Merge pull request 'dev' (#44) from dev into main

Reviewed-on: #44

README.md

@@ -63,14 +63,17 @@ Repository
 
 ### Installation & Deployment - from the server - everyday
 
-1. Download the file competition_codes/sectionals/sectional_main_dec_6.py 
+1. Download the file codes_for_scrimmage/regional-final/Final_combined.py
  - You can do this through the repo, by using cURL, or by using git.
- - 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.
+ - Repo - Go to [codes_for_scrimmage/regional-final/Final_combined.py](codes_for_scrimmage/regional-final/Final_combined.py) and click the "Download" button.
- - Single file - Go to the latest release and click the file link to get the raw master file.
+ - cURL or another HTTP data transferrer - 
+
+ ```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 the master file.
+   Then use Final_combined.py.
 
 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.
 

RoshoDaGoat.py

@@ -0,0 +1,42 @@
+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(519)
+    await arm_motor_left.run_angle(-10000, 300)
+    await arm_motor_left.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-54)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(200)
+    await arm_motor.run_angle(10000, 10000)
+run_task(main())

competition_codes/regional-final/RegionalFinalOld.py

@@ -1,220 +0,0 @@
-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(-900)
-
-
-# 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(-102.5)
-    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, 270)
-    await drive_base.turn(30)
-    await drive_base.straight(-60)
-
-
-
-# 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())

competition_codes/sectionals/mukwonago_sectionals_final.py

@@ -1,383 +0,0 @@
-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) # 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(400, 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)
-
-"""
-Run#1
-- Removed forge and who lived here part
-- What's on sale + Silo
-- Green Key
-"""
-async def Run1():  
-    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)
-    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)
-
-async def solve_silo():
-    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(4000,-30, Stop.HOLD)
-    await right_arm.run_angle(4000,30, Stop.HOLD)
-    await right_arm.run_angle(4000,-30, Stop.HOLD)
-    await right_arm.run_angle(4000,30, Stop.HOLD)
-    await right_arm.run_angle(4000,-30, Stop.HOLD)
-    right_arm.run_angle(4000,30, 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(500,-160) # arm down
-    await wait(100)
-    await drive_base.turn(20) # turn right a little bit
-    await right_arm.run_angle(500,160) #arm up
-    await drive_base.turn(-20) #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(-100)
-
-"""
-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(940)
-    await drive_base.turn(-90,Stop.HOLD)
-    await drive_base.straight(65)
-    #Solve
-    drive_base.turn(-10)
-    await left_arm.run_angle(10000,-3000)
-    await drive_base.straight(-110)
-    
-    await drive_base.turn(90)
-    await drive_base.arc(-150,-103, None)
-
-async def solve_tip_the_scale():
-    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(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
-- 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)
-    #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)
-    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, -900)
-    await drive_base.straight(120)
-    await drive_base.turn(5)
-    await left_arm.run_angle(500, 290)
-    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()
-    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()
-
-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)
-
-
-
-# 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_7')
-            await Run6_7()  
-        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())

competition_codes/state/Updated state.py

@@ -1,513 +0,0 @@
-#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
-import umath
-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)
-
-"""
-Debugging helps
-"""
-DEBUG = 1  # Enable when you want to show logs
-# Example conversion function (adjust min/max values as needed for your hub)
-async def get_battery_percentage(voltage_mV:float):
-    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
-    min_voltage = 5000.0  # min battery level
-    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
-    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
-
-async def wait_button_release():
-    """Wait for all buttons to be released"""
-    while hub.buttons.pressed():
-        await wait(500)
-    await wait(1000)  # Debounce delay
-
-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)
-
-# Use this to set default
-def set_default_speed():
-    drive_base.settings(600, 500, 300, 200)
-
-# Use this to change drive base movement
-def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
-    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)  
-
-"""
-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)
-    print(f"Initial left arm angle : {left_arm.angle()}")
-
-    await solve_whats_on_sale_v2()
-    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)
-    print(f"Position left arm angle : {left_arm.angle()}")
-    
-    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_whats_on_sale_v2():
-
-    right_arm.run_angle(500,30)
-
-   # Bring down left arm to position
-    await left_arm.run_angle(2000, -120)
-    #await left_arm.run_until_stalled(-500,duty_limit=15)
-    print(f"Position left arm angle : {left_arm.angle()}")
-    left_arm.reset_angle(0)
-    
-    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(95)
-
-    SPEED = 10000 # speed in degree per second
-    SWING_ANGLE = 60 # the angle!
