Merge pull request 'Merge pull request 'dev' (#31) from dev into ayaan_dev' (#56) from ayaan_dev into dev

Reviewed-on: #56

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](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.
+ - 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.
 

RoshoDaGoat.py

@@ -1,42 +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, run_task, multitask
-
-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.D, Direction.CLOCKWISE)
-arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
-# 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=68.8, axle_track=180)
-
-print('The default settings are: ' + str(drive_base.settings()))
-drive_base.settings(300,1000,300,750)
-# Optionally, uncomment the line below to use the gyro for improved accuracy.
-drive_base.use_gyro(True)
-
-async def main():
-    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(200)
-    await arm_motor.run_angle(10000, 10000)
-run_task(main())

competition_codes/sectionals/mukwonago_sectionals_final.py

@@ -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())

competition_codes/state/Updated state.py

@@ -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())

competition_codes/state/run10_experimental.py

@@ -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()

competition_codes/state/run11_experimental.py

@@ -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()

competition_codes/state/sunprarie_state_main.py

@@ -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, -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())

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
-}

old_combined/1main.py

@@ -1,4 +1,3 @@
-
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction

old_combined/2main.py

@@ -1,4 +1,3 @@
-
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction

test_10_17_2025.py

@@ -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())

utils/color_sensor_navi.py

@@ -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()

utils/constants.py

@@ -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
-}

utils/starter_drivebase_code.py

@@ -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)

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())