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13
README.md
13
README.md
@@ -63,17 +63,14 @@ Repository
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### Installation & Deployment - from the server - everyday
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1. Download the file codes_for_scrimmage/hazmat/mainhazmatUPD.py
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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 [codes_for_scrimmage/hazmat/mainhazmatUPD.py](codes_for_scrimmage/hazmat/mainhazmatUPD.py) and click the "Download" button.
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- cURL or another HTTP data transferrer -
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```curl -o mainhazmatUPD.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/hazmat/mainhazmatUPD.py```
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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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- 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 -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/hazmat```
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```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git```
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Then use mainhazmatUPD.py.
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Then use the master file.
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2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button.
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@@ -1,42 +0,0 @@
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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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@@ -1,132 +0,0 @@
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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<!-- This file was created with the aha Ansi HTML Adapter. https://github.com/theZiz/aha -->
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<html xmlns="http://www.w3.org/1999/xhtml">
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<head>
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<meta http-equiv="Content-Type" content="application/xml+xhtml; charset=UTF-8"/>
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<title>stdin</title>
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<link href="https://fonts.googleapis.com/css2?family=Roboto&display=swap" rel="stylesheet">
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<style>
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span {
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font-family: 'Roboto', sans-serif;
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}
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</style>
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</head>
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<body>
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<pre>
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* <span style="color:olive;">d3294bc</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:teal;">HEAD</span><span style="color:olive;"> -> </span><span style="font-weight:bold;color:green;">main</span><span style="color:olive;">, </span><span style="font-weight:bold;color:olive;">tag: </span><span style="font-weight:bold;color:olive;">TwistScrimmageRelease</span><span style="color:olive;">, </span><span style="font-weight:bold;color:red;">origin/main</span><span style="color:olive;">)</span> SCRIMMAGE MERGE!!!
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<span style="color:red;">|</span><span style="color:green;">\</span>
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||||
<span style="color:red;">|</span> * <span style="color:olive;">d66aecd</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:red;">origin/dev</span><span style="color:olive;">, </span><span style="font-weight:bold;color:red;">origin/HEAD</span><span style="color:olive;">, </span><span style="font-weight:bold;color:green;">dev</span><span style="color:olive;">)</span> Update README.md
|
||||
<span style="color:red;">|</span> * <span style="color:olive;">bbdf0d0</span> Shortened fun sounds
|
||||
<span style="color:red;">|</span> * <span style="color:olive;">a2ed2c4</span> Merge pull request 'arcmyx-dev' (#14) from arcmyx-dev into dev
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span><span style="color:blue;">\</span>
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span> * <span style="color:olive;">dd0070d</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:red;">origin/arcmyx-dev</span><span style="color:olive;">)</span> Update twist_scrimmage.py
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||||
<span style="color:red;">|</span> <span style="color:olive;">|</span> * <span style="color:olive;">9a06677</span> Added comments. Good luck for scrimmage y'all!!!
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span> * <span style="color:olive;">11e89c6</span> THE FINAL THINGY
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||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> <span style="color:olive;">52214be</span> Update final/4main.py
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> <span style="color:olive;">4540269</span> Update final/4main.py
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> <span style="color:olive;">785c955</span> Update final/4main.py
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> <span style="color:olive;">b6cffc6</span> Update final/4main
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> <span style="color:olive;">870dce3</span> Merge pull request 'arcmyx-dev' (#13) from arcmyx-dev into dev
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||||
<span style="color:red;">|</span> <span style="color:purple;">|</span><span style="color:blue;">\</span><span style="color:blue;">|</span>
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span> * <span style="color:olive;">bb76258</span> Update final/main4emaj.py
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span> * <span style="color:olive;">75e64da</span> Update final/main4emaj.py
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span> * <span style="color:olive;">8ea7cd5</span> Update final/main4emaj.py
|
||||
* <span style="color:purple;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">5ba2811</span> Merge pull request 'Updated LICENSE and README' (#12) from dev into main
|
||||
<span style="font-weight:bold;color:red;">|</span><span style="color:purple;">\</span><span style="color:purple;">|</span> <span style="color:teal;">|</span>
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||||
<span style="font-weight:bold;color:red;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">dd4fb8b</span> Switched to GPLv3
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||||
<span style="font-weight:bold;color:red;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">ee099d9</span> Switched to GPL v3
|
||||
<span style="font-weight:bold;color:red;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">489add5</span> Removed emojis
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* <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">387e00b</span> Merge branch 'dev'
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||||
<span style="font-weight:bold;color:olive;">|</span><span style="font-weight:bold;color:green;">\</span><span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span>
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||||
<span style="font-weight:bold;color:olive;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">28e5bea</span> Updated README file with some formatting help from AI
|
||||
* <span style="font-weight:bold;color:blue;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">3fdd6ae</span> Merge to main for Scrimmage
|
||||
<span style="font-weight:bold;color:purple;">|</span><span style="font-weight:bold;color:blue;">\</span><span style="font-weight:bold;color:blue;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">1e612e2</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:olive;">tag: </span><span style="font-weight:bold;color:olive;">Scrimmage-Twist</span><span style="color:olive;">)</span> Updated license information
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">4456a5a</span> Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev
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||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span><span style="color:green;">\</span> <span style="color:teal;">\</span>
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||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">08e0b9a</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:red;">origin/Johannes_Dev</span><span style="color:olive;">)</span> Delete missions/Lift2.py
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="color:teal;">|</span> <span style="color:olive;">4533f95</span> Add stuff from Johannes accidental fork
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">ec74531</span> Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:olive;">|</span><span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
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||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span> <span style="color:olive;">62b76d4</span> Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:purple;">|</span><span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:purple;">|</span> * <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">8008daf</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:red;">origin/ayaan_dev</span><span style="color:olive;">)</span> Add missions/tip the scale.py
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:teal;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">cba5cfc</span> Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:red;">|</span><span style="font-weight:bold;color:green;">\</span> <span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">\</span> <span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span> <span style="color:olive;">3349e7f</span> Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span><span style="font-weight:bold;color:blue;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
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||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">4b765b0</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:red;">origin/Rishi_dev</span><span style="color:olive;">)</span> Update missions/M8_5.py
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">2eca0d7</span> Initial commit
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span><span style="font-weight:bold;color:olive;">/</span> <span style="font-weight:bold;color:green;">/</span> <span style="color:teal;">/</span> <span style="color:blue;">/</span> <span style="color:green;">/</span> <span style="color:teal;">/</span>
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||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">/</span> <span style="color:blue;">/</span> <span style="color:green;">/</span> <span style="color:teal;">/</span> <span style="color:olive;">8949003</span> Mission 9 not in use
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span><span style="color:teal;">/</span> <span style="color:blue;">/</span> <span style="color:green;">/</span> <span style="color:teal;">/</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:teal;">|</span><span style="color:teal;">/</span><span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">6931731</span> Update LINEUPS.md
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">d172c70</span> THIS CODE IS OUTDATED!!! DO NOT USE!!!