-    REBOUND_ADJ = 20
-
-    # Repeat this motion 4 times
-    for _ in range(4):
-        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
-        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # 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(870)
-    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():
-    # Getting the sand down
-    await drive_base.straight(550)
-    await right_arm.run_angle(300,100)
-    await drive_base.straight(-75)
-    await right_arm.run_angle(300, -100)
-    # Shoving the boat into place
-    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)
-    # Lift up statue
-    await left_arm.run_angle(500, 100, Stop.HOLD)
-    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(700,200)
-    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():  # experimental map reveal attachment
-    
-    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()
-
-async def Run11():  # experimental surface brushing attachment
-    
-    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(-100)
-    await drive_base.turn(30)
-    await drive_base.straight(-190)
-    #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()
-
-async def Run12():
-    await drive_base.straight(900)
-    await drive_base.turn(83)
-    await left_arm.run_angle(3000, -300)
-    await right_arm.run_angle(1100, -180)
-    drive_base.settings(150, 50, 50, 50)
-    await drive_base.straight(120)
-    left_arm.reset_angle(0)
-    await left_arm.run_angle(50, 50)
-    await right_arm.run_angle(50, 90)
-    await drive_base.straight(-100)
-    drive_base.settings(950, 750, 750, 750)
-    await drive_base.turn(110)
-    await drive_base.straight(1000)
-
-
-# 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:
-        pressed =  hub.buttons.pressed()
-        h, s, v = await color_sensor.hsv()
-        reflected = await color_sensor.reflection()
-        color = detect_color(h, s, v, reflected)
-        if DEBUG :
-            #print(color_sensor.color())
-            #print(h,s,v)
-            #print(color)
-            print(f"button pressed: {pressed}")
-        
-
-        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 Run11()  
-        elif color == "Light_Blue":
-            print("Running Mission 2_1")
-            await Run12()
-        else:
-            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
-            #pass
-
-        # Show battery % for debugging 
-        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
-            # Get the battery voltage in millivolts (mV)
-            battery_voltage_mV = hub.battery.voltage()
-            # Use the function with your voltage reading
-            percentage = await get_battery_percentage(float(battery_voltage_mV))
-            if DEBUG:
-                print(f"Battery voltage: {battery_voltage_mV} mV")
-                print(f"Battery level: {percentage:.3f}%")
-                print("FLL Robot System Ready!")
-                await hub.display.text(f"{percentage:.0f}")
-            break
-        elif pressed == None:
-            continue 
-
-        await wait(10)
-# Run the main function
-run_task(main())

competition_codes/state/run10_experimental.py

@@ -1,16 +0,0 @@
-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

@@ -1,16 +0,0 @@
-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_FINAL.py

@@ -1,513 +0,0 @@
-#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
-import umath
-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)
-
-"""
-Debugging helps :)
-"""
-DEBUG = 0  # Enable when you want to show logs
-# Example conversion function (adjust min/max values as needed for your hub)
-async def get_battery_percentage(voltage_mV:float):
-    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
-    min_voltage = 5000.0  # min battery level
-    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
-    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
-
-async def wait_button_release():
-    """Wait for all buttons to be released"""
-    while hub.buttons.pressed():
-        await wait(500)
-    await wait(1000)  # Debounce delay
-
-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)
-
-# Use this to set default
-def set_default_speed():
-    drive_base.settings(600, 500, 300, 200)
-
-# Use this to change drive base movement
-def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
-    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)  
-
-"""
-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, -190)  # Fast movement downward
-
-    # Gentle stall detection (shorter distance = faster)
-    await left_arm.run_until_stalled(-1500, duty_limit=15)
-    left_arm.reset_angle(0)
-    print(f"Initial left arm angle : {left_arm.angle()}")
-
-    await solve_whats_on_sale_v3()
-    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_v3():
-
-    right_arm.run_angle(500,30)
-
-    #Automated inconsistency
-    #left_arm.run_angle(500,-119.5)
-    left_arm.run_target(500,70, Stop.HOLD)
-    print(f"Position left arm angle : {left_arm.angle()}")
-    
-    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_whats_on_sale_v2():
-
-    right_arm.run_angle(500,30)
-
-   # Bring down left arm to position
-    await left_arm.run_angle(2000, -120)
-    #await left_arm.run_until_stalled(-500,duty_limit=15)
-    print(f"Position left arm angle : {left_arm.angle()}")
-    left_arm.reset_angle(0)
-    
-    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(95)
-
-    SPEED = 10000 # speed in degree per second
-    SWING_ANGLE = 60 # the angle!
