, None)
 
 async def solve_tip_the_scale():
-    await drive_base.straight(135)
+    await drive_base.turn(3)
+    await drive_base.straight(142.5)
     await right_arm.run_angle(800,-150)
     await right_arm.run_angle(900,150)
     
     await drive_base.straight(-100)
     await drive_base.turn(-65)
-    await drive_base.straight(320,Stop.COAST_SMART)
+    await drive_base.straight(300,Stop.COAST_SMART)
     await drive_base.arc(10,-47, None)
     #await drive_base.turn(-23, Stop.COAST_SMART)
 
 
+
+
+
+
 """
 Run #4 
 - Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
@@ -216,7 +220,11 @@ async def Run4():
     await right_arm.run_angle(400, -200)
     await drive_base.straight(90)
     await right_arm.run_angle(100, 95)
-    await drive_base.straight(-875)
+    #await drive_base.straight(-875)
+    #return with arc
+    await drive_base.straight(-600)
+    await drive_base.arc(10,-47, None)
+    await drive_base.straight(-400,Stop.COAST_SMART)
 
 async def solve_brush_reveal():
     await drive_base.straight(700)
@@ -244,16 +252,20 @@ async def Run5():
     await drive_base.straight(300)
     await drive_base.straight(-200)
     await drive_base.turn(-15)
+    #solving statue
     await drive_base.straight(350)
-    await drive_base.turn(-103)
+    await drive_base.turn(-104)
     await drive_base.straight(-80)
     await left_arm.run_angle(500, -900)
-    await drive_base.straight(105)
+    await drive_base.straight(120)
-    await left_arm.run_angle(700, 285)
+    await drive_base.turn(5)
-    await drive_base.turn(30)
+    await left_arm.run_angle(500, 290)
-    await drive_base.straight(-60)
+    await drive_base.turn(18)
-    await drive_base.turn(80)
+    await drive_base.straight(-100)
-    await drive_base.straight(-900)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
 
 async def solve_salvage_operation():
     await drive_base.straight(500)
@@ -283,8 +295,15 @@ Run#6
 - Purple Key
 """
 async def Run6_7():  # experiment with ferris wheel for Site Markings
-    solve_site_mark_1()
+    #solve_site_mark_1()
-    solve_site_mark_2()
+    #solve_site_mark_2()
+    await drive_base.straight(640)
+    await drive_base.straight(-150)
+    await drive_base.turn(-8)
+    await left_arm.run_angle(500, -520)
+    await drive_base.straight(300)
+    await wait(50)
+    await left_arm.run_angle(500, 700)
     #return to base
     await drive_base.straight(-300)
     drive_base.stop()
@@ -352,7 +371,7 @@ async def main():
             print('Running Mission 5')
             await Run5() 
         elif color == "Purple":
-            print('Running Mission 6')
+            print('Running Mission 6_7')
             await Run6_7()  
         elif color == "Light_Blue":
             print("Running Mission 2_1")

competition_codes/state/run10_experimental.py

@@ -0,0 +1,16 @@
+await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(260)
+    left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-300)
+    await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    await drive_base.straight(-200)
+    await left_arm.run_angle(300,-215)
+    await drive_base.straight(-600)
+    drive_base.stop()

competition_codes/state/run11_experimental.py

@@ -0,0 +1,16 @@
+await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-180)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    await left_arm.run_angle(300,-300)
+    await drive_base.straight(-600)
+    drive_base.stop()

