FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
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Atharv merged 20 commits from dev into main 2025-10-11 02:30:26 +00:00
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34
README.md
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# 65266 Lego Dynamics - UNEARTHED Season
# 65266 Lego Dynamics - UNEARTHED Season Robot Code
<div align="center">
**⚡ Competitive Robotics Code for FLL SUBMERGED℠ Season ⚡**
**Competitive Robotics Code for FLL SUBMERGED℠ Season**
![Team](https://img.shields.io/badge/Team-65266%20Lego%20Dynamics-blue?style=for-the-badge)
![Season](https://img.shields.io/badge/Season-UNEARTHED-green?style=for-the-badge)
![License](https://img.shields.io/badge/License-GPL-red?style=for-the-badge)
![License](https://img.shields.io/badge/License-GPLv3-red?style=for-the-badge)
</div>
@@ -79,30 +79,34 @@ Repository
- Different colors trigger different mission runs!
### Color Start System
| Color | Mission | Celebration Sound |
|-------|-----------|------------------|
| Green 🟩 | Run 1 | Victory Fanfare |
| White ⚪ | Run 2 | Rickroll Inspired |
| Yellow 🟨 | Run 3 | Success Chime |
| Orange 🟧 | Run 4 | Power Up |
| Blue 🟦 | Run 5 | Power Up |
| Red 🟥 | Run 6 | Ta-Da! |
| 🟥 Red | 🟦 Blue | 🟩 Green | 🟨 Yellow |
|--------|---------|----------|-----------|
| Run 1 | Run 2 | Run 3 | Run 4 |
> **Tip**: Organize your colored bricks before the match for quick run selection!
> **Tip** Organize your colored bricks before the match for quick run selection!
---
## Competition Notes
- ⏱️ **Quick Start**: Color sensor enables rapid run switching without reprogramming
- 🎯 **Modular Design**: Easy to test and modify individual missions
- 🔧 **Flexible Attachments**: Multiple tools optimized for different challenges
- **Quick Start**: Color sensor enables rapid run switching without reprogramming
- **Modular Design**: Easy to test and modify individual missions
- **Flexible Attachments**: Multiple tools optimized for different challenges
---
## Contributing
Team members can contribute by:
- 🐛 Reporting bugs via Issues
- 💡 Suggesting mission optimizations
- 🧪 Testing new attachment designs
- 📝 Documenting successful strategies
- Reporting bugs via Issues
- Suggesting mission optimizations
- Testing new attachment designs
- Documenting successful strategies
---

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final/2main.py Normal file
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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
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)
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(275)
await drive_base.turn(20)
await drive_base.straight(63)
await drive_base.turn(-30)
right_arm.run_angle(50,500)
await drive_base.turn(45)
await drive_base.straight(-135)
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(-500)
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.turn(-100)
await drive_base.straight(-600)
async def Run3():
await drive_base.straight(915)
await drive_base.turn(-90)
await drive_base.straight(60)
await left_arm.run_angle(10000,-15000)
await drive_base.straight(-60)
await drive_base.turn(85)
await drive_base.straight(2000)
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():
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)
def main():
if color_sensor.color() == Color.GREEN:
Run1()
if color_sensor.color() == Color.WHITE:
Run2()
if color_sensor.color() == Color.YELLOW:
Run3()
if color_sensor.color() == Color.BLUE:
Run5()
if color_sensor.color() == Color.RED:
Run6()
print(f'Detected color: {color_sensor.color()}')
# Main execution loop
while True:
main()
wait(100)

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final/3main.py Normal file
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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
async def Run1():
await multitask(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(275)
await drive_base.turn(20)
await drive_base.straight(63)
await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
await drive_base.turn(45)
await drive_base.straight(-135)
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(-500)
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.turn(-100)
await drive_base.straight(-600)
async def Run3():
await drive_base.straight(915)
await drive_base.turn(-90)
await drive_base.straight(60)
await left_arm.run_angle(10000,-15000)
await drive_base.straight(-60)
await drive_base.turn(85)
await drive_base.straight(2000)
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():
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 main():