-    REBOUND_ADJ = 20
-
-    # Repeat this motion 4 times
-    for _ in range(4):
-        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
-        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # 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(870)
-    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():
-    # Getting the sand down
-    await drive_base.straight(550)
-    await right_arm.run_angle(300,100)
-    await drive_base.straight(-75)
-    await right_arm.run_angle(300, -100)
-    # Shoving the boat into place
-    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)
-    # Lift up statue
-    await left_arm.run_angle(500, 100, Stop.HOLD)
-    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(700,200)
-    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():  # experimental map reveal attachment
-    
-    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()
-
-async def Run11():  # experimental surface brushing attachment
-    
-    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(-230)
-    await drive_base.turn(30)
-    #await drive_base.straight(400)
-    #await left_arm.run_angle(50,120)
-    #await drive_base.straight(-200)
-    #await drive_base.straight(-80)
-    #await left_arm.run_angle(300, -75)
-    await drive_base.arc(-650,None,-800)
-    drive_base.stop()
-
-async def Run12():
-    await drive_base.straight(900)
-    await drive_base.turn(83)
-    await left_arm.run_angle(3000, -300)
-    await right_arm.run_angle(1100, -180)
-    drive_base.settings(150, 50, 50, 50)
-    await drive_base.straight(120)
-    left_arm.reset_angle(0)
-    await left_arm.run_angle(50, 50)
-    await right_arm.run_angle(50, 90)
-    await drive_base.straight(-100)
-    drive_base.settings(950, 750, 750, 750)
-    await drive_base.turn(110)
-    await drive_base.straight(1000)
-
-
-# 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:
-        pressed =  hub.buttons.pressed()
-        h, s, v = await color_sensor.hsv()
-        reflected = await color_sensor.reflection()
-        color = detect_color(h, s, v, reflected)
-        if DEBUG :
-            #print(color_sensor.color())
-            #print(h,s,v)
-            #print(color)
-            print(f"button pressed: {pressed}")
-        
-
-        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 Run11()  
-        elif color == "Light_Blue":
-            print("Running Mission 2_1")
-            await Run12()
-        else:
-            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
-            #pass
-
-        # Show battery % for debugging 
-        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
-            # Get the battery voltage in millivolts (mV)
-            battery_voltage_mV = hub.battery.voltage()
-            # Use the function with your voltage reading
-            percentage = await get_battery_percentage(float(battery_voltage_mV))
-            if DEBUG:
-                print(f"Battery voltage: {battery_voltage_mV} mV")
-                print(f"Battery level: {percentage:.3f}%")
-                print("FLL Robot System Ready!")
