Update competition_codes/AROC/Nationals_Main.py

Reviewed-on: #58

competition_codes/AROC/Nationals_Main.py

@@ -1,3 +1,117 @@
+"""
+PID Straight Drive  —  heading-corrected forward / backward movement.
+
+Improvements over baseline:
+  • Derivative on measurement (not error) — no derivative kick on setpoint change
+  • Fixed-interval dt — loop sleeps a constant 20 ms, so /dt is dropped from the
+    derivative term (dividing by 0.02 was silently multiplying KD by 50)
+  • prev_error seeded from first real heading — eliminates first-tick spike
+  • Per-motor speed clamping — prevents one side pivoting at low speeds
+  • Deceleration ramp — smooth stop in the last RAMP_MM millimetres
+  • Dual-motor exit + timeout — survives stall on either wheel
+  • Integral freeze near target — stops windup right where it matters most
+"""
+
+from pybricks.tools import StopWatch, wait
+import umath
+
+WHEEL_DIAMETER   = 68.8      # mm  — adjust to your wheel (Done)
+AXLE_TRACK       = 180       # mm  — used only if you add turning later (Done)
+LOOP_MS          = 20        # fixed control loop period
+RAMP_MM          = 50      # begin decelerating this far from target
+MIN_SPEED        = 80        # floor speed during ramp (avoid stall)
+TIMEOUT_MS       = 8_000     # safety abort
+# Tuning sequence
+
+KP = 4.8    # Wide chassis = stable platform, can afford higher P gain
+            # without oscillation. Pushes harder through corrections.
+
+KI = 0.012 # Slightly lower than default — large wheels cover distance
+            # fast so the integrator has less time to build up per run.
+            # Raise to 0.012 if you see consistent sideways drift at end.
+
+KD = 7.5    # Higher than default. Big wheels = more rotational momentum,
+            # needs stronger damping to prevent overshoot on corrections.
+
+def _mm_to_deg(mm: float) -> float:
+    return (abs(mm) / (umath.pi * WHEEL_DIAMETER)) * 360.0
+
+
+def _motor_avg_angle(m1, m2) -> float:
+    return (abs(m1.angle()) + abs(m2.angle())) / 2.0
+
+
+async def pid_straight(distance_mm: float, speed: int = 600):
+    """
+    Drive straight for distance_mm at speed (deg/s).
+    Positive = forward, negative = reverse.
+    """
+    direction    = 1 if distance_mm >= 0 else -1
+    degrees_need = _mm_to_deg(distance_mm)
+    target_hdg   = hub.imu.heading()
+
+    left_motor.reset_angle(0)
+    right_motor.reset_angle(0)
+
+    # ── seed integral and prev_error from the real opening heading ──
+    first_error  = target_hdg - hub.imu.heading()   # 0.0 on a perfect start,
+    integral     = 0.0                               # non-zero if robot is tilted
+    prev_heading = hub.imu.heading()                 # for derivative-on-measurement
+
+    watchdog = StopWatch()
+
+    while True:
+        traveled = _motor_avg_angle(left_motor, right_motor)
+
+        # ── exit: distance reached or timeout ──
+        if traveled >= degrees_need:
+            break
+        if watchdog.time() > TIMEOUT_MS:
+            break
+
+        # ── heading error with wrap ──
+        heading = hub.imu.heading()
+        error   = target_hdg - heading
+        if error >  180: error -= 360
+        if error < -180: error += 360
+
+        # ── derivative on measurement — no kick when target changes ──
+        d_heading  = heading - prev_heading          # raw delta (deg / loop)
+        if d_heading >  180: d_heading -= 360
+        if d_heading < -180: d_heading += 360
+        prev_heading = heading
+
+        # ── integral with freeze near target ──
+        near_target = (degrees_need - traveled) < _mm_to_deg(RAMP_MM / 2)
+        if not near_target:
+            integral = max(-50.0, min(50.0, integral + error))  # dt=const → no *dt
+
+        # ── PID output ──
+        #   derivative term: -KD * d_heading  (measurement, not error difference)
+        correction = KP * error + KI * integral - KD * d_heading
+        correction = max(-200.0, min(200.0, correction))
+
+        # ── ramp speed near end ──
+        remaining    = degrees_need - traveled
+        ramp_degrees = _mm_to_deg(RAMP_MM)
+        if remaining < ramp_degrees and ramp_degrees > 0:
+            ramp_factor = max(float(MIN_SPEED) / speed,
+                              remaining / ramp_degrees)
+            run_speed = int(speed * ramp_factor)
+        else:
+            run_speed = speed
+
+        # ── per-motor clamping — prevents pivot at low speeds ──
+        l_cmd = max(-speed, min(speed, direction * run_speed + int(correction)))
+        r_cmd = max(-speed, min(speed, direction * run_speed - int(correction)))
+
+        left_motor.run(l_cmd)
+        right_motor.run(r_cmd)
+        await wait(LOOP_MS)
+
+    left_motor.brake()
+    right_motor.brake()
+
 #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
@@ -20,7 +134,7 @@ color_sensor = ColorSensor(Port.F)
 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(1000, 600, 500, 300)
+drive_base.settings(600, 500, 300, 200)
 drive_base.use_gyro(True)
 