competition_codes/state/sunprarie_state_main.py

@@ -0,0 +1,403 @@
+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,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+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 = 200  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(1000,0)
+
+async def drive_backward():
+    """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
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+        if distance is None:
+            continue
+
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+"""
+Run#1
+- Removed forge and who lived here part
+- What's on sale + Silo
+- Green Key
+"""
+async def Run1():  
+    
+    # Fast approach to near-stall position
+    await left_arm.run_angle(2000, 180)  # Fast movement upward
+
+    # Gentle stall detection (shorter distance = faster)
+    await left_arm.run_until_stalled(1500, duty_limit=15)
+    left_arm.reset_angle(0)
+
+    await solve_whats_on_sale()
+    await solve_silo()
+ 
+    # return to base
+    await drive_base.straight(-90)
+    #await drive_base.turn(-100)
+    await drive_base.arc(200,None,-300)
+    drive_base.stop()
+    
+async def solve_whats_on_sale():
+
+    right_arm.run_angle(500,30)
+
+    #Automated inconsistency
+    #left_arm.run_angle(500,-119.5)
+    left_arm.run_target(500,-121.5, Stop.HOLD)
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+    await drive_base.turn(15)
+
+async def solve_silo():
+    await drive_base.straight(-80)
+    await drive_base.turn(42)
+    await drive_base.straight(90)
+
+    SPEED = 10000 # speed in degree per second
+    SWING_ANGLE = 80 # the angle!
+
+    # Repeat this motion 4 times
+    for _ in range(4):
+        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.COAST) # Swing up
+        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.COAST) # Swing down
+
+    right_arm.run_angle(4000,60, Stop.HOLD)
+
+
+"""
+Run#2
+- This to solve forge, who lived here and heavy lifting combined
+- Red Key
+"""
+async def Run2():  
+    await solve_forge()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge():
+    await right_arm.run_target(50,50)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.arc(350,113, None)
+
+    await drive_base.straight(20)
+    await drive_base.turn(-60)
+    await drive_base.straight(-47)
+
+async def solve_heavy_lifting():
+    await right_arm.run_angle(2000,-160) # arm down
+    await wait(100)
+    await drive_base.turn(30) # turn right a little bit
+    await right_arm.run_angle(2000,160) #arm up
+    await drive_base.turn(-30) #reset position
+
+async def solve_who_lived_here():
+    await drive_base.straight(50)
+    await drive_base.turn(-15)
+    await drive_base.straight(50)
+    await drive_base.turn(-25)
+    await drive_base.straight(-50)
+    await drive_base.turn(-40)
+    await drive_base.straight(50)
+    right_arm.run_angle(1000,-160)
+    await drive_base.turn(-60)
+    await right_arm.run_angle(2000,160)
+
+"""
+Run#2.1
+- Alternate solution for Forge, Who lived here and Heavy Lifting combined
+- Light Blue Key
+- Different alignment
+"""
+async def Run2_1():  
+    await solve_forge_straight()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge_straight():
+    await right_arm.run_target(50,50)
+    await right_arm.run_angle(50,-30)
+    await drive_base.straight(700)
+    # await drive_base.turn(-30)
+    # await drive_base.straight(20)
+    await drive_base.turn(-40)
+    await drive_base.straight(-30)
+
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_angler_artifacts()
+    await solve_tip_the_scale()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_angler_artifacts():
+    await drive_base.straight(890)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(45)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-750)
+    await drive_base.straight(-130)
+    
+    await drive_base.turn(67)
+
+async def solve_tip_the_scale():
+    await drive_base.straight(-200)
+    await drive_base.straight(60)
+    await drive_base.turn(22)
+
+
+
+
+
+
+"""
+Run #4 
+- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
+- Blue Key
+"""
+async def Run4(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(120)
+    await drive_base.straight(-210)
+    await drive_base.turn(61)
+    await drive_base.straight(133)
+    await right_arm.run_angle(400, -200)
+    await drive_base.straight(90)
+    await right_arm.run_angle(100, 95)
+    await drive_base.straight(-875)
+
+async def solve_brush_reveal():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+
+async def solve_mineshaft_explorer():
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -90)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 90)
+
+"""
+Run#5
+- Solves Salvage Operation + Statue Rebuild
+- Orange Key
+"""
+async def Run5():
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    #solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -300)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    await left_arm.run_angle(500, 120)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
+
+async def solve_salvage_operation():
+    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)
+
+async def solve_statue_rebuild():
+    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)
+
+"""
+Run#6
+- Solve 2/3 Site Markings
+- Run only if have time
+- Purple Key
+"""
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    solve_site_mark_1()
+    solve_site_mark_2()
+    #return to base
+    await drive_base.straight(-300)
+    drive_base.stop()
+
+async def solve_site_mark_1():
+    await drive_base.straight(500)
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+
+async def solve_site_mark_2():
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+
+async def Run10():  # experiment with ferris wheel for Site Markings
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-180)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    await left_arm.run_angle(300,-300)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+# 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 195 < h < 198:  # light blue
+            return "Light_Blue"
+        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()
+        print(color_sensor.color())
+        print(h,s,v)
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        print(color)
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run5() 
+        elif color == "Purple":
+            print('Running Mission 6')
+            await Run10()  
+        elif color == "Light_Blue":
+            print("Running Mission 2_1")
+            await Run2_1()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())