dev #30
2
members/Rishi.txt
Normal file
2
members/Rishi.txt
Normal file
@@ -0,0 +1,2 @@
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Hi I'm Rishi, the coding manager for Team: 65266
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I love coding and making things that probably end the world.
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@@ -1,11 +1,9 @@
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# Imports... because we kinda need them...
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from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor
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from pybricks.parameters import Port, Stop, Color, Direction
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch, multitask, run_task
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# Sets all the default values for the runs
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hub = PrimeHub()
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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@@ -17,198 +15,72 @@ drive_base.use_gyro(True)
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color_sensor = ColorSensor(Port.F)
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Color.ORANGE = Color(37, 85, 95)
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Color.BLUE = Color(230,100,100)
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Color.YELLOW = Color(53, 75, 84)
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color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.ORANGE, Color.NONE])
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Color.YELLOW = Color(37, 85, 95)
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color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW])
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hub.speaker.volume(50) # Set the volume of the speaker
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color_sensor.detectable_colors()
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# Notes to hertz for nice music
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cn = {
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"Cs3": 138.59,
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"D3": 146.83,
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"Ds3": 155.56,
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"E3": 164.81,
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"F3": 174.61,
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"Fs3": 185.00,
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"G3": 196.00,
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"Gs3": 207.65,
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"A3": 220.00,
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"As3": 233.08,
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"B3": 246.94,
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"C4": 261.63,
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"Cs4": 277.18,
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"D4": 293.66,
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"Ds4": 311.13,
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"E4": 329.63,
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"F4": 349.23,
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"Fs4": 369.99,
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"G4": 392.00,
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"Gs4": 415.30,
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"A4": 440.00,
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"As4": 466.16,
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"B4": 493.88,
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"C5": 523.25,
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"Cs5": 554.37
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}
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# RUNS - contains the mission code that will be executed on color sensor detection
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async def Run1():
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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await drive_base.straight(320)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(277)
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await drive_base.turn(20)
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await drive_base.straight(65)
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await drive_base.turn(-30)
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right_arm.run_angle(50,500)
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await drive_base.turn(45)
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await drive_base.straight(-145)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(-145)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-600)
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async def Run2():
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await drive_base.straight(200)
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await drive_base.turn(-20)
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await drive_base.straight(525)
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await drive_base.turn(60)
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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await drive_base.straight(-100)
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await drive_base.turn(-100)
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await drive_base.straight(-600)
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async def Run3():
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await drive_base.straight(920)
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await drive_base.turn(-90)
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await drive_base.straight(60)
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-4000)
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await drive_base.straight(-110)
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await drive_base.turn(90)
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await drive_base.straight(2000)
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async def Run4():
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await drive_base.straight(519)
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await left_arm.run_angle(300, -100)
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await left_arm.run_angle(300, 500)
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await drive_base.straight(180)
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await drive_base.turn(-37)
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await drive_base.straight(50)
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await right_arm.run_angle(300, -400)
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await drive_base.straight(-150)
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await drive_base.turn(125)
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await drive_base.straight(50)
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await right_arm.run_angle(300, 400)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, 300)
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await drive_base.turn(-40)
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await drive_base.straight(250)
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await right_arm.run_angle(100, -300)
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await drive_base.straight(30)
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await right_arm.run_angle(50,-250)
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await drive_base.turn(30)
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await drive_base.straight(-200)
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await drive_base.turn(-50)
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await drive_base.straight(-800)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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left_arm.run_angle(500,200)
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right_arm.run_angle(500,200)
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await drive_base.straight(70)
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await drive_base.turn(-55)
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await drive_base.straight(900)
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await drive_base.turn(92.5)
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await drive_base.straight(75)
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await drive_base.straight(21)
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await right_arm.run_angle(500,-250)
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await right_arm.run_angle(500,250)
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await drive_base.straight(-20)
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await drive_base.turn(55)
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await left_arm.run_angle(300,-400)
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await drive_base.turn(70)
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await left_arm.run_angle(300,400)
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await drive_base.turn(-60)
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await drive_base.straight(900)
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# Celebration sound types
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class CelebrationSound:
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VICTORY_FANFARE = 0
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WAITING_SOUND = 1
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LEVEL_UP = 1
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SUCCESS_CHIME = 2
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TA_DA = 3
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POWER_UP = 4
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RICKROLL_INSPIRED = 5
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# Sounds functions
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async def play_victory_fanfare():
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"""Classic victory fanfare"""
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notes = [
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(cn["B3"], 200),
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(cn["B3"], 100),
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(cn["B3"], 100),
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(cn["E4"], 600)
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(262, 200), # C4
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(262, 200), # C4
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(262, 200), # C4
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(349, 600), # F4
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_waiting_sound():
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# T3rm1na1 V3l0c1ty arpeggio recreated in pybricks
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notes = [
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(cn["Cs4"], 100),
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(cn["E4"], 100),
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(cn["Cs4"], 100),
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(cn["Cs5"], 100),
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(cn["Cs4"], 100),
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(cn["Gs4"], 100),
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(cn["E4"], 100),
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(cn["Cs4"], 100),
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(cn["Gs4"], 100),
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(cn["Cs4"], 100),
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(cn["Cs5"], 100),
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(cn["Gs4"], 100),
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(cn["Cs4"], 100),
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(cn["Gs4"], 100),
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(cn["Cs5"], 100),
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(cn["Gs4"], 100)
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async def play_level_up():
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"""Upward scale for level completion"""
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notesold = [
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(262, 100), # C4
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(294, 100), # D4
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(330, 100), # E4
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(349, 100), # F4
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(392, 100), # G4
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(440, 100), # A4
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(494, 100), # B4
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(523, 300), # C5
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]
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notes = [
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(277, 100),
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(330, 100),
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(277, 100),
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(554, 100),
