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Vickram_de
| Author | SHA1 | Date | |
|---|---|---|---|
| 6e82f4d476 | |||
| 7e1d310e24 | |||
| 37b025088f |
12
README.md
12
README.md
@@ -94,12 +94,12 @@ Repository
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### Color Start System
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| Color | Mission |
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|-------|-----------|
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| ```Green 🟩 ```| Run 1 |
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| ```Purple 🟪 ```| Run 2 |
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| ```Red 🟥 ```| Run 3 |
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| ```Yellow 🟨 ```| Run 4 |
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| ```Blue 🟦 ```| Run 5 |
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| ```Orange 🟧 ```| Run 6 |
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| Green 🟩 | Run 1 |
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| Purple 🟪 | Run 2 |
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| Red 🟥| Run 3 |
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| Yellow 🟨| Run 4 |
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| Blue 🟦| Run 5 |
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| Orange 🟧| Run 6 |
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---
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@@ -140,41 +140,40 @@ async def Run4(): # From Send_Over_Final.py
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# Add Rishi's code here
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async def Run5():
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await drive_base.straight(700)
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await drive_base.turn(-18)
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await drive_base.straight(519)
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await left_arm.run_angle(-10000, 300)
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await left_arm.run_angle(10000, 600)
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await drive_base.straight(160)
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await drive_base.turn(-30)
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await drive_base.straight(50)
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await right_arm.run_angle(3000, 3000)
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await drive_base.straight(-150)
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await drive_base.turn(120)
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await drive_base.straight(25)
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await right_arm.run_angle(10000, -3000)
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await drive_base.straight(-110)
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await drive_base.turn(-43)
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await right_arm.run_angle(10000, -3000)
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await drive_base.straight(295)
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await right_arm.run_angle(10000, 9000)
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await drive_base.straight(-65)
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await drive_base.turn(45)
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await drive_base.straight(175)
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await drive_base.turn(24.5)
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await drive_base.straight(-100)
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await right_arm.run_angle(10000, -8500)
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await drive_base.straight(100)
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await drive_base.straight(-205)
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await drive_base.turn(63)
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await drive_base.straight(125)
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await arm_motor.run_angle(1000, -1200)
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await drive_base.straight(84)
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await arm_motor.run_angle(300, 1200)
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await drive_base.straight(-875)
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await right_arm.run_angle(10000, 3500)
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await drive_base.turn(-30)
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await drive_base.straight(-300)
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await drive_base.turn(-80)
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await drive_base.straight(-700)
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# Add - Adi's code here
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async def Run6():
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await drive_base.straight(500)
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await right_arm.run_angle(300,500)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, -900)
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await drive_base.straight(-350)
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await wait(1000)
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await drive_base.straight(800)
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await drive_base.straight(-200)
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await drive_base.turn(-15)
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await drive_base.straight(350)
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await drive_base.turn(-94)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, 900)
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await drive_base.straight(50)
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await drive_base.turn(-10)
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await drive_base.straight(50)
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await left_arm.run_angle(700, -200)
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await drive_base.turn(30)
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await drive_base.straight(-60)
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await drive_base.turn(80)
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await drive_base.straight(-900)
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await drive_base.straight(750)
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await drive_base.straight(-650)
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# Function to classify color based on HSV
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@@ -21,7 +21,7 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
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drive_base.settings(600, 500, 300, 200)
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drive_base.use_gyro(True)
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WALL_DISTANCE = 200 # mm
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WALL_DISTANCE = 300 # mm
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async def drive_forward():
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"""Drive forward continuously using DriveBase."""