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">efcc011</span> Initial Commit
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">28bb3fa</span> Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev
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||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:purple;">|</span><span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span> <span style="color:olive;">7ba2453</span> Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span><span style="color:green;">\</span> <span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span><span style="color:green;">_</span><span style="font-weight:bold;color:green;">|</span><span style="color:green;">_</span><span style="color:blue;">|</span><span style="color:green;">/</span> <span style="color:teal;">/</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span><span style="color:green;">/</span><span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">7eeead7</span> Sand Mission
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">e817650</span> Send Over
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">c4aa954</span> Boat mission
|
||||
* <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">ee0b8eb</span> Update README.md
|
||||
* <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> <span style="color:olive;">a745ed8</span> Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main
|
||||
<span style="color:olive;">|</span><span style="color:blue;">\</span> <span style="color:red;">\</span> <span style="color:green;">\</span> <span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * <span style="color:olive;">7e2dc0b</span><span style="color:olive;"> (</span><span style="font-weight:bold;color:red;">origin/Vickram_dev_</span><span style="color:olive;">)</span> Update final/main5.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * <span style="color:olive;">29bd9f0</span> Update final/main5.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * <span style="color:olive;">a3b04d3</span> Add final/main5.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * <span style="color:olive;">2d9eb49</span> Update final/main4.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * <span style="color:olive;">42090ea</span> Update final/main4.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * <span style="color:olive;">f7072a6</span> Update final/main4.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span><span style="color:teal;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">3f37e7e</span> Update final/main4.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">a3e7be2</span> Update final/main4.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">c2204e7</span> Update final/main4.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">0664a61</span> Add final/main4.py
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||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">227619d</span> Add final/3main.py
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||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">684447c</span> Add final/2main.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span><span style="color:blue;">/</span>
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||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * <span style="color:olive;">95d7c0c</span> Add final/1main.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * <span style="color:olive;">7e0c3d2</span> Delete Final Combined Codes
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * <span style="color:olive;">f190d38</span> Add Final Combined Codes
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * <span style="color:olive;">cd21a73</span> Delete missions/main.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * <span style="color:olive;">0fa1019</span> Upload files to "missions"
|
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<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span><span style="font-weight:bold;color:green;">/</span>
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||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> * <span style="color:olive;">bb89e01</span> Update utils/combine_runs.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span><span style="font-weight:bold;color:teal;">/</span>
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<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> * <span style="color:olive;">c690ae4</span> Update members/Vickram.txt
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span><span style="color:red;">/</span>
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<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span><span style="color:red;">/</span><span style="color:green;">|</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> <span style="color:olive;">d309b00</span> '{Johannes}'
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> <span style="color:olive;">37fb0a6</span> Add members/Ayaan.txt
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> <span style="color:olive;">e895fd1</span> Add members/Vickram.txt
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> <span style="color:olive;">70e09fb</span> Add members/Carlos.txt
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span><span style="color:green;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">d017d13</span> Update members/atharv.txt
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">6199a9c</span> Atharv - added my About Me
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">72547c5</span> Fixed grammar
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">5d57a3a</span> Initial commit
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">5c7e2e9</span> Uploaded files from Bitbucket
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">e36e3d0</span> Delete Send_Over.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">a35d599</span> Delete M8_5.py
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">6dedb0a</span> Uploaded files from Bitbucket
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">be5350d</span> Update README.md
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">2412f2c</span> Uploaded files from Bitbucket
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">125f1df</span> Uploaded files from Bitbucket
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">3ddaf7e</span> Uploaded files from Bitbucket
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">2629845</span> Test new
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:olive;">fdbc180</span> Test
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span><span style="color:blue;">/</span>
|
||||
<span style="color:olive;">|</span> * <span style="color:olive;">ce4f984</span> Created new branch
|
||||
<span style="color:olive;">|</span> * <span style="color:olive;">7a0d651</span> Test commit
|
||||
<span style="color:olive;">|</span><span style="color:olive;">/</span>
|
||||
* <span style="color:olive;">0d0e977</span> Initial commit
|
||||
</pre>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,136 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" ?>
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||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<!-- This file was created with the aha Ansi HTML Adapter. https://github.com/theZiz/aha -->
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||||
<html xmlns="http://www.w3.org/1999/xhtml">
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||||
<head>
|
||||
<meta
|
||||
http-equiv="Content-Type"
|
||||
content="application/xml+xhtml; charset=UTF-8"
|
||||
/>
|
||||
<title>COMMIT GRAPH</title>
|
||||
<link
|
||||
href="https://fonts.googleapis.com/css2?family=Roboto&display=swap"
|
||||
rel="stylesheet"
|
||||
/>
|
||||
<style>
|
||||
span {
|
||||
font-family: "Roboto", sans-serif;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<pre>
|
||||
* d3294bc (HEAD -> main, tag: TwistScrimmageRelease, origin/main) SCRIMMAGE MERGE!!! [Atharv]
|
||||
<span style="color:red;">|</span><span style="color:green;">\</span>
|
||||
<span style="color:red;">|</span> * d66aecd (origin/dev, origin/HEAD, dev) Update README.md [Atharv]
|
||||
<span style="color:red;">|</span> * bbdf0d0 Shortened fun sounds [Atharv]
|
||||
<span style="color:red;">|</span> * a2ed2c4 Merge pull request 'atharv-dev' (#14) from atharv-dev into dev [Atharv]
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span><span style="color:blue;">\</span>
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span> * dd0070d (origin/atharv-dev) Update twist_scrimmage.py [Atharv]
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span> * 9a06677 Added comments. Good luck for scrimmage y'all!!! [Atharv]
|
||||
<span style="color:red;">|</span> <span style="color:olive;">|</span> * 11e89c6 THE FINAL THINGY [Atharv]
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> 52214be Update final/4main.py [Ayaan]
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> 4540269 Update final/4main.py [Johannes]
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> 785c955 Update final/4main.py [Atharv]
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> b6cffc6 Update final/4main [Atharv]
|
||||
<span style="color:red;">|</span> * <span style="color:blue;">|</span> 870dce3 Merge pull request 'atharv-dev' (#13) from atharv-dev into dev [Atharv]
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span><span style="color:blue;">\</span><span style="color:blue;">|</span>
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span> * bb76258 Update final/main4emaj.py [Atharv]
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span> * 75e64da Update final/main4emaj.py [Atharv]
|
||||
<span style="color:red;">|</span> <span style="color:purple;">|</span> * 8ea7cd5 Update final/main4emaj.py [Atharv]
|
||||
* <span style="color:purple;">|</span> <span style="color:teal;">|</span> 5ba2811 Merge pull request 'Updated LICENSE and README' (#12) from dev into main [Atharv]
|
||||
<span style="font-weight:bold;color:red;">|</span><span style="color:purple;">\</span><span style="color:purple;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:red;">|</span> * <span style="color:teal;">|</span> dd4fb8b Switched to GPLv3 [Atharv]
|
||||