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(277, 100),
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(413, 100),
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(330, 100),
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(277, 100),
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(413, 100),
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(277, 100),
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(554, 100),
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(413, 100),
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(277, 100),
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(413, 100),
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(554, 100),
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(413, 100)
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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#await wait(20)
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async def play_success_chime():
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"""Simple success notification"""
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notes = [
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(cn["E4"], 150),
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(cn["Gs4"], 150),
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(cn["B4"], 300),
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(523, 150), # C5
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(659, 150), # E5
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(784, 300), # G5
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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@@ -216,49 +88,32 @@ async def play_success_chime():
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async def play_ta_da():
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"""Classic "ta-da!" sound"""
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notes = [
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(cn["Cs4"], 200),
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(cn["Ds4"], 200),
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(cn["E4"], 200),
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(cn["Ds4"], 200),
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(cn["E4"], 200),
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(cn["Fs4"], 400),
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(cn["Gs4"], 600),
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(cn["Fs4"], 400),
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(cn["Gs4"], 200),
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(cn["A4"], 200),
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(cn["B4"], 200),
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(cn["C5"], 200),
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(cn["Cs5"], 200)
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(392, 200), # G4
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(523, 400), # C5
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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#await wait(100)
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await wait(100)
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async def play_power_up():
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"""Rising power-up sound"""
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frequencies = [
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164.81, 207.65, 246.94, 329.63, 415.30, 493.88
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]
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for freq in frequencies:
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for freq in range(200, 800, 50):
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await hub.speaker.beep(freq, 50)
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await wait(10)
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await hub.speaker.beep(659.24, 200)
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await hub.speaker.beep(1000, 200)
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async def play_rickroll_inspired():
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"""Fun 80s-style dance beat inspired sound"""
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# Upbeat bouncy rhythm
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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), ]
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pattern = [
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(392, 200), (440, 200), (494, 200), (523, 200),
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(440, 200), (392, 200), (349, 200), (392, 300),
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(440, 200), (392, 200), (349, 200), (330, 400),
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]
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for freq, duration in pattern:
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await hub.speaker.beep(freq, duration)
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#await wait(50)
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# Basically a big if else statement that calls the functions above
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async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
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await wait(50)
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async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
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"""
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Main celebration function to call after completing a mission.
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Plays a sound and shows light animation.
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@@ -272,8 +127,8 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR
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# Play the selected celebration sound
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if sound_type == CelebrationSound.VICTORY_FANFARE:
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await play_victory_fanfare()
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elif sound_type == CelebrationSound.WAITING_SOUND:
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await play_waiting_sound()
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elif sound_type == CelebrationSound.LEVEL_UP:
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await play_level_up()
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elif sound_type == CelebrationSound.SUCCESS_CHIME:
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await play_success_chime()
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elif sound_type == CelebrationSound.TA_DA:
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@@ -294,48 +149,133 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR
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hub.light.off()
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# This where everything happens
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async def Run1():
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left_arm.run_angle(1000, -300)
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right_arm.run_angle(1000,500)
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await drive_base.straight(320)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(277)
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await drive_base.turn(20)
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await drive_base.straight(65)
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await drive_base.turn(-30)
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right_arm.run_angle(50,500)
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await drive_base.turn(45)
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await drive_base.straight(-145)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000, 450)
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await drive_base.straight(-145)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-700)
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async def Run2():
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await drive_base.straight(200)
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await drive_base.turn(-20)
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await drive_base.straight(525)
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await drive_base.turn(60)
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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await drive_base.straight(-100)
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await drive_base.turn(-100)
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await drive_base.straight(-750)
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async def Run3():
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await drive_base.straight(920)
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await drive_base.turn(-90)
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await drive_base.straight(60)
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drive_base.turn(-10)
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await left_arm.run_angle(10000,-4000)
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await drive_base.straight(-110)
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await drive_base.turn(90)
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await drive_base.straight(2000)
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async def Run4():
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await drive_base.straight(519)
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await left_arm.run_angle(300, -200)
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await left_arm.run_angle(800, 1000)
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await drive_base.straight(180)
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await drive_base.turn(-37)
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await right_arm.run_angle(300, -50)
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await drive_base.straight(50)
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await right_arm.run_angle(300, -350)
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await drive_base.straight(-150)
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await drive_base.turn(125)
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await drive_base.straight(50)
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await right_arm.run_angle(300, 400)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, -200)
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await drive_base.turn(-40)
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await right_arm.run_angle(300, 250)
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await drive_base.straight(260)
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await right_arm.run_angle(100, -300)
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await drive_base.straight(30)
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await right_arm.run_angle(50,-250)
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await drive_base.turn(30)
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await drive_base.straight(-200)
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await drive_base.turn(-67)
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await drive_base.straight(-800)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def main():
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# MAIN LOOP
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while True:
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await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
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#await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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color_reflected_percent = await color_sensor.reflection()
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print(f"Color reflection percentage: {color_reflected_percent}")
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print(color_reflected_percent)
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color_detected = await color_sensor.color()
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print(f'Detected color: {color_detected}')
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hsv = await color_sensor.hsv()
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print(f"Measured HSV: {hsv}")
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if color_reflected_percent > 0:
|
||||
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)
|
||||
#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)
|
||||
#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:
|
||||
#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.BLUE:
|
||||
#await celebrate_mission_complete(CelebrationSound.POWER_UP)
|
||||
elif color_detected == Color.RED:
|
||||
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)
|
||||
#await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
|
||||
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())
|
||||
await wait(1000) #prevent loop from iterating fast
|
||||
# Main execution loop
|
||||
run_task(main())
|
||||
|
||||
Reference in New Issue
Block a user