-                await hub.display.text(f"{percentage:.0f}")
-            break
-        elif pressed == None:
-            continue 
-
-        await wait(10)
-# Run the main function
-run_task(main())

config.py

@@ -0,0 +1,40 @@
+# config.py - Robot configuration shared across all modules
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor
+from pybricks.parameters import Port
+
+# Initialize hub
+hub = PrimeHub()
+
+# Robot hardware configuration
+ROBOT_CONFIG = {
+    # Drive motors
+    'left_motor': Motor(Port.A),
+    'right_motor': Motor(Port.B),
+    
+    # Attachment motors
+    'attachment_motor': Motor(Port.C),
+    'lift_motor': Motor(Port.D),
+    
+    # Sensors
+    #'color_left': ColorSensor(Port.E),
+    'color_back': ColorSensor(Port.F),
+    'ultrasonic': UltrasonicSensor(Port.E),
+    
+    # Hub reference
+    'hub': hub
+}
+
+# Speed and distance constants
+SPEEDS = {
+    'FAST': 400,
+    'NORMAL': 250,
+    'SLOW': 100,
+    'PRECISE': 50
+}
+
+DISTANCES = {
+    'TILE_SIZE': 300,  # mm per field tile
+    'ROBOT_LENGTH': 180,  # mm
+    'ROBOT_WIDTH': 140    # mm
+}

final/1main.py

@@ -1,3 +1,4 @@
+
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction

final/2main.py

@@ -1,3 +1,4 @@
+
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction

test_10_17_2025.py

@@ -0,0 +1,303 @@
+# Stuff from 10/15/2025
+# Atharv trying with no avail to add more colors to the color sensor logic 😭😭😭😭😭😭😭
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor
+from pybricks.parameters import Port, Stop, Color, Direction
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, multitask, run_task
+
+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(550,700,100,100)
+drive_base.use_gyro(True)
+color_sensor = ColorSensor(Port.F)
+Color.ORANGE = Color(28, 61, 61)
+Color.BLUE = Color(230,100,100)
+Color.YELLOW = Color(37, 85, 95)
+Color.PURPLE = Color(326, 60, 87)
+color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW, Color.NONE, Color.PURPLE]) 
+hub.speaker.volume(50) # Set the volume of the speaker
+color_sensor.detectable_colors()
+# Celebration sound types
+class CelebrationSound:
+    VICTORY_FANFARE = 0
+    LEVEL_UP = 1
+    SUCCESS_CHIME = 2
+    TA_DA = 3
+    POWER_UP = 4
+    RICKROLL_INSPIRED = 5
+    
+async def play_victory_fanfare():
+    """Classic victory fanfare"""
+    notes = [
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (349, 600),  # F4
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_level_up():
+    """Upward scale for level completion"""
+    notesold = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    notes = [
+        (277, 100),
+        (330, 100),
+        (277, 100),
+        (554, 100),
+        (277, 100),
+        (413, 100),
+        (330, 100),
+        (277, 100),
+        (413, 100),
+        (277, 100),
+        (554, 100),
+        (413, 100),
+        (277, 100),
+        (413, 100),
+        (554, 100),
+        (413, 100)
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        #await wait(20)
+async def play_success_chime():
+    """Simple success notification"""
+    notes = [
+        (523, 150),  # C5
+        (659, 150),  # E5
+        (784, 300),  # G5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_ta_da():
+    """Classic "ta-da!" sound"""
+    notes = [
+        (392, 200),  # G4
+        (523, 400),  # C5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(100)
+async def play_power_up():
+    """Rising power-up sound"""
+    for freq in range(200, 800, 50):
+        await hub.speaker.beep(freq, 50)
+        await wait(10)
+    await hub.speaker.beep(1000, 200)
+async def play_rickroll_inspired():
+    """Fun 80s-style dance beat inspired sound"""
+    # Upbeat bouncy rhythm
+    pattern = [
+        (392, 200), (440, 200), (494, 200), (523, 200),
+        (440, 200), (392, 200), (349, 200), (392, 300),
+        (440, 200), (392, 200), (349, 200), (330, 400),
+    ]
+    
+    for freq, duration in pattern:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
+    """
+    Main celebration function to call after completing a mission.
+    Plays a sound and shows light animation.