 """
@@ -324,36 +438,26 @@ async def solve_mineshaft_explorer():
     await drive_base.straight(84)
     await right_arm.run_angle(300, 90)
 
-"""
+# Solves Salvage Operation + Statue Rebuild andOrange Key
-Run#5
-- Solves Salvage Operation + Statue Rebuild
-- Orange Key
-"""
 async def Run5():
-    # Getting the sand down
+    # Getting the sand down with PID control for precision
-    await drive_base.straight(550)
+    await pid_straight(550, 400)  # Forward 550mm
     await right_arm.run_angle(300,100)
-    await drive_base.straight(-75)
+    await pid_straight(-75, 300)  # Backward 75mm
     await right_arm.run_angle(300, -100)
+    
     # Shoving the boat into place
-    await drive_base.straight(300)
+    await pid_straight(300, 400)   # Forward 300mm
-    await drive_base.straight(-200)
+    await pid_straight(-200, 300)  # Backward 200mm
-    await drive_base.turn(-15)
+    await drive_base.turn(-15)     # Keep regular turn for small angles
+    
     # Solving statue
-    await drive_base.straight(350)
+    await pid_straight(350, 400)   # Forward 350mm
-    await drive_base.turn(-104)
+    await drive_base.turn(-104)    # Regular turn
-    await drive_base.straight(-80)
+    await pid_straight(-80, 300)   # Backward 80mm
     await left_arm.run_angle(500, -300)
-    await drive_base.straight(120)
+    await pid_straight(120, 300)   # Forward 120mm
-    await drive_base.turn(5)
+    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)
@@ -420,38 +524,30 @@ async def Run10():  # experimental map reveal attachment
     await drive_base.straight(-600)
     drive_base.stop()
 
-async def Run11():  # experimental surface brushing attachment
+async def Run11():  # experimental surface brushing attachment with PID straight
-    
+    # Using PID straight drive for better precision on long runs
-    await drive_base.straight(600)
+    await pid_straight(665, 600)   # Forward 600mm with PID
-    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-35)     # Regular turn for small angles
-    await drive_base.turn(-30)
+    await pid_straight(200, 200)   # Forward 250mm with PID
-    await drive_base.straight(250)
+    await pid_straight(-200, 300)  # Backward 100mm with PID
-    #left_arm.run_angle(300,218)
+    await drive_base.turn(35)      # Regular turn
-    
+    await pid_straight(-665, 500)  # Fast backward 600mm with PID
-    set_default_speed()
-    await drive_base.straight(-100)
-    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(-600)
     drive_base.stop()
 
 async def Run12():
-    await drive_base.straight(900)
+    # Using PID straight drive for precision on long runs
-    await drive_base.turn(83)
+    await pid_straight(900)   # Forward 900mm with PID
+    await drive_base.turn(89.9)      # Regular turn
     await left_arm.run_angle(3000, -300)
     await right_arm.run_angle(1100, -180)
-    drive_base.settings(150, 50, 50, 50)
+    await pid_straight(120, 200)   # Short precise forward with PID
-    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)
+    await pid_straight(-120, 200)  # Short precise backward with PID
-    drive_base.settings(950, 750, 750, 750)
+    await drive_base.turn(90)     # Regular turn
-    await drive_base.turn(110)
+    await pid_straight(900)  # Long return to base with PID
-    await drive_base.straight(1000)
+    drive_base.stop()
-
 
 # Function to classify color based on HSV
 def detect_color(h, s, v, reflected):
@@ -505,10 +601,10 @@ async def main():
             print('Running Mission 5')
             await Run5() 
         elif color == "Purple":
-            print('Running Mission 6')
+            print('Running Mission 11')
             await Run11()  
         elif color == "Light_Blue":
-            print("Running Mission 2_1")
+            print("Running Mission 12")
             await Run12()
         else:
             print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")