while True:
detected_color = color_sensor.color(True)
if detected_color == Color.GREEN:
print('Detected color: Green')
await Run1()
elif detected_color == Color.WHITE:
print('Detected color: White')
await Run2()
elif detected_color == Color.YELLOW:
print('Detected color: Yellow')
await Run3()
elif detected_color == Color.BLUE:
print('Detected color: Blue')
await Run5()
elif detected_color == Color.RED:
print('Detected color: Red')
await Run6()
else:
print("None detected")
# Main execution
run_task(main())

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final/4main.py Normal file
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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)
hub.speaker.volume(50) # Set the volume of the speaker
cn = {
"Cs3": 138.59,
"D3": 146.83,
"Ds3": 155.56,
"E3": 164.81,
"F3": 174.61,
"Fs3": 185.00,
"G3": 196.00,
"Gs3": 207.65,
"A3": 220.00,
"As3": 233.08,
"B3": 246.94,
"C4": 261.63,
"Cs4": 277.18,
"D4": 293.66,
"Ds4": 311.13,
"E4": 329.63,
"F4": 349.23,
"Fs4": 369.99,
"G4": 392.00,
"Gs4": 415.30,
"A4": 440.00,
"As4": 466.16,
"B4": 493.88,
"C5": 523.25,
"Cs5": 554.37
}
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(-600)
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(-600)
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 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.straight(-20)
await drive_base.turn(55)
await left_arm.run_angle(300,-400)
await drive_base.turn(70)
await left_arm.run_angle(300,400)
await drive_base.turn(-60)
await drive_base.straight(900)
# 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 = [
(330, 200), # E4
(330, 100), # E4
(330, 100), # E4
(440, 600), # A4
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
await wait(50)
async def play_level_up():
"""Upward scale for level completion"""
notes = [
(cn["Cs4"], 100),
(cn["E4"], 100),
(cn["Cs4"], 100),
(cn["Cs5"], 100),
(cn["Cs4"], 100),
(cn["Gs4"], 100),
(cn["E4"], 100),
(cn["Cs4"], 100),
(cn["Gs4"], 100),
(cn["Cs4"], 100),
(cn["Cs5"], 100),
(cn["Gs4"], 100),
(cn["Cs4"], 100),
(cn["Gs4"], 100),
(cn["Cs5"], 100),
(cn["Gs4"], 100)
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
await wait(20)
async def play_success_chime():
"""Simple success notification"""
notes = [
(cn["E4"], 150),
(cn["Gs4"], 150),
(cn["B4"], 300),
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
await wait(50)
async def play_ta_da():
"""Classic "ta-da!" sound"""
notes = [
(cn["B3"], 200), # B4
(cn["E4"], 400), # E5
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
await wait(100)
async def play_power_up():
"""Rising power-up sound"""
frequencies = [
164.81, 207.65, 246.94, 329.63, 415.30, 493.88
]
for freq in frequencies:
await hub.speaker.beep(freq, 50)
await wait(10)
await hub.speaker.beep(659.24, 200)
async def play_rickroll_inspired():
"""Fun 80s-style dance beat inspired sound"""
# Upbeat bouncy rhythm
pattern = [
(cn["B3"], 200), (cn["Cs4"], 200), (cn["Ds4"], 200), (cn["E4"], 200),
(cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["B3"], 300),
(cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["Gs3"], 400),
]
for freq, duration in pattern:
await hub.speaker.beep(freq, duration)
await wait(50)
async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
"""
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 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}')
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 5')
await Run5()
await celebrate_mission_complete(CelebrationSound.POWER_UP)
elif color_detected == Color.RED:
print('Running Mission 6')
await Run6()
await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
else:
hub.light.off()
left_motor.stop()
right_motor.stop()
await wait(100) #prevent loop from iterating fast
# Main execution loop
run_task(main())

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# Imports... because we kinda need them...
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
# Sets all the default values for the runs
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(37, 85, 95)
Color.BLUE = Color(230,100,100)
Color.YELLOW = Color(53, 75, 84)
color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.ORANGE, Color.NONE])
hub.speaker.volume(50) # Set the volume of the speaker
color_sensor.detectable_colors()
# Notes to hertz for nice music
cn = {
"Cs3": 138.59,
"D3": 146.83,
"Ds3": 155.56,
"E3": 164.81,
"F3": 174.61,
"Fs3": 185.00,
"G3": 196.00,
"Gs3": 207.65,
"A3": 220.00,
"As3": 233.08,
"B3": 246.94,
"C4": 261.63,
"Cs4": 277.18,
"D4": 293.66,
"Ds4": 311.13,
"E4": 329.63,
"F4": 349.23,
"Fs4": 369.99,