+    
+    Args:
+        sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
+    """
+    # Light show
+    hub.light.on(Color.GREEN)
+    
+    # Play the selected celebration sound
+    if sound_type == CelebrationSound.VICTORY_FANFARE:
+        await play_victory_fanfare()
+    elif sound_type == CelebrationSound.LEVEL_UP:
+        await play_level_up()
+    elif sound_type == CelebrationSound.SUCCESS_CHIME:
+        await play_success_chime()
+    elif sound_type == CelebrationSound.TA_DA:
+        await play_ta_da()
+    elif sound_type == CelebrationSound.POWER_UP:
+        await play_power_up()
+    elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
+        await play_rickroll_inspired()
+    else:
+        await play_success_chime()  # Default fallback
+    
+    # Blink the light
+    for _ in range(3):
+        hub.light.off()
+        await wait(100)
+        hub.light.on(Color.GREEN)
+        await wait(100)
+    
+    hub.light.off()
+
+async def Run1():
+    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(-700)
+
+async def Run2():
+    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.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-750)
+
+
+async def Run3():
+    await drive_base.straight(920)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(2000)
+
+async def Run4():
+    await drive_base.straight(519)
+    await drive_base.straight(519)
+    await arm_motor_left.run_angle(-10000, 300)
+    await arm_motor_left.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(10000, -3000)
+    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)
+
+async def Run5():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
+
+
+async def Run6():
+    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.straight(900)
+    await drive_base.turn(92.5)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(21)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(55)
+    
+    await left_arm.run_angle(300,-400)
+    
+    await drive_base.turn(46.5)
+    await drive_base.turn(-40)
+    await drive_base.straight(900)
+async def main():
+    while True:
+    
+        #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        color_reflected_percent = await color_sensor.reflection()
+        print(color_reflected_percent)
+        
+        color_detected = await color_sensor.color()
+        print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
+        if color_reflected_percent > 1:
+            if color_detected == Color.GREEN:
+                print('Running Mission 1')
+                await Run1()
+                #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+            elif color_detected == Color.WHITE:
+                print('Running Mission 2')
+                await Run2()
+                #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+            elif color_detected == Color.YELLOW:
+                print('Running Mission 3')
+                await Run3()
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+            elif color_detected == Color.BLUE:
+                print('Running Mission 4')
+                await Run4()
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.ORANGE:
+                print('Running Mission 5')
+                await Run5()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            elif color_detected == Color.PURPLE:
+                print('Running Mission 6 (this is ayaan\'s code)')
+                await Run6()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            else:
+                hub.light.off()
+                left_motor.stop()
+                right_motor.stop()
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())

utils/color_sensor_navi.py

@@ -0,0 +1,41 @@
+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()
+
+# Robot hardware configuration
ROBOT_CONFIG = {
    # Drive motors
    'left_motor': Motor(Port.A),
    'right_motor': Motor(Port.B),
    
    # Attachment motors
    'attachment_motor': Motor(Port.C),
    'lift_motor': Motor(Port.D),
    
    # Sensors
    'color_left': ColorSensor(Port.E),
    'color_right': ColorSensor(Port.F),
    'ultrasonic': UltrasonicSensor(Port.S1),
    
    # Hub reference
    'hub': hub
}

# Speed and distance constants
SPEEDS = {
    'FAST': 400,
    'NORMAL': 250,
    'SLOW': 100,
    'PRECISE': 50
}

DISTANCES = {
    'TILE_SIZE': 300,  # mm per field tile
    'ROBOT_LENGTH': 180,  # mm
    'ROBOT_WIDTH': 140    # mm
}
+
+
+def mission_run_1():
+    print('Running missions in Run 1')
+
+def mission_run_2():
+    print('Running missions in Run 2')
+
+def mission_run_3():
+    print('Running missions in Run 3')
+
+# In main.py - sensor-based navigation
+def main(self):
+    """Use color sensor to select runs"""
+    print("Place colored object in front of sensor:")
+    print("RED=Run1, GREEN=Run2, BLUE=Run3, YELLOW=Test")
+    while True:
+        color = ROBOT_CONFIG['color_left'].color()
+        if color == Color.RED:
+            mission_run_1()
+            break
+        elif color == Color.GREEN:
+            mission_run_2()
+            break
+        elif color == Color.BLUE:
+            mission_run_3()
+            break
+        elif color == Color.YELLOW:
+            self.test_mode()
+            break
+        wait(1000)
+main()

utils/constants.py

@@ -0,0 +1,13 @@
+#Speed and distance constants
+SPEEDS = {
+    'FAST': 400,
+    'NORMAL': 250,
+    'SLOW': 100,
+    'PRECISE': 50
+}
+
+DISTANCES = {
+    'TILE_SIZE': 300,  # mm per field tile
+    'ROBOT_LENGTH': 180,  # mm
+    'ROBOT_WIDTH': 140    # mm
+}

utils/starter_drivebase_code.py

@@ -0,0 +1,36 @@
+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
+
+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=112)
+
+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)
+
+# Drive forward by 500mm (half a meter).
+drive_base.straight(500)
+
+# Turn around clockwise by 180 degrees.
+drive_base.turn(180)
+
+# Drive forward again to get back to the start.
+drive_base.straight(500)
+
+# Turn around counterclockwise.
+drive_base.turn(-180)
+arm_motor.run_angle(299,-90, Stop.HOLD)

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())