<span style="font-weight:bold;color:red;">|</span> * <span style="color:teal;">|</span> ee099d9 Switched to GPL v3 [Atharv]
|
||||
<span style="font-weight:bold;color:red;">|</span> * <span style="color:teal;">|</span> 489add5 Removed emojis [Atharv]
|
||||
* <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span> 387e00b Merge branch 'dev' [Coach]
|
||||
<span style="font-weight:bold;color:olive;">|</span><span style="font-weight:bold;color:green;">\</span><span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:olive;">|</span> * <span style="color:teal;">|</span> 28e5bea Updated README file with some formatting help from AI [Coach]
|
||||
* <span style="font-weight:bold;color:blue;">|</span> <span style="color:teal;">|</span> 3fdd6ae Merge to main for Scrimmage [Coach]
|
||||
<span style="font-weight:bold;color:purple;">|</span><span style="font-weight:bold;color:blue;">\</span><span style="font-weight:bold;color:blue;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:teal;">|</span> 1e612e2 (tag: Scrimmage-Twist) Updated license information [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:teal;">|</span> 4456a5a Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span><span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="color:teal;">|</span> 08e0b9a (origin/Johannes_Dev) Delete missions/Lift2.py [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="color:teal;">|</span> 4533f95 Add stuff from Johannes accidental fork [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:green;">|</span> <span style="color:teal;">|</span> ec74531 Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:olive;">|</span><span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span> 62b76d4 Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:purple;">|</span><span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:purple;">|</span> * <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> 8008daf (origin/ayaan_dev) Add missions/tip the scale.py [Ayaan]
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="color:teal;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> cba5cfc Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:red;">|</span><span style="font-weight:bold;color:green;">\</span> <span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">\</span> <span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span> 3349e7f Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span><span style="font-weight:bold;color:blue;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:teal;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> 4b765b0 (origin/Rishi_dev) Update missions/M8_5.py [Rishikesh Lolapu]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> 2eca0d7 Initial commit [Rishikesh Lolapu]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:olive;">|</span><span style="font-weight:bold;color:olive;">/</span> <span style="font-weight:bold;color:green;">/</span> <span style="color:teal;">/</span> <span style="color:blue;">/</span> <span style="color:green;">/</span> <span style="color:teal;">/</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:teal;">/</span> <span style="color:blue;">/</span> <span style="color:green;">/</span> <span style="color:teal;">/</span> 8949003 Mission 9 not in use [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span><span style="color:teal;">/</span> <span style="color:blue;">/</span> <span style="color:green;">/</span> <span style="color:teal;">/</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:teal;">|</span><span style="color:teal;">/</span><span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> 6931731 Update LINEUPS.md [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> d172c70 THIS CODE IS OUTDATED!!! DO NOT USE!!! [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> efcc011 Initial Commit [Vickram]
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span> <span style="color:teal;">|</span> 28bb3fa Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="font-weight:bold;color:purple;">|</span><span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> * <span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span> 7ba2453 Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev [Atharv]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span><span style="color:green;">\</span> <span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:green;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span><span style="color:green;">_</span><span style="font-weight:bold;color:green;">|</span><span style="color:green;">_</span><span style="color:blue;">|</span><span style="color:green;">/</span> <span style="color:teal;">/</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span><span style="color:green;">/</span><span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span>
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> 7eeead7 Sand Mission [Johannes]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> e817650 Send Over [Johannes]
|
||||
<span style="font-weight:bold;color:purple;">|</span> <span style="color:red;">|</span> * <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> c4aa954 Boat mission [Johannes]
|
||||
* <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> ee0b8eb Update README.md [Atharv]
|
||||
* <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> a745ed8 Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main [Coach]
|
||||
<span style="color:olive;">|</span><span style="color:blue;">\</span> <span style="color:red;">\</span> <span style="color:green;">\</span> <span style="font-weight:bold;color:teal;">\</span> <span style="font-weight:bold;color:green;">\</span> <span style="color:blue;">\</span> <span style="color:teal;">\</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * 7e2dc0b (origin/Vickram_dev_) Update final/main5.py [Rishikesh Lolapu]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * 29bd9f0 Update final/main5.py [Rishikesh Lolapu]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * a3b04d3 Add final/main5.py [Rishikesh Lolapu]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * 2d9eb49 Update final/main4.py [Johannes]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * 42090ea Update final/main4.py [Johannes]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span> * f7072a6 Update final/main4.py [Johannes]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> <span style="color:teal;">|</span><span style="color:teal;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * 3f37e7e Update final/main4.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * a3e7be2 Update final/main4.py [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * c2204e7 Update final/main4.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * 0664a61 Add final/main4.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * 227619d Add final/3main.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span> * 684447c Add final/2main.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> <span style="color:blue;">|</span><span style="color:blue;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * 95d7c0c Add final/1main.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * 7e0c3d2 Delete Final Combined Codes [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * f190d38 Add Final Combined Codes [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * cd21a73 Delete missions/main.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span> * 0fa1019 Upload files to "missions" [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> <span style="font-weight:bold;color:green;">|</span><span style="font-weight:bold;color:green;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span> * bb89e01 Update utils/combine_runs.py [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> <span style="font-weight:bold;color:teal;">|</span><span style="font-weight:bold;color:teal;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span> * c690ae4 Update members/Vickram.txt [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span> <span style="color:green;">|</span><span style="color:red;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:red;">|</span><span style="color:red;">/</span><span style="color:green;">|</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> d309b00 '{Johannes}' [Johannes]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> 37fb0a6 Add members/Ayaan.txt [Ayaan]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> e895fd1 Add members/Vickram.txt [Vickram]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * <span style="color:green;">|</span> 70e09fb Add members/Carlos.txt [Carlos]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> <span style="color:green;">|</span><span style="color:green;">/</span>
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * d017d13 Update members/atharv.txt [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 6199a9c Atharv - added my About Me [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 72547c5 Fixed grammar [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 5d57a3a Initial commit [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 5c7e2e9 Uploaded files from Bitbucket [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * e36e3d0 Delete Send_Over.py [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * a35d599 Delete M8_5.py [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 6dedb0a Uploaded files from Bitbucket [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * be5350d Update README.md [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 2412f2c Uploaded files from Bitbucket [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 125f1df Uploaded files from Bitbucket [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 3ddaf7e Uploaded files from Bitbucket [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * 2629845 Test new [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span> * fdbc180 Test [Atharv]
|
||||
<span style="color:olive;">|</span> <span style="color:blue;">|</span><span style="color:blue;">/</span>
|
||||
<span style="color:olive;">|</span> * ce4f984 Created new branch [Coach]
|
||||
<span style="color:olive;">|</span> * 7a0d651 Test commit [Coach]
|
||||
<span style="color:olive;">|</span><span style="color:olive;">/</span>
|
||||