"G4": 392.00,
"Gs4": 415.30,
"A4": 440.00,
"As4": 466.16,
"B4": 493.88,
"C5": 523.25,
"Cs5": 554.37
}
# RUNS - contains the mission code that will be executed on color sensor detection
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(-600)
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(-600)
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 left_arm.run_angle(300, -100)
await left_arm.run_angle(300, 500)
await drive_base.straight(180)
await drive_base.turn(-37)
await drive_base.straight(50)
await right_arm.run_angle(300, -400)
await drive_base.straight(-150)
await drive_base.turn(125)
await drive_base.straight(50)
await right_arm.run_angle(300, 400)
await drive_base.straight(-75)
await right_arm.run_angle(300, 300)
await drive_base.turn(-40)
await drive_base.straight(250)
await right_arm.run_angle(100, -300)
await drive_base.straight(30)
await right_arm.run_angle(50,-250)
await drive_base.turn(30)
await drive_base.straight(-200)
await drive_base.turn(-50)
await drive_base.straight(-800)
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.straight(-20)
await drive_base.turn(55)
await left_arm.run_angle(300,-400)
await drive_base.turn(70)
await left_arm.run_angle(300,400)
await drive_base.turn(-60)
await drive_base.straight(900)
# Celebration sound types
class CelebrationSound:
VICTORY_FANFARE = 0
WAITING_SOUND = 1
SUCCESS_CHIME = 2
TA_DA = 3
POWER_UP = 4
RICKROLL_INSPIRED = 5
# Sounds functions
async def play_victory_fanfare():
"""Classic victory fanfare"""
notes = [
(cn["B3"], 200),
(cn["B3"], 100),
(cn["B3"], 100),
(cn["E4"], 600)
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
await wait(50)
async def play_waiting_sound():
# T3rm1na1 V3l0c1ty arpeggio recreated in pybricks
notes = [
(cn["Cs4"], 100),
(cn["E4"], 100),
(cn["Cs4"], 100),
(cn["Cs5"], 100),
(cn["Cs4"], 100),
(cn["Gs4"], 100),
(cn["E4"], 100),
(cn["Cs4"], 100),
(cn["Gs4"], 100),
(cn["Cs4"], 100),
(cn["Cs5"], 100),
(cn["Gs4"], 100),
(cn["Cs4"], 100),
(cn["Gs4"], 100),
(cn["Cs5"], 100),
(cn["Gs4"], 100)
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
async def play_success_chime():
"""Simple success notification"""
notes = [
(cn["E4"], 150),
(cn["Gs4"], 150),
(cn["B4"], 300),
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
await wait(50)
async def play_ta_da():
"""Classic "ta-da!" sound"""
notes = [
(cn["Cs4"], 200),
(cn["Ds4"], 200),
(cn["E4"], 200),
(cn["Ds4"], 200),
(cn["E4"], 200),
(cn["Fs4"], 400),
(cn["Gs4"], 600),
(cn["Fs4"], 400),
(cn["Gs4"], 200),
(cn["A4"], 200),
(cn["B4"], 200),
(cn["C5"], 200),
(cn["Cs5"], 200)
]
for freq, duration in notes:
await hub.speaker.beep(freq, duration)
#await wait(100)
async def play_power_up():
"""Rising power-up sound"""
frequencies = [
164.81, 207.65, 246.94, 329.63, 415.30, 493.88
]
for freq in frequencies:
await hub.speaker.beep(freq, 50)
await wait(10)
await hub.speaker.beep(659.24, 200)
async def play_rickroll_inspired():
"""Fun 80s-style dance beat inspired sound"""
# Upbeat bouncy rhythm
pattern = [ (cn["B3"], 100), (cn["Cs4"], 100), (cn["Ds4"], 100), (cn["E4"], 100), (cn["Cs4"], 100), (cn["B3"], 100), (cn["A3"], 100), (cn["B3"], 200), (cn["Cs4"], 100), (cn["B3"], 100), (cn["A3"], 100), (cn["Gs3"], 200), ]
for freq, duration in pattern:
await hub.speaker.beep(freq, duration)
#await wait(50)
# Basically a big if else statement that calls the functions above
async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
"""
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.WAITING_SOUND:
await play_waiting_sound()
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()
# This where everything happens
async def main():
# MAIN LOOP
while True:
await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
color_reflected_percent = await color_sensor.reflection()
print(f"Color reflection percentage: {color_reflected_percent}")
color_detected = await color_sensor.color()
print(f'Detected color: {color_detected}')
hsv = await color_sensor.hsv()
print(f"Measured HSV: {hsv}")
if color_reflected_percent > 0:
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.ORANGE:
print('Running Mission 4')
await Run4()
await celebrate_mission_complete(CelebrationSound.POWER_UP)
elif color_detected == Color.BLUE:
print('Running Mission 5')
await Run5()
await celebrate_mission_complete(CelebrationSound.POWER_UP)
elif color_detected == Color.RED:
print('Running Mission 6')
await Run6()
await celebrate_mission_complete(CelebrationSound.TA_DA)
else:
hub.light.off()
left_motor.stop()
right_motor.stop()
else:
print("No color was detected.")
await wait(100) # prevent loop from iterating fast
run_task(main())