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@@ -45,46 +45,31 @@ async def monitor_distance():
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# New Section
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async def Run1(): # From M8_5.py
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right_arm.run_angle(1000,450)
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left_arm.run_angle(500,80)
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await drive_base.straight(200)
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left_arm.run_angle(1000, -300)
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right_arm.run_angle(1000, 500)
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await drive_base.straight(320)
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await right_arm.run_angle(5000, -500, Stop.HOLD)
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await right_arm.run_angle(5000, 500, Stop.HOLD)
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await right_arm.run_angle(5000, -500, Stop.HOLD)
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await right_arm.run_angle(5000, 500, Stop.HOLD)
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await right_arm.run_angle(5000, -500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(277)
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await drive_base.turn(20)
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await drive_base.straight(65)
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await drive_base.turn(-30)
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right_arm.run_angle(50, 500)
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await drive_base.turn(45)
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await drive_base.straight(-145)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000, 450)
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await drive_base.straight(-145)
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await left_arm.run_angle(1000, -450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-600)
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await drive_base.turn(-40)
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await drive_base.straight(325)
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await left_arm.run_angle(500,-80)
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await drive_base.straight(-100)
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await drive_base.straight(50)
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await left_arm.run_angle(500,170)
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await drive_base.straight(-270)
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await drive_base.turn(40)
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await drive_base.straight(135)
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left_arm.run_angle(1000,670)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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await right_arm.run_angle(5000,450, Stop.HOLD)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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await right_arm.run_angle(5000,450, Stop.HOLD)
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await right_arm.run_angle(5000,-450, Stop.HOLD)
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right_arm.run_angle(5000,450, Stop.HOLD)
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await drive_base.turn(-35)
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await drive_base.straight(300)
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await drive_base.turn(63)
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await drive_base.straight(170)
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await drive_base.turn(-80)
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await drive_base.straight(87)
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await drive_base.turn(-15)
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await drive_base.straight(-120)
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await drive_base.turn(-100)
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await drive_base.straight(300)
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await drive_base.turn(-45)
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await drive_base.straight(500)
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async def Run2(): # From Heavy_lifting_final.py
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await drive_base.straight(200)
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await drive_base.turn(-20)
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@@ -120,62 +105,58 @@ async def Run3(): # tip the scale.py
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await drive_base.turn(40) # turning right
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await left_arm.run_angle(410,-400) #lift a little bit
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await drive_base.straight(80)
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await drive_base.turn(-41) #ma din din din dun 67 41 21
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await drive_base.turn(-41) #ma din din din dun 67 41 21 69
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await drive_base.straight(900)
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async def Run4(): # From Send_Over_Final.py
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#Get to mission
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await drive_base.straight(920)
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await drive_base.turn(-90,Stop.HOLD)
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await drive_base.straight(65)
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#Solve
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#Solve mission
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-4000)
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await left_arm.run_angle(10000, 4000)
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#Get to Red Start
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await drive_base.straight(-110)
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await drive_base.turn(90)
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# while True:
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# distance_mm = await lazer_ranger.distance()
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# print('distancing...',distance_mm)
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# if distance_mm < 300:
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# drive_base.stop
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# break
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# else:
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# drive_base.straight(300)
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# print('running...')
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# await wait(10)
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await multitask(
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drive_forward(),
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monitor_distance()
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)
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# Add Rishi's code here
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async def Run5():
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await drive_base.straight(700)
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await drive_base.turn(-20)
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await drive_base.straight(110)
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await drive_base.straight(-220)
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await drive_base.turn(63)
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await drive_base.straight(130)
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await right_arm.run_angle(1000, -1200)
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await drive_base.straight(84)
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await right_arm.run_angle(300, 1200)
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await drive_base.straight(-875)
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await drive_base.straight(600)
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await drive_base.straight(-100)
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await drive_base.straight(150)
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await drive_base.turn(60)