* 0d0e977 Initial commit [Coach]</pre>
|
||||
</body>
|
||||
</html>
|
||||
220
competition_codes/regional-final/RegionalFinalOld.py
Normal file
220
competition_codes/regional-final/RegionalFinalOld.py
Normal file
@@ -0,0 +1,220 @@
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.tools import run_task, multitask
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.hubs import PrimeHub
|
||||
|
||||
# Initialize hub and devices
|
||||
hub = PrimeHub()
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B)
|
||||
left_arm = Motor(Port.C)
|
||||
right_arm = Motor(Port.D)
|
||||
lazer_ranger = UltrasonicSensor(Port.E)
|
||||
color_sensor = ColorSensor(Port.F)
|
||||
|
||||
# DriveBase configuration
|
||||
WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
|
||||
AXLE_TRACK = 180 # mm (distance between wheels)
|
||||
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
|
||||
drive_base.settings(600, 500, 300, 200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
WALL_DISTANCE = 300 # mm
|
||||
|
||||
async def drive_forward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(400, 0)
|
||||
|
||||
|
||||
async def monitor_distance():
|
||||
"""Monitor ultrasonic sensor and stop when wall is detected."""
|
||||
while True:
|
||||
distance = await lazer_ranger.distance()
|
||||
print('Distancing...',distance)
|
||||
|
||||
if distance < WALL_DISTANCE:
|
||||
# Stop the drivebase
|
||||
await drive_base.stop
|
||||
print(f"Wall detected at {distance}mm!")
|
||||
break
|
||||
|
||||
# Small delay to prevent overwhelming the sensor
|
||||
await wait(50)
|
||||
|
||||
# New Section
|
||||
async def Run1(): # From M8_5.py
|
||||
right_arm.run_angle(1000,450)
|
||||
left_arm.run_angle(500,90)
|
||||
await drive_base.straight(200)
|
||||
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(325)
|
||||
await left_arm.run_angle(500,-90)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(500,180)
|
||||
|
||||
await drive_base.straight(-90)
|
||||
left_arm.run_angle(500,-180)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.turn(15)
|
||||
|
||||
await drive_base.straight(-173)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(120)
|
||||
left_arm.run_angle(1000,670)
|
||||
|
||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,450, Stop.HOLD)
|
||||
await right_arm.run_angle(5000,-450, Stop.HOLD)
|
||||
right_arm.run_angle(5000,450, Stop.HOLD)
|
||||
|
||||
await drive_base.turn(-35)
|
||||
await drive_base.straight(297)
|
||||
await drive_base.turn(63)
|
||||
await drive_base.straight(170)
|
||||
|
||||
await drive_base.turn(-80)
|
||||
await drive_base.straight(87)
|
||||
await drive_base.turn(-15)
|
||||
|
||||
await drive_base.straight(-90)
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.arc(-500,None,600)
|
||||
|
||||
|
||||
async def Run2(): # From Heavy_lifting_final.py
|
||||
await drive_base.straight(200)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(536)
|
||||
await drive_base.turn(60, Stop.HOLD)
|
||||
await drive_base.straight(30)
|
||||
await right_arm.run_angle(5000, 2900)
|
||||
await drive_base.straight(40)
|
||||
await right_arm.run_angle(5000, -4000)
|
||||
await drive_base.straight(-60)
|
||||
await drive_base.turn(-60)
|
||||
await drive_base.straight(-670)
|
||||
|
||||
|
||||
async def Run3(): # tip the scale.py
|
||||
right_arm.run_angle(500,400)
|
||||
await drive_base.straight(800)
|
||||
await drive_base.turn(90)
|
||||
await drive_base.straight(86)
|
||||
await right_arm.run_angle(800,-600)
|
||||
await right_arm.run_angle(900,800)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(90)
|
||||
await drive_base.straight(800)
|
||||
drive_base.brake()
|
||||
|
||||
|
||||
async def Run4(): # From Send_Over_Final.py
|
||||
|
||||
await drive_base.straight(920)
|
||||
await drive_base.turn(-90,Stop.HOLD)
|
||||
await drive_base.straight(65)
|
||||
#Solve
|
||||
drive_base.turn(-10)
|
||||
await left_arm.run_angle(10000,-4000)
|
||||
await drive_base.straight(-110)
|
||||
await drive_base.turn(90)
|
||||
|
||||
await multitask(
|
||||
drive_forward(),
|
||||
monitor_distance()
|
||||
)
|
||||
|
||||
# Add Rishi's code here
|
||||
async def Run5():
|
||||
await drive_base.straight(700)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(110)
|
||||
await drive_base.straight(-210)
|
||||
await drive_base.turn(63)
|
||||
await drive_base.straight(130)
|
||||
await right_arm.run_angle(1000, -1200)
|
||||
await drive_base.straight(84)
|
||||
await right_arm.run_angle(300, 1200)
|
||||
await drive_base.straight(-900)
|
||||
|
||||
|
||||
# Add - Adi's code here
|
||||
async def Run6():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(300,500)
|
||||
await drive_base.straight(-75)
|
||||
await right_arm.run_angle(300, -900)
|
||||
await drive_base.straight(-350)
|
||||
await wait(1000)
|
||||
await drive_base.straight(800)
|
||||
await drive_base.straight(-200)
|
||||
await drive_base.turn(-15)
|
||||
await drive_base.straight(350)
|
||||
await drive_base.turn(-102.5)
|
||||
await drive_base.straight(-80)
|
||||
await left_arm.run_angle(500, -900)
|
||||
await drive_base.straight(50)
|
||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(700, 270)
|
||||
await drive_base.turn(30)
|
||||
await drive_base.straight(-60)
|
||||
|
||||
|
||||
|
||||
# Function to classify color based on HSV
|
||||
def detect_color(h, s, v, reflected):
|
||||
if reflected > 4:
|
||||
if h < 4 or h > 350: # red
|
||||
return "Red"
|
||||
elif 3 < h < 40 and s > 70: # orange
|
||||
return "Orange"
|
||||
elif 47 < h < 56: # yellow
|
||||
return "Yellow"
|
||||
elif 70 < h < 160: # green - do it vertically not horizontally for accuracy
|
||||
return "Green"
|
||||
elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy
|
||||
return "Blue"
|
||||
elif 260 < h < 350: # purple
|
||||
return "Purple"
|
||||
else:
|
||||
return "Unknown"
|
||||
return "Unknown"
|
||||
|
||||
|
||||
async def main():
|
||||
while True:
|
||||
h, s, v = await color_sensor.hsv()
|
||||
reflected = await color_sensor.reflection()
|
||||
color = detect_color(h, s, v, reflected)
|
||||
|
||||
if color == "Red":
|
||||
print('Running Mission 3')
|
||||
await Run3() #red
|
||||
elif color == "Orange":
|
||||
print('Running Mission 6')
|
||||
await Run6() #orange
|
||||
elif color == "Yellow":
|
||||
print('Running Mission 4')
|
||||
await Run4() #yellow
|
||||
elif color == "Green":
|
||||
print('Running Mission 1')
|
||||
await Run1() #green - vertically
|
||||
elif color == "Blue":
|
||||
print('Running Mission 5')
|
||||
await Run5() #blue - vertically
|
||||
elif color == "Purple":
|
||||
print('Running Mission 2')
|
||||
await Run2() #purple - vertically
|
||||
else:
|
||||
print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
|
||||
await wait(10)
|
||||
# Run the main function
|
||||
run_task(main())
|
||||
383
competition_codes/sectionals/mukwonago_sectionals_final.py
Normal file
383
competition_codes/sectionals/mukwonago_sectionals_final.py
Normal file
@@ -0,0 +1,383 @@
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.tools import run_task, multitask
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.hubs import PrimeHub
|
||||
|
||||
# Initialize hub and devices
|
||||
hub = PrimeHub()
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
|
||||
left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction
|
||||
right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
|
||||
lazer_ranger = UltrasonicSensor(Port.E)
|
||||
color_sensor = ColorSensor(Port.F)
|
||||
|
||||
# DriveBase configuration
|
||||
WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
|
||||
AXLE_TRACK = 180 # mm (distance between wheels)
|
||||
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
|
||||
drive_base.settings(600, 500, 300, 200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
WALL_DISTANCE = 200 # mm
|
||||
|
||||
async def drive_forward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(400, 0)
|
||||
|
||||
async def drive_backward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(400, 0)
|
||||
|
||||
|
||||
async def monitor_distance():
|
||||
"""Monitor ultrasonic sensor and stop when wall is detected."""
|
||||
while True:
|
||||
distance = await lazer_ranger.distance()
|
||||
print('Distancing...',distance)
|
||||
|
||||
if distance < WALL_DISTANCE:
|
||||
# Stop the drivebase
|
||||
drive_base.stop()
|
||||
print(f"Wall detected at {distance}mm!")
|
||||
break
|
||||
if distance is None:
|
||||
continue
|
||||
|
||||
|
||||
# Small delay to prevent overwhelming the sensor
|
||||
await wait(50)
|
||||
|
||||
"""
|
||||
Run#1
|
||||
- Removed forge and who lived here part
|
||||
- What's on sale + Silo
|
||||
- Green Key
|
||||
"""
|
||||
async def Run1():
|
||||
await solve_whats_on_sale()
|
||||
await solve_silo()
|
||||
|
||||
# return to base
|
||||
await drive_base.straight(-90)
|
||||
#await drive_base.turn(-100)
|
||||
await drive_base.arc(200,None,-300)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_whats_on_sale():
|
||||
|
||||
right_arm.run_angle(500,30)
|
||||
left_arm.run_angle(500,90)
|
||||
await drive_base.straight(200)
|
||||
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(325)
|
||||
await left_arm.run_angle(500,-90)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(500,180)
|
||||
|
||||
await drive_base.straight(-90)
|
||||
left_arm.run_angle(500,-180)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.turn(15)
|
||||
|
||||
async def solve_silo():
|
||||
await drive_base.straight(-173)
|
||||
await drive_base.turn(45)
|
||||
await drive_base.straight(120)
|
||||
left_arm.run_angle(1000,670)
|
||||
|
||||
await right_arm.run_angle(4000,-30, Stop.HOLD)
|
||||
await right_arm.run_angle(4000,30, Stop.HOLD)
|
||||
await right_arm.run_angle(4000,-30, Stop.HOLD)
|
||||
await right_arm.run_angle(4000,30, Stop.HOLD)
|
||||
await right_arm.run_angle(4000,-30, Stop.HOLD)
|
||||
right_arm.run_angle(4000,30, Stop.HOLD)
|
||||
|
||||
|
||||
"""
|
||||
Run#2
|
||||
- This to solve forge, who lived here and heavy lifting combined
|
||||
- Red Key
|
||||
"""
|
||||
async def Run2():
|
||||
await solve_forge()
|
||||
await solve_heavy_lifting()
|
||||
await solve_who_lived_here()
|
||||
|
||||
# return to base
|
||||
await drive_base.arc(-500,None,600)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_forge():
