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...
sectionals
| Author | SHA1 | Date | |
|---|---|---|---|
| cfe7b96be5 | |||
| 09490f4e3e | |||
| c2e8ad028a | |||
| 7d168ff378 | |||
| 913e12f122 | |||
| d1eb92cf25 |
@@ -65,7 +65,7 @@ Repository
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1. Download the file competition_codes/sectionals/sectional_main_dec_6.py
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- You can do this through the repo, by using cURL, or by using git.
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- 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.
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- Repo - Go to the latest release and click the "Download as ZIP" button to get the full repository.
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- Single file - Go to the latest release and click the file link to get the raw master file.
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- git CLI -
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```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git```
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42
RoshoDaGoat.py
Normal file
42
RoshoDaGoat.py
Normal file
@@ -0,0 +1,42 @@
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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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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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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.use_gyro(True)
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async def main():
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await drive_base.straight(519)
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await arm_motor_left.run_angle(-10000, 300)
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await arm_motor_left.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 arm_motor.run_angle(3000, 3000)
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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(10000, -3000)
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await drive_base.straight(-100)
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await drive_base.turn(-54)
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await arm_motor.run_angle(10000, -3000)
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await drive_base.straight(200)
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await arm_motor.run_angle(10000, 10000)
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run_task(main())
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@@ -220,11 +220,7 @@ async def Run4():
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await right_arm.run_angle(400, -200)
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await drive_base.straight(90)
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await right_arm.run_angle(100, 95)
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#await drive_base.straight(-875)
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#return with arc
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await drive_base.straight(-600)
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await drive_base.arc(10,-47, None)
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await drive_base.straight(-400,Stop.COAST_SMART)
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await drive_base.straight(-875)
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async def solve_brush_reveal():
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await drive_base.straight(700)
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@@ -295,15 +291,8 @@ Run#6
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- Purple Key
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"""
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async def Run6_7(): # experiment with ferris wheel for Site Markings
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#solve_site_mark_1()
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#solve_site_mark_2()
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await drive_base.straight(640)
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await drive_base.straight(-150)
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await drive_base.turn(-8)
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await left_arm.run_angle(500, -520)
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await drive_base.straight(300)
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await wait(50)
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await left_arm.run_angle(500, 700)
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solve_site_mark_1()
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solve_site_mark_2()
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#return to base
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await drive_base.straight(-300)
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drive_base.stop()
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@@ -371,7 +360,7 @@ async def main():
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print('Running Mission 5')
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await Run5()
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elif color == "Purple":
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print('Running Mission 6_7')
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print('Running Mission 6')
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await Run6_7()
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elif color == "Light_Blue":
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print("Running Mission 2_1")
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@@ -1,513 +0,0 @@
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#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.
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import umath
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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.tools import run_task, multitask
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from pybricks.tools import wait, StopWatch
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from pybricks.robotics import DriveBase
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from pybricks.hubs import PrimeHub
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# Initialize hub and devices
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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,Direction.CLOCKWISE) # Specify default direction
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left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
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right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
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lazer_ranger = UltrasonicSensor(Port.E)
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color_sensor = ColorSensor(Port.F)
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# DriveBase configuration
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WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
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AXLE_TRACK = 180 # mm (distance between wheels)
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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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"""
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Debugging helps
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"""
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DEBUG = 1 # Enable when you want to show logs
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# Example conversion function (adjust min/max values as needed for your hub)
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async def get_battery_percentage(voltage_mV:float):
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max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
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min_voltage = 5000.0 # min battery level
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percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
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return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
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async def wait_button_release():
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"""Wait for all buttons to be released"""
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while hub.buttons.pressed():
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await wait(500)
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await wait(1000) # Debounce delay
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WALL_DISTANCE = 200 # mm
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async def drive_forward():
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"""Drive forward continuously using DriveBase."""
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drive_base.drive(1000,0)
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async def drive_backward():
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"""Drive forward continuously using DriveBase."""
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drive_base.drive(400, 0)
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async def monitor_distance():
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"""Monitor ultrasonic sensor and stop when wall is detected."""
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while True:
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distance = await lazer_ranger.distance()
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print('Distancing...',distance)
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if distance < WALL_DISTANCE:
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# Stop the drivebase
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drive_base.stop()
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print(f"Wall detected at {distance}mm!")