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await drive_base.straight(100)
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await drive_base.turn(-86)
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await drive_base.straight(120)
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await drive_base.turn(-45)
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await drive_base.straight(-200)
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await drive_base.turn(75)
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# Add - Adi's code here
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async def Run6():
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await drive_base.straight(500)
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await right_arm.run_angle(300,500)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, -900)
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await drive_base.straight(-350)
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await wait(1000)
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await drive_base.straight(800)
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await drive_base.straight(-200)
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await drive_base.turn(-15)
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await drive_base.straight(350)
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await drive_base.turn(-94)
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await drive_base.straight(-80)
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await left_arm.run_angle(500, 900)
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await drive_base.straight(50)
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await drive_base.turn(-10)
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await drive_base.straight(50)
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await left_arm.run_angle(700, -200)
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await drive_base.turn(30)
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await drive_base.straight(-60)
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await drive_base.turn(80)
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await drive_base.straight(-900)
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await drive_base.straight(750)
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await drive_base.straight(-650)
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# Function to classify color based on HSV
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def detect_color(h, s, v, reflected):
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if reflected > 4:
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@@ -2,7 +2,7 @@ from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch, run_task, multitask
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from pybricks.tools import wait, StopWatch, run_task
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hub = PrimeHub()
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@@ -23,15 +23,23 @@ drive_base.settings(300,1000,300,750)
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drive_base.use_gyro(True)
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async def main():
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await drive_base.straight(700)
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await drive_base.turn(-17)
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await drive_base.straight(100)
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await drive_base.straight(-205)
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await drive_base.turn(62)
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await drive_base.straight(125)
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await arm_motor.run_angle(1000, -1200)
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await drive_base.straight(87)
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await arm_motor.run_angle(300, 1200)
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await drive_base.straight(-875)
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await drive_base.straight(519)
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await arm_motor_left.run_angle(300, -100)
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await arm_motor_left.run_angle(300, 500)
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await drive_base.straight(180)
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await drive_base.turn(-37)
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await drive_base.straight(50)
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await arm_motor.run_angle(300, -400)
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await drive_base.straight(-150)
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await drive_base.turn(135)
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await drive_base.straight(50)
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await arm_motor.run_angle(300, 400)
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await drive_base.straight(-75)
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await arm_motor.run_angle(300, 300)
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await drive_base.turn(-50)
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await drive_base.straight(162)
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await arm_motor.run_angle(100, -200)
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await drive_base.straight(30)
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await arm_motor.run_angle(50,-500)
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run_task(main())
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@@ -2,36 +2,26 @@ from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch, run_task, multitask
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from pybricks.tools import wait, StopWatch
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from pybricks.tools import run_task,multitask
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hub = PrimeHub()
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# Initialize both motors. In this example, the motor on the
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# left must turn counterclockwise to make the robot go forward.
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
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right_arm = Motor(Port.D)
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arm_motor = Motor(Port.D, Direction.CLOCKWISE)
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arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
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# Initialize the drive base. In this example, the wheel diameter is 56mm.
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# The distance between the two wheel-ground contact points is 112mm.
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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print('The default settings are: ' + str(drive_base.settings()))
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drive_base.settings(300,1000,300,750)
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# Optionally, uncomment the line below to use the gyro for improved accuracy.
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drive_base.settings(550,700,100,100)
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drive_base.use_gyro(True)
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async def main():
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await drive_base.straight(700)
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await drive_base.turn(-17)
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await drive_base.straight(100)
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await drive_base.straight(-205)
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await drive_base.turn(62)
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await drive_base.straight(125)
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await arm_motor.run_angle(1000, -1200)
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await drive_base.straight(87)
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await arm_motor.run_angle(300, 1200)
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await drive_base.straight(-875)
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first_run = False
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async def main():
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await drive_base.straight(750)