|
||||
await right_arm.run_target(50,50)
|
||||
# await right_arm.run_angle(50,-30)
|
||||
await drive_base.arc(350,113, None)
|
||||
|
||||
await drive_base.straight(20)
|
||||
await drive_base.turn(-60)
|
||||
await drive_base.straight(-47)
|
||||
|
||||
async def solve_heavy_lifting():
|
||||
await right_arm.run_angle(500,-160) # arm down
|
||||
await wait(100)
|
||||
await drive_base.turn(20) # turn right a little bit
|
||||
await right_arm.run_angle(500,160) #arm up
|
||||
await drive_base.turn(-20) #reset position
|
||||
|
||||
async def solve_who_lived_here():
|
||||
await drive_base.straight(50)
|
||||
await drive_base.turn(-15)
|
||||
await drive_base.straight(50)
|
||||
await drive_base.turn(-25)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(-100)
|
||||
|
||||
"""
|
||||
Run#2.1
|
||||
- Alternate solution for Forge, Who lived here and Heavy Lifting combined
|
||||
- Light Blue Key
|
||||
- Different alignment
|
||||
"""
|
||||
async def Run2_1():
|
||||
await solve_forge_straight()
|
||||
await solve_heavy_lifting()
|
||||
await solve_who_lived_here()
|
||||
|
||||
# return to base
|
||||
await drive_base.arc(-500,None,600)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_forge_straight():
|
||||
await right_arm.run_target(50,50)
|
||||
await right_arm.run_angle(50,-30)
|
||||
await drive_base.straight(700)
|
||||
# await drive_base.turn(-30)
|
||||
# await drive_base.straight(20)
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(-30)
|
||||
|
||||
"""
|
||||
Run#3
|
||||
- Combined angler artifacts and tip the scale
|
||||
- Yellow key
|
||||
"""
|
||||
async def Run3():
|
||||
await solve_angler_artifacts()
|
||||
await solve_tip_the_scale()
|
||||
|
||||
#cross over to red side
|
||||
await multitask(
|
||||
drive_forward(),
|
||||
monitor_distance()
|
||||
)
|
||||
|
||||
async def solve_angler_artifacts():
|
||||
await drive_base.straight(940)
|
||||
await drive_base.turn(-90,Stop.HOLD)
|
||||
await drive_base.straight(65)
|
||||
#Solve
|
||||
drive_base.turn(-10)
|
||||
await left_arm.run_angle(10000,-3000)
|
||||
await drive_base.straight(-110)
|
||||
|
||||
await drive_base.turn(90)
|
||||
await drive_base.arc(-150,-103, None)
|
||||
|
||||
async def solve_tip_the_scale():
|
||||
await drive_base.turn(3)
|
||||
await drive_base.straight(142.5)
|
||||
await right_arm.run_angle(800,-150)
|
||||
await right_arm.run_angle(900,150)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(-65)
|
||||
await drive_base.straight(300,Stop.COAST_SMART)
|
||||
await drive_base.arc(10,-47, None)
|
||||
#await drive_base.turn(-23, Stop.COAST_SMART)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
"""
|
||||
Run #4
|
||||
- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
|
||||
- Blue Key
|
||||
"""
|
||||
async def Run4():
|
||||
await drive_base.straight(700)
|
||||
await drive_base.turn(-18)
|
||||
await drive_base.straight(120)
|
||||
await drive_base.straight(-210)
|
||||
await drive_base.turn(61)
|
||||
await drive_base.straight(133)
|
||||
await right_arm.run_angle(400, -200)
|
||||
await drive_base.straight(90)
|
||||
await right_arm.run_angle(100, 95)
|
||||
#await drive_base.straight(-875)
|
||||
#return with arc
|
||||
await drive_base.straight(-600)
|
||||
await drive_base.arc(10,-47, None)
|
||||
await drive_base.straight(-400,Stop.COAST_SMART)
|
||||
|
||||
async def solve_brush_reveal():
|
||||
await drive_base.straight(700)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(110)
|
||||
await drive_base.straight(-210)
|
||||
|
||||
async def solve_mineshaft_explorer():
|
||||
await drive_base.turn(63)
|
||||
await drive_base.straight(130)
|
||||
await right_arm.run_angle(1000, -90)
|
||||
await drive_base.straight(84)
|
||||
await right_arm.run_angle(300, 90)
|
||||
|
||||
"""
|
||||
Run#5
|
||||
- Solves Salvage Operation + Statue Rebuild
|
||||
- Orange Key
|
||||
"""
|
||||
async def Run5():
|
||||
await drive_base.straight(550)
|
||||
await right_arm.run_angle(300,100)
|
||||
await drive_base.straight(-75)
|
||||
await right_arm.run_angle(300, -100)
|
||||
await drive_base.straight(300)
|
||||
await drive_base.straight(-200)
|
||||
await drive_base.turn(-15)
|
||||
#solving statue
|
||||
await drive_base.straight(350)
|
||||
await drive_base.turn(-104)
|
||||
await drive_base.straight(-80)
|
||||
await left_arm.run_angle(500, -900)
|
||||
await drive_base.straight(120)
|
||||
await drive_base.turn(5)
|
||||
await left_arm.run_angle(500, 290)
|
||||
await drive_base.turn(18)
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(-90)
|
||||
await drive_base.straight(900)
|
||||
drive_base.stop()
|
||||
|
||||
|
||||
async def solve_salvage_operation():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(300,500)
|
||||
await drive_base.straight(-75)
|
||||
await right_arm.run_angle(300, -900)
|
||||
await drive_base.straight(-350)
|
||||
await wait(1000)
|
||||
await drive_base.straight(800)
|
||||
await drive_base.straight(-200)
|
||||
await drive_base.turn(-15)
|
||||
await drive_base.straight(350)
|
||||
|
||||
async def solve_statue_rebuild():
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-80)
|
||||
await left_arm.run_angle(500, -900)
|
||||
await drive_base.straight(50)
|
||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(700, 250)
|
||||
await drive_base.turn(30)
|
||||
|
||||
"""
|
||||
Run#6
|
||||
- Solve 2/3 Site Markings
|
||||
- Run only if have time
|
||||
- Purple Key
|
||||
"""
|
||||
async def Run6_7(): # experiment with ferris wheel for Site Markings
|
||||
#solve_site_mark_1()
|
||||
#solve_site_mark_2()
|
||||
await drive_base.straight(640)
|
||||
await drive_base.straight(-150)
|
||||
await drive_base.turn(-8)
|
||||
await left_arm.run_angle(500, -520)
|
||||
await drive_base.straight(300)
|
||||
await wait(50)
|
||||
await left_arm.run_angle(500, 700)
|
||||
#return to base
|
||||
await drive_base.straight(-300)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_site_mark_1():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(100, -10)
|
||||
await wait(50)
|
||||
await drive_base.straight(-300)
|
||||
await drive_base.arc(-150, -140, None)
|
||||
|
||||
async def solve_site_mark_2():
|
||||
await drive_base.straight(-300)
|
||||
await wait(50)
|
||||
await right_arm.run_angle(50, 50)
|
||||
|
||||
|
||||
|
||||
# Function to classify color based on HSV
|
||||
def detect_color(h, s, v, reflected):
|
||||
if reflected > 4:
|
||||
if h < 4 or h > 350: # red
|
||||
return "Red"
|
||||
elif 3 < h < 40 and s > 70: # orange
|
||||
return "Orange"
|
||||
elif 47 < h < 56: # yellow
|
||||
return "Yellow"
|
||||
elif 70 < h < 160: # green - do it vertically not horizontally for accuracy
|
||||
return "Green"
|
||||
elif 195 < h < 198: # light blue
|
||||
return "Light_Blue"
|
||||
elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy
|
||||
return "Blue"
|
||||
elif 260 < h < 350: # purple
|
||||
return "Purple"
|
||||
|
||||
else:
|
||||
return "Unknown"
|
||||
return "Unknown"
|
||||
|
||||
|
||||
async def main():
|
||||
while True:
|
||||
h, s, v = await color_sensor.hsv()
|
||||
print(color_sensor.color())
|
||||
print(h,s,v)
|
||||
reflected = await color_sensor.reflection()
|
||||
color = detect_color(h, s, v, reflected)
|
||||
print(color)
|
||||
|
||||
|
||||
if color == "Green":
|
||||
print('Running Mission 1')
|
||||
await Run1()
|
||||
elif color == "Red":
|
||||
print('Running Mission 2')
|
||||
await Run2()
|
||||
elif color == "Yellow":
|
||||
print('Running Mission 3')
|
||||
await Run3()
|
||||
elif color == "Blue":
|
||||
print('Running Mission 4')
|
||||
await Run4()
|
||||
elif color == "Orange":
|
||||
print('Running Mission 5')
|
||||
await Run5()
|
||||
elif color == "Purple":
|
||||
print('Running Mission 6_7')
|
||||
await Run6_7()
|
||||
elif color == "Light_Blue":
|
||||
print("Running Mission 2_1")
|
||||
await Run2_1()
|
||||
else:
|
||||
print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
|
||||
await wait(10)
|
||||
# Run the main function
|
||||
run_task(main())
|
||||
513
competition_codes/state/Updated state.py
Normal file
513
competition_codes/state/Updated state.py
Normal file
@@ -0,0 +1,513 @@
|
||||
#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
|
||||
import umath
|
||||
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
||||
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
||||
from pybricks.tools import run_task, multitask
|
||||
from pybricks.tools import wait, StopWatch
|
||||
from pybricks.robotics import DriveBase
|
||||
from pybricks.hubs import PrimeHub
|
||||
|
||||
# Initialize hub and devices
|
||||
hub = PrimeHub()
|
||||
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
||||
right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
|
||||
left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
|
||||
right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
|
||||
lazer_ranger = UltrasonicSensor(Port.E)
|
||||
color_sensor = ColorSensor(Port.F)
|
||||
|
||||
# DriveBase configuration
|
||||
WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
|
||||
AXLE_TRACK = 180 # mm (distance between wheels)
|
||||
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
|
||||
drive_base.settings(600, 500, 300, 200)
|
||||
drive_base.use_gyro(True)
|
||||
|
||||
"""
|
||||
Debugging helps
|
||||
"""
|
||||
DEBUG = 1 # Enable when you want to show logs
|
||||
# Example conversion function (adjust min/max values as needed for your hub)
|
||||
async def get_battery_percentage(voltage_mV:float):
|
||||
max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
|
||||
min_voltage = 5000.0 # min battery level
|
||||
percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
|
||||
return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
|
||||
|
||||
async def wait_button_release():
|
||||
"""Wait for all buttons to be released"""
|
||||
while hub.buttons.pressed():
|
||||
await wait(500)
|
||||
await wait(1000) # Debounce delay
|
||||
|
||||
WALL_DISTANCE = 200 # mm
|
||||
async def drive_forward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(1000,0)
|
||||
|
||||
async def drive_backward():
|
||||
"""Drive forward continuously using DriveBase."""
|
||||
drive_base.drive(400, 0)
|
||||
|
||||
|
||||
async def monitor_distance():
|
||||
"""Monitor ultrasonic sensor and stop when wall is detected."""