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break
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if distance is None:
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continue
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# Small delay to prevent overwhelming the sensor
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await wait(50)
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# Use this to set default
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def set_default_speed():
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drive_base.settings(600, 500, 300, 200)
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# Use this to change drive base movement
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def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
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drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
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"""
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Run#1
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- Removed forge and who lived here part
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- What's on sale + Silo
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- Green Key
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"""
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async def Run1():
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# Fast approach to near-stall position
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await left_arm.run_angle(2000, 180) # Fast movement upward
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# Gentle stall detection (shorter distance = faster)
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await left_arm.run_until_stalled(1500, duty_limit=15)
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left_arm.reset_angle(0)
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print(f"Initial left arm angle : {left_arm.angle()}")
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await solve_whats_on_sale_v2()
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await solve_silo()
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# return to base
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await drive_base.straight(-90)
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#await drive_base.turn(-100)
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await drive_base.arc(200,None,-300)
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drive_base.stop()
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async def solve_whats_on_sale():
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right_arm.run_angle(500,30)
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#Automated inconsistency
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#left_arm.run_angle(500,-119.5)
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left_arm.run_target(500,-121.5, Stop.HOLD)
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print(f"Position left arm angle : {left_arm.angle()}")
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await drive_base.straight(180)
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await drive_base.turn(-40)
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await drive_base.straight(335)
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await left_arm.run_angle(500,-20)
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await drive_base.straight(-100)
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await drive_base.straight(60)
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await left_arm.run_angle(500,50)
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await drive_base.straight(-100)
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left_arm.run_angle(500,-50)
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await drive_base.turn(-20)
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left_arm.run_angle(1000,180)
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await drive_base.turn(15)
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async def solve_whats_on_sale_v2():
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right_arm.run_angle(500,30)
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# Bring down left arm to position
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await left_arm.run_angle(2000, -120)
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#await left_arm.run_until_stalled(-500,duty_limit=15)
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print(f"Position left arm angle : {left_arm.angle()}")
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left_arm.reset_angle(0)
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await drive_base.straight(180)
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await drive_base.turn(-40)
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await drive_base.straight(335)
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await left_arm.run_angle(500,-20)
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await drive_base.straight(-100)
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await drive_base.straight(60)
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await left_arm.run_angle(500,50)
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await drive_base.straight(-100)
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left_arm.run_angle(500,-50)
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await drive_base.turn(-20)
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left_arm.run_angle(1000,180)
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await drive_base.turn(15)
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async def solve_silo():
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await drive_base.straight(-80)
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await drive_base.turn(42)
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await drive_base.straight(95)
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SPEED = 10000 # speed in degree per second
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SWING_ANGLE = 60 # the angle!
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REBOUND_ADJ = 20
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# Repeat this motion 4 times
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for _ in range(4):
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await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
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await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
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right_arm.run_angle(4000,60, Stop.HOLD)
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"""
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Run#2
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- This to solve forge, who lived here and heavy lifting combined
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- Red Key
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"""
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async def Run2():
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await solve_forge()
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await solve_heavy_lifting()
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await solve_who_lived_here()
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# return to base
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await drive_base.arc(-500,None,600)
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drive_base.stop()
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async def solve_forge():
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await right_arm.run_target(50,50)
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# await right_arm.run_angle(50,-30)
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await drive_base.arc(350,113, None)
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await drive_base.straight(20)
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await drive_base.turn(-60)
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await drive_base.straight(-47)
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async def solve_heavy_lifting():
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await right_arm.run_angle(2000,-160) # arm down
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await wait(100)
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await drive_base.turn(30) # turn right a little bit
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await right_arm.run_angle(2000,160) #arm up
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await drive_base.turn(-30) #reset position
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async def solve_who_lived_here():
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await drive_base.straight(50)
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await drive_base.turn(-15)
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await drive_base.straight(50)
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await drive_base.turn(-25)
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await drive_base.straight(-50)
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await drive_base.turn(-40)
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await drive_base.straight(50)
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right_arm.run_angle(1000,-160)
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await drive_base.turn(-60)
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await right_arm.run_angle(2000,160)
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"""
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Run#2.1
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- Alternate solution for Forge, Who lived here and Heavy Lifting combined
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- Light Blue Key
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- Different alignment
|
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"""
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async def Run2_1():
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await solve_forge_straight()
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await solve_heavy_lifting()
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await solve_who_lived_here()
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|
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# return to base
|
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await drive_base.arc(-500,None,600)
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drive_base.stop()
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|
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async def solve_forge_straight():
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await right_arm.run_target(50,50)
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await right_arm.run_angle(50,-30)
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await drive_base.straight(700)
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# await drive_base.turn(-30)
|
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# await drive_base.straight(20)
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await drive_base.turn(-40)
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await drive_base.straight(-30)
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"""
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Run#3
|
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- Combined angler artifacts and tip the scale
|
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- Yellow key
|
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"""
|
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async def Run3():
|
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await solve_angler_artifacts()
|
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await solve_tip_the_scale()
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#cross over to red side
|
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await multitask(
|
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drive_forward(),
|
||||
monitor_distance()
|
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)
|
||||
|
||||
async def solve_angler_artifacts():
|
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await drive_base.straight(870)
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await drive_base.turn(-90,Stop.HOLD)
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await drive_base.straight(45)
|
||||
#Solve
|
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drive_base.turn(-10)
|
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await left_arm.run_angle(10000,-750)
|
||||
await drive_base.straight(-130)
|
||||
|
||||
await drive_base.turn(67)
|
||||
|
||||
async def solve_tip_the_scale():
|
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await drive_base.straight(-200)
|
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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())
|
||||
@@ -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()
|
||||
@@ -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()
|
||||
@@ -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())
|
||||
40
config.py
Normal file
40
config.py
Normal file
@@ -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
|
||||
}
|
||||
@@ -1,3 +1,4 @@
|
||||
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor
|
||||
from pybricks.parameters import Port, Stop, Color, Direction
|
||||
@@ -1,3 +1,4 @@
|
||||
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor
|
||||
from pybricks.parameters import Port, Stop, Color, Direction
|
||||
303
test_10_17_2025.py
Normal file
303
test_10_17_2025.py
Normal file
@@ -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())
|
||||
41
utils/color_sensor_navi.py
Normal file
41
utils/color_sensor_navi.py
Normal file
@@ -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()
|
||||
13
utils/constants.py
Normal file
13
utils/constants.py
Normal file
@@ -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
|
||||
}
|
||||
36
utils/starter_drivebase_code.py
Normal file
36
utils/starter_drivebase_code.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
|
||||
|
||||
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)
|
||||
Reference in New Issue
Block a user