FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
Template
10
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 3 Wiki Activity

dev #32

Merged
Atharv merged 123 commits from dev into atharv-dev 2025-10-31 11:56:39 +00:00
Conversation 0 Commits 123 Files Changed 31 +534
5 changed files with 534 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit d8f1d47882 - Show all commits

36
codes_for_scrimmage/hazmat/Heavy_lifting_final.py Normal file
View File

@@ -0,0 +1,36 @@
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
from pybricks.tools import run_task, multitask
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(600,500,300,200)
drive_base.use_gyro(True)
async def main():
#Get to mission
await drive_base.straight(200)
await drive_base.turn(-20)
await drive_base.straight(525)
await drive_base.turn(60)
#Solve mission
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)
#Return home
await drive_base.straight(-100)
await drive_base.turn(-100)
await drive_base.straight(-600)
run_task(main())

49
codes_for_scrimmage/hazmat/M8_5.py Normal file
View File

@@ -0,0 +1,49 @@
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
from pybricks.tools import run_task, multitask
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(600,500,300,200)
drive_base.use_gyro(True)
async def main():
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)
run_task(main())

46
codes_for_scrimmage/hazmat/Send_Over_Final.py Normal file
View File

@@ -0,0 +1,46 @@
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
from pybricks.tools import run_task, multitask
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)
lazer_ranger = UltrasonicSensor(Port.E)
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
drive_base.settings(600,500,300,200)
drive_base.use_gyro(True)
async def main():
#Get to mission
await drive_base.straight(920)
await drive_base.turn(-90,Stop.HOLD)
await drive_base.straight(65)
#Solve mission
drive_base.turn(-10)
await left_arm.run_angle(10000,-4000)
#Get to Red Start
await drive_base.straight(-110)
await drive_base.turn(90)
await drive_base.straight(500)
while True:
distance_mm = await lazer_ranger.distance()
print('distancing...',distance_mm)
if distance_mm < 300:
drive_base.stop
break
else:
drive_base.straight(300)
print('running...')
await wait(10)
run_task(main())

361
codes_for_scrimmage/hazmat/hazmat_main.py Normal file
View File

@@ -0,0 +1,361 @@
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)
left_arm = Motor(Port.C)
right_arm = Motor(Port.D)
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)
# 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(300,100,100)
Color.VIOLET = Color(270,100,100)
Color.ORANGE = Color(17,78,15)
Color.BLUE = Color(240,100,100)
Color.CYAN = Color(180,100,100)
LEGO_BRICKS_COLOR = [
Color.ORANGE,
Color.BLUE,
Color.GREEN,
Color.WHITE,
Color.RED,
Color.YELLOW,
Color.MAGENTA,
Color.VIOLET,
Color.NONE
]
#Update Detectable colors
color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
print("Updated Detected Colors:", color_sensor.detectable_colors())
hub.speaker.volume(50) # Set the volume of the speaker
# 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()
WALL_DISTANCE = 200 # mm
async def drive_forward():
"""Drive forward continuously using DriveBase."""
#await drive_base.straight(5000)
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()
if distance < WALL_DISTANCE:
# Stop the drivebase
await drive_base.turn(-180)
drive_base.brake
print(f"Wall detected at {distance}mm!")
break
# Small delay to prevent overwhelming the sensor
await wait(50)
async def Run1(): #From M8_5.py
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(): #From Heavy_lifting_final.py
#Get to mission
await drive_base.straight(200)
await drive_base.turn(-20)
await drive_base.straight(525)
await drive_base.turn(60)
#Solve mission
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)
#Return home
await drive_base.straight(-100)
await drive_base.turn(-100)
await drive_base.straight(-600)
async def Run3(): #tip the scale.py
drive_base.settings(300,1000,300,200) #Custom drive_base setting based on Ayaan's code
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)
drive_base.settings(600,500,300,200) #Reset it to the initial values
async def Run4(): #From Send_Over_Final.py
#Get to mission
await drive_base.straight(920)
await drive_base.turn(-90,Stop.HOLD)
await drive_base.straight(65)
#Solve mission
drive_base.turn(-10)
await left_arm.run_angle(10000,-4000)
#Get to Red Start
await drive_base.straight(-110)
await drive_base.turn(90)
await drive_base.straight(500)
# while True:
# distance_mm = await lazer_ranger.distance()
# print('distancing...',distance_mm)
# if distance_mm < 300:
# drive_base.stop
# break
# else:
# drive_base.straight(300)
# print('running...')
# await wait(10)
await multitask(
drive_forward(),
monitor_distance()
)
#Add Rishi's code here
async def Run5():
pass
#Add - Adi's code here
async def Run6():
pass
async def main():
while True:
#await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
color_reflected_percent = await color_sensor.reflection()
print(color_reflected_percent)
if color_reflected_percent > 5: # Make sure we actually have color reflections before checking for color
color_detected = await color_sensor.color() # Moved this inside the if clause
print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}')
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.RED:
print('Running Mission 3')
await Run3()
#await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
elif color_detected == Color.YELLOW:
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.LEVEL_UP)
elif color_detected == Color.ORANGE:
print('Running Mission 6')
await Run6()
else:
hub.light.off()
left_motor.stop()
right_motor.stop()
color_detected = Color.NONE
else:
color_detected = Color.NONE
await wait(1000) #prevent loop from iterating fast
# Main execution loop
run_task(main())

42
codes_for_scrimmage/hazmat/tip the scale.py Normal file
View File

@@ -0,0 +1,42 @@
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
from pybricks.tools import run_task, multitask
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(300,1000,300,200)
#drive_base.use_gyro(True)
async def main():
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)
run_task(main())