dev #32
@@ -23,168 +23,13 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
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drive_base.settings(600,500,300,200)
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drive_base.use_gyro(True)
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# Color Settings
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# https://docs.pybricks.com/en/latest/parameters/color.html
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print("Default Detected Colors:", color_sensor.detectable_colors())
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# Custom color Hue, Saturation, Brightness value for Lego bricks
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Color.MAGENTA = Color(300,100,100)
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Color.VIOLET = Color(277,68,32)
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Color.BLUE = Color(240,100,100)
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Color.CYAN = Color(180,100,100)
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LEGO_BRICKS_COLOR = [
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Color.BLUE,
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Color.GREEN,
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Color.WHITE,
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Color.RED,
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Color.YELLOW,
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Color.MAGENTA,
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Color.VIOLET,
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Color.NONE
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]
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#Update Detectable colors
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color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
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print("Updated Detected Colors:", color_sensor.detectable_colors())
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hub.speaker.volume(50) # Set the volume of the speaker
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# Celebration sound types
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class CelebrationSound:
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VICTORY_FANFARE = 0
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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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async def play_victory_fanfare():
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"""Classic victory fanfare"""
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notes = [
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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_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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(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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await wait(50)
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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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(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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async def play_power_up():
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"""Rising power-up sound"""
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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(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 = [
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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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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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Args:
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sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
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"""
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# Light show
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hub.light.on(Color.GREEN)
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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.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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await play_ta_da()
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elif sound_type == CelebrationSound.POWER_UP:
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await play_power_up()
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elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
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await play_rickroll_inspired()
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else:
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await play_success_chime() # Default fallback
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# Blink the light
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for _ in range(3):
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hub.light.off()
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await wait(100)
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hub.light.on(Color.GREEN)
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await wait(100)
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hub.light.off()
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WALL_DISTANCE = 200 # mm
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async def drive_forward():
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"""Drive forward continuously using DriveBase."""
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#await drive_base.straight(5000)
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drive_base.drive(400,0)
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async def monitor_distance():
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"""Monitor ultrasonic sensor and stop when wall is detected."""
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while True:
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@@ -200,6 +45,7 @@ async def monitor_distance():
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# Small delay to prevent overwhelming the sensor
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await wait(50)
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#New Section
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async def Run1(): #From M8_5.py
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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@@ -336,49 +182,40 @@ async def Run6():
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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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while True:
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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(color_reflected_percent)
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if color_reflected_percent > 0: # Make sure we actually have color reflections before checking for color
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color_detected = await color_sensor.color() # Moved this inside the if clause
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print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}')
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if color_detected == Color.GREEN:
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print('Running Mission 1')
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await Run1()
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#await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
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elif color_detected == Color.WHITE:
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print('Running Mission 2')
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await Run2()
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#await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
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elif color_detected == Color.RED:
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print('Running Mission 3')
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await Run3()
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#await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
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elif color_detected == Color.YELLOW:
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print('Running Mission 4')
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await Run4()
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#await celebrate_mission_complete(CelebrationSound.POWER_UP)
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elif color_detected == Color.BLUE:
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print('Running Mission 5')
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await Run5()
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#await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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elif color_detected == Color.VIOLET:
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print('Running Mission 6')
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await Run6()
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else:
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hub.light.off()
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left_motor.stop()
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right_motor.stop()
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color_detected = Color.NONE
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# Function to classify color based on HSV
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async def main:
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if reflected > 4:
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if h < 4 or h > 350: #red
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return "Red"
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print('Running Mission 3')
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await Run3()
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elif 3 < h < 40 and s > 70: #orange
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return "Orange"
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print('Running Mission 6')
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await Run6()
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elif 47 < h < 56: #yellow
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return "Yellow"
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print('Running Mission 4')
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await Run4()
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elif 70 < h < 160: #green - do it vertically not horizontally for accuracy
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return "Green"
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print('Running Mission 1')
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await Run1()
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elif 210 < h < 225: #blue - do it vertically not horizontally for accuracy
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return "Blue"
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print('Running Mission 5')
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await Run5()
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elif 230 < h < 320: #purple
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return "Purple"
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print('Running Mission 2')
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await Run2()
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else:
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color_detected = Color.NONE
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await wait(1000) #prevent loop from iterating fast
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# Main execution loop
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run_task(main())
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return "Unknown"
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# Main loop
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while True:
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h, s, v = sensor.hsv()
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reflected = sensor.reflection()
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color = detect_color(h, s, v, reflected)
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print(f"Detected Color: {color} (Hue: {h}, Sat: {s}, Val: {v})")
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wait(1000)
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