|
||||
while True:
|
||||
distance = await lazer_ranger.distance()
|
||||
print('Distancing...',distance)
|
||||
|
||||
if distance < WALL_DISTANCE:
|
||||
# Stop the drivebase
|
||||
drive_base.stop()
|
||||
print(f"Wall detected at {distance}mm!")
|
||||
break
|
||||
if distance is None:
|
||||
continue
|
||||
|
||||
# Small delay to prevent overwhelming the sensor
|
||||
await wait(50)
|
||||
|
||||
# Use this to set default
|
||||
def set_default_speed():
|
||||
drive_base.settings(600, 500, 300, 200)
|
||||
|
||||
# Use this to change drive base movement
|
||||
def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
|
||||
drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
|
||||
|
||||
"""
|
||||
Run#1
|
||||
- Removed forge and who lived here part
|
||||
- What's on sale + Silo
|
||||
- Green Key
|
||||
"""
|
||||
async def Run1():
|
||||
|
||||
# Fast approach to near-stall position
|
||||
await left_arm.run_angle(2000, 180) # Fast movement upward
|
||||
|
||||
# Gentle stall detection (shorter distance = faster)
|
||||
await left_arm.run_until_stalled(1500, duty_limit=15)
|
||||
left_arm.reset_angle(0)
|
||||
print(f"Initial left arm angle : {left_arm.angle()}")
|
||||
|
||||
await solve_whats_on_sale_v2()
|
||||
await solve_silo()
|
||||
|
||||
# return to base
|
||||
await drive_base.straight(-90)
|
||||
#await drive_base.turn(-100)
|
||||
await drive_base.arc(200,None,-300)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_whats_on_sale():
|
||||
|
||||
right_arm.run_angle(500,30)
|
||||
|
||||
#Automated inconsistency
|
||||
#left_arm.run_angle(500,-119.5)
|
||||
left_arm.run_target(500,-121.5, Stop.HOLD)
|
||||
print(f"Position left arm angle : {left_arm.angle()}")
|
||||
|
||||
await drive_base.straight(180)
|
||||
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(335)
|
||||
await left_arm.run_angle(500,-20)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.straight(60)
|
||||
await left_arm.run_angle(500,50)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
left_arm.run_angle(500,-50)
|
||||
await drive_base.turn(-20)
|
||||
left_arm.run_angle(1000,180)
|
||||
await drive_base.turn(15)
|
||||
|
||||
async def solve_whats_on_sale_v2():
|
||||
|
||||
right_arm.run_angle(500,30)
|
||||
|
||||
# Bring down left arm to position
|
||||
await left_arm.run_angle(2000, -120)
|
||||
#await left_arm.run_until_stalled(-500,duty_limit=15)
|
||||
print(f"Position left arm angle : {left_arm.angle()}")
|
||||
left_arm.reset_angle(0)
|
||||
|
||||
await drive_base.straight(180)
|
||||
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(335)
|
||||
await left_arm.run_angle(500,-20)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.straight(60)
|
||||
await left_arm.run_angle(500,50)
|
||||
|
||||
await drive_base.straight(-100)
|
||||
left_arm.run_angle(500,-50)
|
||||
await drive_base.turn(-20)
|
||||
left_arm.run_angle(1000,180)
|
||||
await drive_base.turn(15)
|
||||
|
||||
async def solve_silo():
|
||||
await drive_base.straight(-80)
|
||||
await drive_base.turn(42)
|
||||
await drive_base.straight(95)
|
||||
|
||||
SPEED = 10000 # speed in degree per second
|
||||
SWING_ANGLE = 60 # the angle!
|
||||
REBOUND_ADJ = 20
|
||||
|
||||
# Repeat this motion 4 times
|
||||
for _ in range(4):
|
||||
await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
|
||||
await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
|
||||
|
||||
|
||||
right_arm.run_angle(4000,60, Stop.HOLD)
|
||||
|
||||
|
||||
"""
|
||||
Run#2
|
||||
- This to solve forge, who lived here and heavy lifting combined
|
||||
- Red Key
|
||||
"""
|
||||
async def Run2():
|
||||
await solve_forge()
|
||||
await solve_heavy_lifting()
|
||||
await solve_who_lived_here()
|
||||
|
||||
# return to base
|
||||
await drive_base.arc(-500,None,600)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_forge():
|
||||
await right_arm.run_target(50,50)
|
||||
# await right_arm.run_angle(50,-30)
|
||||
await drive_base.arc(350,113, None)
|
||||
|
||||
await drive_base.straight(20)
|
||||
await drive_base.turn(-60)
|
||||
await drive_base.straight(-47)
|
||||
|
||||
async def solve_heavy_lifting():
|
||||
await right_arm.run_angle(2000,-160) # arm down
|
||||
await wait(100)
|
||||
await drive_base.turn(30) # turn right a little bit
|
||||
await right_arm.run_angle(2000,160) #arm up
|
||||
await drive_base.turn(-30) #reset position
|
||||
|
||||
async def solve_who_lived_here():
|
||||
await drive_base.straight(50)
|
||||
await drive_base.turn(-15)
|
||||
await drive_base.straight(50)
|
||||
await drive_base.turn(-25)
|
||||
await drive_base.straight(-50)
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(50)
|
||||
right_arm.run_angle(1000,-160)
|
||||
await drive_base.turn(-60)
|
||||
await right_arm.run_angle(2000,160)
|
||||
|
||||
"""
|
||||
Run#2.1
|
||||
- Alternate solution for Forge, Who lived here and Heavy Lifting combined
|
||||
- Light Blue Key
|
||||
- Different alignment
|
||||
"""
|
||||
async def Run2_1():
|
||||
await solve_forge_straight()
|
||||
await solve_heavy_lifting()
|
||||
await solve_who_lived_here()
|
||||
|
||||
# return to base
|
||||
await drive_base.arc(-500,None,600)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_forge_straight():
|
||||
await right_arm.run_target(50,50)
|
||||
await right_arm.run_angle(50,-30)
|
||||
await drive_base.straight(700)
|
||||
# await drive_base.turn(-30)
|
||||
# await drive_base.straight(20)
|
||||
await drive_base.turn(-40)
|
||||
await drive_base.straight(-30)
|
||||
|
||||
"""
|
||||
Run#3
|
||||
- Combined angler artifacts and tip the scale
|
||||
- Yellow key
|
||||
"""
|
||||
async def Run3():
|
||||
await solve_angler_artifacts()
|
||||
await solve_tip_the_scale()
|
||||
|
||||
#cross over to red side
|
||||
await multitask(
|
||||
drive_forward(),
|
||||
monitor_distance()
|
||||
)
|
||||
|
||||
async def solve_angler_artifacts():
|
||||
await drive_base.straight(870)
|
||||
await drive_base.turn(-90,Stop.HOLD)
|
||||
await drive_base.straight(45)
|
||||
#Solve
|
||||
drive_base.turn(-10)
|
||||
await left_arm.run_angle(10000,-750)
|
||||
await drive_base.straight(-130)
|
||||
|
||||
await drive_base.turn(67)
|
||||
|
||||
async def solve_tip_the_scale():
|
||||
await drive_base.straight(-200)
|
||||
await drive_base.straight(60)
|
||||
await drive_base.turn(22)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
"""
|
||||
Run #4
|
||||
- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
|
||||
- Blue Key
|
||||
"""
|
||||
async def Run4():
|
||||
await drive_base.straight(700)
|
||||
await drive_base.turn(-18)
|
||||
await drive_base.straight(120)
|
||||
await drive_base.straight(-210)
|
||||
await drive_base.turn(61)
|
||||
await drive_base.straight(133)
|
||||
await right_arm.run_angle(400, -200)
|
||||
await drive_base.straight(90)
|
||||
await right_arm.run_angle(100, 95)
|
||||
await drive_base.straight(-875)
|
||||
|
||||