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await drive_base.straight(-650)
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run_task(main())
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27
missions/Boat_mission.py
Normal file
27
missions/Boat_mission.py
Normal file
@@ -0,0 +1,27 @@
|
||||
from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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||||
from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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from pybricks.tools import run_task,multitask
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hub = PrimeHub()
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|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
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right_arm = Motor(Port.D)
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|
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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|
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drive_base.settings(880,850,700,700)
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|
||||
drive_base.use_gyro(True)
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||||
|
||||
first_run = True
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||||
|
||||
async def main():
|
||||
await drive_base.straight(750)
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||||
await drive_base.straight(-650)
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||||
|
||||
run_task(main())
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||||
37
missions/Heavy lifting.py
Normal file
37
missions/Heavy lifting.py
Normal file
@@ -0,0 +1,37 @@
|
||||
from pybricks.hubs import PrimeHub
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||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
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||||
from pybricks.tools import wait, StopWatch
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||||
from pybricks.tools import run_task, multitask
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||||
|
||||
hub = PrimeHub()
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||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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||||
right_motor = Motor(Port.B)
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||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
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||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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||||
drive_base.settings(600,500,300,200)
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||||
drive_base.use_gyro(True)
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||||
|
||||
async def main():
|
||||
await right_arm.run_angle(2000,1000)
|
||||
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
await drive_base.straight(30)
|
||||
|
||||
await right_arm.run_angle(2000,-1000)
|
||||
await drive_base.straight(30)
|
||||
await right_arm.run_angle(3000,1000)
|
||||
await drive_base.straight(-60)
|
||||
|
||||
await drive_base.turn(-60)
|
||||
await drive_base.straight(-525)
|
||||
await drive_base.turn(20)
|
||||
await drive_base.straight(-200)
|
||||
|
||||
36
missions/Heavy_lifting_final.py
Normal file
36
missions/Heavy_lifting_final.py
Normal file
@@ -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
|
||||
from pybricks.tools import run_task, multitask
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
#Get to mission
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
#Solve mission
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(2000,1000)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(350,-1000)
|
||||
#Return home
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
34
missions/Lift.py
Normal file
34
missions/Lift.py
Normal file
@@ -0,0 +1,34 @@
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.tools import run_task, multitask
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(2000,1000)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(350,-1000)
|
||||
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
34
missions/Lift2.py
Normal file
34
missions/Lift2.py
Normal file
@@ -0,0 +1,34 @@
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.tools import run_task, multitask
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(525)
|
||||
await drive_base.turn(60)
|
||||
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(2000,1000)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(50)
|
||||
await right_arm.run_angle(350,-1000)
|
||||
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
@@ -19,44 +19,31 @@ drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
|
||||
right_arm.run_angle(1000,450)
|
||||
left_arm.run_angle(500,-80)
|
||||
await drive_base.straight(200)
|
||||
left_arm.run_angle(1000, 300)
|
||||
right_arm.run_angle(1000,500)
|
||||
await drive_base.straight(320)
|
||||
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(325)
|
||||
await left_arm.run_angle(500,80)
|
||||
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.straight(-100)
|
||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(500,-170)
|
||||
|
||||
await drive_base.straight(-270)
|
||||
await drive_base.turn(40)
|
||||
await drive_base.straight(135)
|
||||
left_arm.run_angle(1000,-670)
|
||||
|
||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
||||
right_arm.run_angle(5000,450, Stop.HOLD)
|
||||
|
||||
await drive_base.turn(-35)
|
||||
await drive_base.straight(300)
|
||||
await drive_base.turn(63)
|
||||
await drive_base.straight(170)
|
||||
|
||||
await drive_base.turn(-80)
|
||||
await drive_base.straight(87)
|
||||
await drive_base.turn(-15)
|
||||
|
||||
await drive_base.straight(-120)
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(300)
|
||||
await drive_base.turn(-45)
|
||||
await drive_base.straight(500)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(277)
|
||||
await drive_base.turn(20)
|
||||
await drive_base.straight(65)
|
||||
|
||||
await drive_base.turn(-30)
|
||||
right_arm.run_angle(50,500)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(-145)
|
||||
await drive_base.turn(-60)
|
||||
await drive_base.straight(90)
|
||||
await left_arm.run_angle(1000,-450)
|
||||
await drive_base.straight(-145)
|
||||
await left_arm.run_angle(1000,450)
|
||||
await drive_base.straight(10)
|
||||
await drive_base.turn(35)
|
||||
await drive_base.straight(-600)
|
||||
run_task(main())
|
||||
38
missions/New_MapReveal/New_MapReveal_Mineshaft.py
Normal file
38
missions/New_MapReveal/New_MapReveal_Mineshaft.py
Normal file
@@ -0,0 +1,38 @@
|
||||
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 = 200 # mm
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(700)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(110)
|
||||
await drive_base.straight(-220)
|
||||
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)
|
||||
|
||||
run_task(main())
|
||||
29
missions/Sand Mission.py
Normal file
29
missions/Sand Mission.py
Normal file
@@ -0,0 +1,29 @@
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.tools import run_task,multitask
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
|
||||
drive_base.settings(400,500,100,100)
|
||||
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(300,100)
|
||||
await drive_base.straight(-100)
|
||||
await right_arm.run_angle(300,-100)
|
||||
await drive_base.straight(-350)
|
||||
|
||||
run_task(main())
|
||||
31
missions/Send_Over.py
Normal file
31
missions/Send_Over.py
Normal file
@@ -0,0 +1,31 @@
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.tools import run_task, multitask
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
|
||||
right_arm = Motor(Port.D)
|
||||
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
|
||||
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def main():
|
||||
|
||||
await drive_base.straight(915)
|
||||
await drive_base.turn(-90)
|
||||
await drive_base.straight(60)
|
||||
await left_arm.run_angle(10000,-4000)
|
||||
await drive_base.straight(-90)
|
||||
await drive_base.turn(80)
|
||||
await drive_base.straight(2000)
|
||||
|
||||
run_task(main())
|
||||
@@ -19,41 +19,28 @@ drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=
|
||||
drive_base.settings(600,500,300,200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
WALL_DISTANCE = 200 # mm
|
||||
|
||||
async def drive_forward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(400, 0)
|
||||
|
||||
|
||||
async def monitor_distance():
|
||||
"""Monitor ultrasonic sensor and stop when wall is detected."""
