twist_scrimmage.py

@@ -1,9 +1,11 @@
+# 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)
@@ -20,6 +22,7 @@ color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHI
 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,
@@ -49,7 +52,7 @@ cn = {
 }
 
 
-
+# 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)
@@ -75,6 +78,7 @@ async def Run1():
     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)
@@ -89,6 +93,7 @@ async def Run2():
     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)
@@ -98,6 +103,7 @@ async def Run3():
     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)
@@ -121,12 +127,14 @@ async def Run4():
     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)
@@ -145,15 +153,17 @@ async def Run6():
     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
+    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 = [
@@ -166,8 +176,9 @@ async def play_victory_fanfare():
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
         await wait(50)
-async def play_level_up():
-    """Upward scale for level completion"""
+async def play_waiting_sound():
+
+    # T3rm1na1 V3l0c1ty arpeggio recreated in pybricks
     notes = [
     (cn["Cs4"], 100),
     (cn["E4"], 100),
@@ -190,7 +201,6 @@ async def play_level_up():
     
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
-        await wait(20)
 async def play_success_chime():
     """Simple success notification"""
     notes = [
@@ -239,6 +249,8 @@ async def play_rickroll_inspired():
     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.
@@ -253,8 +265,8 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR
     # 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.WAITING_SOUND:
+        await play_waiting_sound()
     elif sound_type == CelebrationSound.SUCCESS_CHIME:
         await play_success_chime()
     elif sound_type == CelebrationSound.TA_DA:
@@ -274,11 +286,12 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR
         await wait(100)
     
     hub.light.off()
-    
+
+# This where everything happens    
 async def main():
     # MAIN LOOP    
     while True:
-        await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        await celebrate_mission_complete(CelebrationSound.WAITING_SOUND)
         color_reflected_percent = await color_sensor.reflection()
         print(f"Color reflection percentage: {color_reflected_percent}")
 
@@ -310,14 +323,14 @@ async def main():
             elif color_detected == Color.RED:
                 print('Running Mission 6')
                 await Run6()
-                await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+                await celebrate_mission_complete(CelebrationSound.POWER_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
+        await wait(100) # prevent loop from iterating fast
             
 # Main execution loop
 run_task(main())