async def solve_brush_reveal():
|
||||
await drive_base.straight(700)
|
||||
await drive_base.turn(-20)
|
||||
await drive_base.straight(110)
|
||||
await drive_base.straight(-210)
|
||||
|
||||
async def solve_mineshaft_explorer():
|
||||
await drive_base.turn(63)
|
||||
await drive_base.straight(130)
|
||||
await right_arm.run_angle(1000, -90)
|
||||
await drive_base.straight(84)
|
||||
await right_arm.run_angle(300, 90)
|
||||
|
||||
"""
|
||||
Run#5
|
||||
- Solves Salvage Operation + Statue Rebuild
|
||||
- Orange Key
|
||||
"""
|
||||
async def Run5():
|
||||
# Getting the sand down
|
||||
await drive_base.straight(550)
|
||||
await right_arm.run_angle(300,100)
|
||||
await drive_base.straight(-75)
|
||||
await right_arm.run_angle(300, -100)
|
||||
# Shoving the boat into place
|
||||
await drive_base.straight(300)
|
||||
await drive_base.straight(-200)
|
||||
await drive_base.turn(-15)
|
||||
# Solving statue
|
||||
await drive_base.straight(350)
|
||||
await drive_base.turn(-104)
|
||||
await drive_base.straight(-80)
|
||||
await left_arm.run_angle(500, -300)
|
||||
await drive_base.straight(120)
|
||||
await drive_base.turn(5)
|
||||
# Lift up statue
|
||||
await left_arm.run_angle(500, 100, Stop.HOLD)
|
||||
await drive_base.turn(18)
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(-90)
|
||||
await drive_base.straight(900)
|
||||
drive_base.stop()
|
||||
|
||||
|
||||
async def solve_salvage_operation():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(300,500)
|
||||
await drive_base.straight(-75)
|
||||
await right_arm.run_angle(300, -900)
|
||||
await drive_base.straight(-350)
|
||||
await wait(1000)
|
||||
await drive_base.straight(800)
|
||||
await drive_base.straight(-200)
|
||||
await drive_base.turn(-15)
|
||||
await drive_base.straight(350)
|
||||
|
||||
async def solve_statue_rebuild():
|
||||
await drive_base.turn(-100)
|
||||
await drive_base.straight(-80)
|
||||
await left_arm.run_angle(500, -900)
|
||||
await drive_base.straight(50)
|
||||
await drive_base.straight(50)
|
||||
await left_arm.run_angle(700,200)
|
||||
await drive_base.turn(30)
|
||||
|
||||
"""
|
||||
Run#6
|
||||
- Solve 2/3 Site Markings
|
||||
- Run only if have time
|
||||
- Purple Key
|
||||
"""
|
||||
async def Run6_7(): # experiment with ferris wheel for Site Markings
|
||||
solve_site_mark_1()
|
||||
solve_site_mark_2()
|
||||
#return to base
|
||||
await drive_base.straight(-300)
|
||||
drive_base.stop()
|
||||
|
||||
async def solve_site_mark_1():
|
||||
await drive_base.straight(500)
|
||||
await right_arm.run_angle(100, -10)
|
||||
await wait(50)
|
||||
await drive_base.straight(-300)
|
||||
await drive_base.arc(-150, -140, None)
|
||||
|
||||
async def solve_site_mark_2():
|
||||
await drive_base.straight(-300)
|
||||
await wait(50)
|
||||
await right_arm.run_angle(50, 50)
|
||||
|
||||
async def Run10(): # experimental map reveal attachment
|
||||
|
||||
await drive_base.straight(600)
|
||||
drive_base.settings(150, 750, 50, 500)
|
||||
await drive_base.turn(-30)
|
||||
await drive_base.straight(260)
|
||||
left_arm.run_angle(300,218)
|
||||
|
||||
set_default_speed()
|
||||
await drive_base.straight(-80)
|
||||
await drive_base.turn(30)
|
||||
await drive_base.straight(-300)
|
||||
await drive_base.straight(400)
|
||||
#await left_arm.run_angle(50,120)
|
||||
await drive_base.straight(-200)
|
||||
await left_arm.run_angle(300,-215)
|
||||
await drive_base.straight(-600)
|
||||
drive_base.stop()
|
||||
|
||||
async def Run11(): # experimental surface brushing attachment
|
||||
|
||||
await drive_base.straight(600)
|
||||
drive_base.settings(150, 750, 50, 500)
|
||||
await drive_base.turn(-30)
|
||||
await drive_base.straight(250)
|
||||
#left_arm.run_angle(300,218)
|
||||
|
||||
set_default_speed()
|
||||
await drive_base.straight(-100)
|
||||
await drive_base.turn(30)
|
||||
await drive_base.straight(-190)
|
||||
#await drive_base.straight(400)
|
||||
#await left_arm.run_angle(50,120)
|
||||
#await drive_base.straight(-200)
|
||||
await left_arm.run_angle(300,-300)
|
||||
await drive_base.straight(-600)
|
||||
drive_base.stop()
|
||||
|
||||
async def Run12():
|
||||
await drive_base.straight(900)
|
||||
await drive_base.turn(83)
|
||||
await left_arm.run_angle(3000, -300)
|
||||
await right_arm.run_angle(1100, -180)
|
||||
drive_base.settings(150, 50, 50, 50)
|
||||
await drive_base.straight(120)
|
||||
left_arm.reset_angle(0)
|
||||
await left_arm.run_angle(50, 50)
|
||||
await right_arm.run_angle(50, 90)
|
||||
await drive_base.straight(-100)
|
||||
drive_base.settings(950, 750, 750, 750)
|
||||
await drive_base.turn(110)
|
||||
await drive_base.straight(1000)
|
||||
|
||||
|
||||
# Function to classify color based on HSV
|
||||
def detect_color(h, s, v, reflected):
|
||||
if reflected > 4:
|
||||
if h < 4 or h > 350: # red
|
||||
return "Red"
|
||||
elif 3 < h < 40 and s > 70: # orange
|
||||
return "Orange"
|
||||
elif 47 < h < 56: # yellow
|
||||
return "Yellow"
|
||||
elif 70 < h < 160: # green - do it vertically not horizontally for accuracy
|
||||
return "Green"
|
||||
elif 195 < h < 198: # light blue
|
||||
return "Light_Blue"
|
||||
elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy
|
||||
return "Blue"
|
||||
elif 260 < h < 350: # purple
|
||||
return "Purple"
|
||||
|
||||
else:
|
||||
return "Unknown"
|
||||
return "Unknown"
|
||||
|
||||
|
||||
async def main():
|
||||
while True:
|
||||
pressed = hub.buttons.pressed()
|
||||
h, s, v = await color_sensor.hsv()
|
||||
reflected = await color_sensor.reflection()
|
||||
color = detect_color(h, s, v, reflected)
|
||||
if DEBUG :
|
||||
#print(color_sensor.color())
|
||||
#print(h,s,v)
|
||||
#print(color)
|
||||
print(f"button pressed: {pressed}")
|
||||
|
||||
|
||||
if color == "Green":
|
||||
print('Running Mission 1')
|
||||
await Run1()
|
||||
elif color == "Red":
|
||||
print('Running Mission 2')
|
||||
await Run2()
|
||||
elif color == "Yellow":
|
||||
print('Running Mission 3')
|
||||
await Run3()
|
||||
elif color == "Blue":
|
||||
print('Running Mission 4')
|
||||
await Run4()
|
||||
elif color == "Orange":
|
||||
print('Running Mission 5')
|
||||
await Run5()
|
||||
elif color == "Purple":
|
||||
print('Running Mission 6')
|
||||
await Run11()
|
||||
elif color == "Light_Blue":
|
||||
print("Running Mission 2_1")
|
||||
await Run12()
|
||||
else:
|
||||
print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
|
||||
#pass
|
||||
|
||||
# Show battery % for debugging
|
||||
if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
|
||||
# Get the battery voltage in millivolts (mV)
|
||||
battery_voltage_mV = hub.battery.voltage()
|
||||
# Use the function with your voltage reading
|
||||
percentage = await get_battery_percentage(float(battery_voltage_mV))
|
||||
if DEBUG:
|
||||
print(f"Battery voltage: {battery_voltage_mV} mV")
|
||||
print(f"Battery level: {percentage:.3f}%")
|
||||
print("FLL Robot System Ready!")