|
||||
while True:
|
||||
distance = await lazer_ranger.distance()
|
||||
print('Distancing...',distance)
|
||||
|
||||
if distance < WALL_DISTANCE:
|
||||
# Stop the drivebase
|
||||
await drive_base.stop
|
||||
print(f"Wall detected at {distance}mm!")
|
||||
break
|
||||
|
||||
# Small delay to prevent overwhelming the sensor
|
||||
await wait(50)
|
||||
|
||||
async def main():
|
||||
await drive_base.straight(-920)
|
||||
#Get to mission
|
||||
await drive_base.straight(920)
|
||||
await drive_base.turn(-90,Stop.HOLD)
|
||||
await drive_base.straight(65)
|
||||
#Solve
|
||||
#Solve mission
|
||||
drive_base.turn(-10)
|
||||
await left_arm.run_angle(10000,-4000)
|
||||
#Get to Red Start
|
||||
await drive_base.straight(-110)
|
||||
await drive_base.turn(90)
|
||||
await drive_base.straight(500)
|
||||
while True:
|
||||
distance_mm = await lazer_ranger.distance()
|
||||
print('distancing...',distance_mm)
|
||||
|
||||
if distance_mm < 300:
|
||||
drive_base.stop
|
||||
break
|
||||
else:
|
||||
drive_base.straight(300)
|
||||
print('running...')
|
||||
await wait(10)
|
||||
|
||||
await multitask(
|
||||
drive_forward(),
|
||||
monitor_distance()
|
||||
)
|
||||
|
||||
run_task(main())
|
||||
@@ -37,6 +37,14 @@ 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, 10000)
|
||||
await arm_motor.run_angle(10000, 4000)
|
||||
await drive_base.turn(-40)
|
||||
await arm_motor.run_angle(10000, 7000)
|
||||
run_task(main())
|
||||
44
missions/mission_09_old.py
Normal file
44
missions/mission_09_old.py
Normal file
@@ -0,0 +1,44 @@
|
||||
# ---JOHANNES---
|
||||
# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!!
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.tools import wait, StopWatch
|
||||
|
||||
hub = PrimeHub()
|
||||
|
||||
# Initialize both motors. In this example, the motor on the
|
||||
# left must turn counterclockwise to make the robot go forward.
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
|
||||
arm_motor = Motor(Port.E, Direction.CLOCKWISE)
|
||||
arm_motor.run_angle(299,90, Stop.HOLD)
|
||||
# Initialize the drive base. In this example, the wheel diameter is 56mm.
|
||||
# The distance between the two wheel-ground contact points is 112mm.
|
||||
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=54, axle_track=140)
|
||||
|
||||
print('The default settings are: ' + str(drive_base.settings()))
|
||||
drive_base.settings(100,1000,166,750)
|
||||
# Optionally, uncomment the line below to use the gyro for improved accuracy.
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
async def solveM9():
|
||||
print("Solving Mission 9")
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(260)
|
||||
await arm_motor.run_angle(500,-500, Stop.HOLD)
|
||||
await drive_base.straight(-40)
|
||||
await drive_base.turn(92)
|
||||
await drive_base.straight(-120)
|
||||
await drive_base.straight(220)
|
||||
await arm_motor.run_angle(500,100, Stop.HOLD)
|
||||
await drive_base.turn(-50)
|
||||
await drive_base.straight(-600)
|
||||
async def main():
|
||||
await drive_base.straight(50)
|
||||
print("Hello, Robot is starting to run.")
|
||||
await solveM9()
|
||||
|
||||
run_task(main())
|
||||
@@ -1,69 +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()
|
||||
|
||||
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())
|
||||
Reference in New Issue
Block a user