Merge pull request 'dev' (#53) from dev into main

Reviewed-on: #53

README.md

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

competition_codes/sectionals/mukwonago_sectionals_final.py

@@ -21,7 +21,7 @@ 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
+WALL_DISTANCE = 200  # mm
 
 async def drive_forward():
     """Drive forward continuously using DriveBase."""
@@ -31,9 +31,6 @@ async def drive_backward():
     """Drive forward continuously using DriveBase."""
     drive_base.drive(400, 0)
 
-async def async_drive(speed, direction):
-    drive_base.d
-
 
 async def monitor_distance():
     """Monitor ultrasonic sensor and stop when wall is detected."""
@@ -46,12 +43,31 @@ async def monitor_distance():
             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)
 
-# Experimental - Removed forge and who live here part
-async def Run1():  # From M8_5.py
+"""
+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)
@@ -69,6 +85,7 @@ async def Run1():  # From M8_5.py
     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)
@@ -81,131 +98,172 @@ async def Run1():  # From M8_5.py
     await right_arm.run_angle(4000,-30, Stop.HOLD)
     right_arm.run_angle(4000,30, 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)
+"""
+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()
 
-    await drive_base.straight(-90)
-    #await drive_base.turn(-100)
-    await drive_base.arc(200,None,-300)
+    # return to base
+    await drive_base.arc(-500,None,600)
     drive_base.stop()
-    
-async def Run2():  # experiment with ferris wheel for silo
-    await drive_base.straight(410)
-    #await drive_base.turn(-20)
-    #await drive_base.straight(536)
-    #await drive_base.turn(60, Stop.HOLD)
-    #await drive_base.straight(30)
-    for i in range(3):
-        await right_arm.run_angle(10000, -360)
-    await drive_base.straight(-400)
 
-# Experimental - This to solve forge, who lived here and heavy lifting combined
-async def Run2_1():  
+async def solve_forge():
     await right_arm.run_target(50,50)
-    #await right_arm.re
-    #await multitask(
-    await right_arm.run_angle(50,-30)
+    # await right_arm.run_angle(50,-30)
     await drive_base.arc(350,113, None)
-    #)
-    await drive_base.turn(-60)
-    await drive_base.straight(-40)
 
-    await right_arm.run_angle(500,-90) # arm down
+    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 wait(100)
-    await right_arm.run_angle(500,90) #arm up
+    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.brake()
+    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)
 
-async def Run3():  # tip the scale.py
-    right_arm.run_angle(500,30)
-    await drive_base.straight(800)
-    await drive_base.turn(90)
-    await drive_base.straight(86)
-    await right_arm.run_angle(800,-140)
-    await right_arm.run_angle(900,140)
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_angler_artifacts()
+    await solve_tip_the_scale()
     
-    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,-3000)
-    await drive_base.straight(-110)
-    await drive_base.turn(90)
-
+    #cross over to red side
     await multitask(
         drive_forward(), 
         monitor_distance()
     )
 
-async def Run_3_4(): #combined angler artifacts and tip the scale - experimental
-    await drive_base.straight(920)
+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,-95, None)
+    await drive_base.arc(-150,-103, None)
 
-    await drive_base.straight(100)
+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(-80)
-    await drive_base.turn(-67)
-    await drive_base.straight(450,Stop.COAST_SMART)
-    await drive_base.arc(10,-25, None)
+    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)
 
-    await multitask(
-        drive_forward(), 
-        monitor_distance()
-    )
 
 
-# Add Rishi's code here
-async def Run5(): 
+
+
+
+"""
+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)
-    await drive_base.straight(-875)
 
-# Add - Adi's code here
-async def Run6():
+"""
+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)
@@ -216,6 +274,8 @@ async def Run6():
     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)
@@ -223,71 +283,33 @@ async def Run6():
     await drive_base.straight(50)
     await left_arm.run_angle(700, 250)
     await drive_base.turn(30)
-    await drive_base.straight(-60)
-    await drive_base.turn(80)
-    await drive_base.straight(-900)
 
-async def arc_back(radius, angle):
-    #print(radius, angle)
-    drive_base.arc(radius, angle, None)
-
-async def lift_right_arm():
-    await right_arm.run_angle(100, -90)
-
-# This is a refactor of Salvage operation mission without wait and realignment
-async def Run6_1(): #experimental
-
-    await drive_base.straight(500)
-    await right_arm.run_angle(100,90)
-    await drive_base.straight(-75)
-
-    #ack back while raising arm
-    await multitask (
-        lift_right_arm(),
-        arc_back(-215, -45)
-    )
-    
-    #align to raise the ship
-    await drive_base.straight(-150)
-    await drive_base.turn(-45)
-
-    #await drive_base.straight(-350)
-    #await wait(1000)
-
-    #Solve ship
-    await drive_base.straight(800)
-    await drive_base.straight(-200)
-    await drive_base.turn(-15)
-    await drive_base.straight(350)
-    await drive_base.turn(-100)
-    await drive_base.straight(-80)
-    await left_arm.run_angle(500, -700)
-    await drive_base.straight(50)
-    await drive_base.straight(50)
-    await left_arm.run_angle(700, 250)
-    await drive_base.turn(15)
-    await drive_base.straight(-80)
-    await drive_base.turn(80)
-    await drive_base.straight(-900)
+"""
+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 Run6_7():  # experiment with ferris wheel for Site Markings
+async def solve_site_mark_1():
     await drive_base.straight(500)
-    
     await right_arm.run_angle(100, -10)
     await wait(50)
-    #await multitask (
-    #lift_right_arm()
-    #await right_arm.run_angle(100, 10)
-    #await arc_back(-215, -140)
     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)
-    #await drive_base.straight(-300)
-    drive_base.stop()
+
+
 
 # Function to classify color based on HSV
 def detect_color(h, s, v, reflected):
@@ -322,24 +344,24 @@ async def main():
         print(color)
         
 
-        if color == "Red":
-            print('Running Mission 3')
-            await Run3() #red
-        elif color == "Orange":
-            print('Running Mission 6')
-            await Run6_1() #orange
-        elif color == "Yellow":
-            print('Running Mission 4')
-            await Run_3_4() #yellow
-        elif color == "Green": 
+        if color == "Green":
             print('Running Mission 1')
-            await Run1() #green - vertically
-        elif color == "Blue":
-            print('Running Mission 5')
-            await Run5() #blue - vertically
-        elif color == "Purple":
+            await Run1() 
+        elif color == "Red":
             print('Running Mission 2')
-            await Run6_7()  #purple - vertically
+            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 Run6_7()  
         elif color == "Light_Blue":
             print("Running Mission 2_1")
             await Run2_1()
@@ -347,4 +369,4 @@ async def main():
             print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
         await wait(10)
 # Run the main function
-run_task(main())
+run_task(main())

utils/tests/colorsensortest.py

@@ -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())