|
||||
await hub.display.text(f"{percentage:.0f}")
|
||||
break
|
||||
elif pressed == None:
|
||||
continue
|
||||
|
||||
await wait(10)
|
||||
# Run the main function
|
||||
run_task(main())
|
||||
16
competition_codes/state/run10_experimental.py
Normal file
16
competition_codes/state/run10_experimental.py
Normal file
@@ -0,0 +1,16 @@
|
||||
await drive_base.straight(600)
|
||||
drive_base.settings(150, 750, 50, 500)
|
||||
await drive_base.turn(-30)
|
||||
await drive_base.straight(260)
|
||||
left_arm.run_angle(300,218)
|
||||
|
||||
set_default_speed()
|
||||
await drive_base.straight(-80)
|
||||
await drive_base.turn(30)
|
||||
await drive_base.straight(-300)
|
||||
await drive_base.straight(400)
|
||||
#await left_arm.run_angle(50,120)
|
||||
await drive_base.straight(-200)
|
||||
await left_arm.run_angle(300,-215)
|
||||
await drive_base.straight(-600)
|
||||
drive_base.stop()
|
||||
16
competition_codes/state/run11_experimental.py
Normal file
16
competition_codes/state/run11_experimental.py
Normal file
@@ -0,0 +1,16 @@
|
||||
await drive_base.straight(600)
|
||||
drive_base.settings(150, 750, 50, 500)
|
||||
await drive_base.turn(-30)
|
||||
await drive_base.straight(250)
|
||||
#left_arm.run_angle(300,218)
|
||||
|
||||
set_default_speed()
|
||||
await drive_base.straight(-80)
|
||||
await drive_base.turn(30)
|
||||
await drive_base.straight(-180)
|
||||
#await drive_base.straight(400)
|
||||
#await left_arm.run_angle(50,120)
|
||||
#await drive_base.straight(-200)
|
||||
await left_arm.run_angle(300,-300)
|
||||
await drive_base.straight(-600)
|
||||
drive_base.stop()
|
||||
513
competition_codes/state/sunprarie_state_main_FINAL.py
Normal file
513
competition_codes/state/sunprarie_state_main_FINAL.py
Normal file
@@ -0,0 +1,513 @@
|
||||
#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
40
config.py
@@ -1,40 +0,0 @@
|
||||
# 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
|
||||
}
|
||||
112
graph.txt
112
graph.txt
@@ -1,112 +0,0 @@
|
||||
* d3294bc SCRIMMAGE MERGE!!!
|
||||
|\
|
||||
| * d66aecd Update README.md
|
||||
| * bbdf0d0 Shortened fun sounds
|
||||
| * a2ed2c4 Merge pull request 'arcmyx-dev' (#14) from arcmyx-dev into dev
|
||||
| |\
|
||||
| | * dd0070d Update twist_scrimmage.py
|
||||
| | * 9a06677 Added comments. Good luck for scrimmage y'all!!!
|
||||
| | * 11e89c6 THE FINAL THINGY
|
||||
| * | 52214be Update final/4main.py
|
||||
| * | 4540269 Update final/4main.py
|
||||
| * | 785c955 Update final/4main.py
|
||||
| * | b6cffc6 Update final/4main
|
||||
| * | 870dce3 Merge pull request 'arcmyx-dev' (#13) from arcmyx-dev into dev
|
||||
| |\|
|
||||
| | * bb76258 Update final/main4emaj.py
|
||||
| | * 75e64da Update final/main4emaj.py
|
||||
| | * 8ea7cd5 Update final/main4emaj.py
|
||||
* | | 5ba2811 Merge pull request 'Updated LICENSE and README' (#12) from dev into main
|
||||
|\| |
|
||||
| * | dd4fb8b Switched to GPLv3
|
||||
| * | ee099d9 Switched to GPL v3
|
||||
| * | 489add5 Removed emojis
|
||||
* | | 387e00b Merge branch 'dev'
|
||||
|\| |
|
||||
| * | 28e5bea Updated README file with some formatting help from AI
|
||||
* | | 3fdd6ae Merge to main for Scrimmage
|
||||
|\| |
|
||||
| * | 1e612e2 Updated license information
|
||||
| * | 4456a5a Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev
|
||||
| |\ \
|
||||
| | * | 08e0b9a Delete missions/Lift2.py
|
||||
| | * | 4533f95 Add stuff from Johannes accidental fork
|
||||
| * | | ec74531 Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev
|
||||
| |\ \ \
|
||||
| * \ \ \ 62b76d4 Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev
|
||||
| |\ \ \ \
|
||||
| | * | | | 8008daf Add missions/tip the scale.py
|
||||
| * | | | | cba5cfc Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev
|
||||
| |\ \ \ \ \
|
||||
| * \ \ \ \ \ 3349e7f Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev
|
||||
| |\ \ \ \ \ \
|
||||
| | * | | | | | 4b765b0 Update missions/M8_5.py
|
||||
| | * | | | | | 2eca0d7 Initial commit
|
||||
| |/ / / / / /
|
||||
| * | / / / / 8949003 Mission 9 not in use
|
||||
| | |/ / / /
|
||||
| |/| | | |
|
||||
| * | | | | 6931731 Update LINEUPS.md
|
||||
| * | | | | d172c70 THIS CODE IS OUTDATED!!! DO NOT USE!!!
|
||||
| * | | | | efcc011 Initial Commit
|
||||
| * | | | | 28bb3fa Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev
|
||||
| |\ \ \ \ \
|
||||
| * \ \ \ \ \ 7ba2453 Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev
|
||||
| |\ \ \ \ \ \
|
||||
| | | |_|_|/ /
|
||||
| | |/| | | |
|
||||
| | * | | | | 7eeead7 Sand Mission
|
||||
| | * | | | | e817650 Send Over
|
||||
| | * | | | | c4aa954 Boat mission
|
||||
* | | | | | | ee0b8eb Update README.md
|
||||
* | | | | | | a745ed8 Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main
|
||||
|\ \ \ \ \ \ \
|
||||
| | | | | | | | * 7e2dc0b Update final/main5.py
|
||||
| | | | | | | | * 29bd9f0 Update final/main5.py
|
||||
| | | | | | | | * a3b04d3 Add final/main5.py
|
||||
| | | | | | | | * 2d9eb49 Update final/main4.py
|
||||
| | | | | | | | * 42090ea Update final/main4.py
|
||||
| | | | | | | | * f7072a6 Update final/main4.py
|
||||
| | | | | | | |/
|
||||
| | | | | | | * 3f37e7e Update final/main4.py
|
||||
| | | | | | | * a3e7be2 Update final/main4.py
|
||||
| | | | | | | * c2204e7 Update final/main4.py
|
||||
| | | | | | | * 0664a61 Add final/main4.py
|
||||
| | | | | | | * 227619d Add final/3main.py
|
||||
| | | | | | | * 684447c Add final/2main.py
|
||||
| | | | | | |/
|
||||
| | | | | | * 95d7c0c Add final/1main.py
|
||||
| | | | | | * 7e0c3d2 Delete Final Combined Codes
|
||||
| | | | | | * f190d38 Add Final Combined Codes
|
||||
| | | | | | * cd21a73 Delete missions/main.py
|
||||
| | | | | | * 0fa1019 Upload files to "missions"
|
||||
| | | | | |/
|
||||
| | | | | * bb89e01 Update utils/combine_runs.py
|
||||
| | | | |/
|
||||
| | | | * c690ae4 Update members/Vickram.txt
|
||||
| | | |/
|
||||
| | |/|
|
||||
| | * | d309b00 '{Johannes}'
|
||||
| | * | 37fb0a6 Add members/Ayaan.txt
|
||||
| | * | e895fd1 Add members/Vickram.txt
|
||||
| | * | 70e09fb Add members/Carlos.txt
|
||||
| | |/
|
||||
| | * d017d13 Update members/atharv.txt
|
||||
| | * 6199a9c Atharv - added my About Me
|
||||
| | * 72547c5 Fixed grammar
|
||||
| | * 5d57a3a Initial commit
|
||||
| | * 5c7e2e9 Uploaded files from Bitbucket
|
||||
| | * e36e3d0 Delete Send_Over.py
|
||||
| | * a35d599 Delete M8_5.py
|
||||
| | * 6dedb0a Uploaded files from Bitbucket
|
||||
| | * be5350d Update README.md
|
||||
| | * 2412f2c Uploaded files from Bitbucket
|
||||
| | * 125f1df Uploaded files from Bitbucket
|
||||
| | * 3ddaf7e Uploaded files from Bitbucket
|
||||
| | * 2629845 Test new
|
||||
| | * fdbc180 Test
|
||||
| |/
|
||||
| * ce4f984 Created new branch
|
||||
| * 7a0d651 Test commit
|
||||
|/
|
||||
* 0d0e977 Initial commit
|
||||
@@ -1,4 +1,3 @@
|
||||
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor
|
||||
from pybricks.parameters import Port, Stop, Color, Direction
|
||||
@@ -1,4 +1,3 @@
|
||||
|
||||
from pybricks.hubs import PrimeHub
|
||||
from pybricks.pupdevices import Motor, ColorSensor
|
||||
from pybricks.parameters import Port, Stop, Color, Direction
|
||||
@@ -1,303 +0,0 @@
|
||||
# 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())
|
||||
@@ -1,41 +0,0 @@
|
||||
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()
|
||||
@@ -1,13 +0,0 @@
|
||||
#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
|
||||
}
|
||||
@@ -1,36 +0,0 @@
|
||||
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)
|
||||
@@ -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