From 7e1d310e245b4460393737bcd683dc379e694285 Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Fri, 31 Oct 2025 00:29:07 +0000 Subject: [PATCH 001/100] New rishi code --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 35 +++++---------------- 1 file changed, 8 insertions(+), 27 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index c48de0b..cebadd0 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -140,35 +140,16 @@ async def Run4(): # From Send_Over_Final.py # Add Rishi's code here async def Run5(): - await drive_base.straight(519) - await left_arm.run_angle(-10000, 300) - await left_arm.run_angle(10000, 600) - await drive_base.straight(160) - await drive_base.turn(-30) - await drive_base.straight(50) - await right_arm.run_angle(3000, 3000) - await drive_base.straight(-150) - await drive_base.turn(120) - await drive_base.straight(25) - await right_arm.run_angle(10000, -3000) - await drive_base.straight(-110) - await drive_base.turn(-43) - await right_arm.run_angle(10000, -3000) - await drive_base.straight(295) - await right_arm.run_angle(10000, 9000) - await drive_base.straight(-65) - await drive_base.turn(45) - await drive_base.straight(175) - await drive_base.turn(24.5) + await drive_base.straight(600) await drive_base.straight(-100) - await right_arm.run_angle(10000, -8500) + await drive_base.straight(150) + await drive_base.turn(60) await drive_base.straight(100) - await right_arm.run_angle(10000, 3500) - await drive_base.turn(-30) - await drive_base.straight(-300) - await drive_base.turn(-80) - await drive_base.straight(-700) - + await drive_base.turn(-86) + await drive_base.straight(120) + await drive_base.turn(-45) + await drive_base.straight(-200) + await drive_base.turn(75) # Add - Adi's code here async def Run6(): -- 2.49.1 From 9061eef3115e4cd8d5bfc82d5eba2b4d2c76f46c Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Thu, 6 Nov 2025 01:12:19 +0000 Subject: [PATCH 002/100] Update codes_for_scrimmage/hazmat/mainhazmatUPD.py --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 65 +++++++++++++-------- 1 file changed, 40 insertions(+), 25 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index c48de0b..00c3fa3 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -21,7 +21,7 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) drive_base.settings(600, 500, 300, 200) drive_base.use_gyro(True) -WALL_DISTANCE = 300 # mm +WALL_DISTANCE = 200 # mm async def drive_forward(): """Drive forward continuously using DriveBase.""" @@ -45,30 +45,45 @@ async def monitor_distance(): # New Section 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) + right_arm.run_angle(1000,450) + left_arm.run_angle(500,-80) + await drive_base.straight(200) + + await drive_base.turn(-40) + await drive_base.straight(325) + await left_arm.run_angle(500,80) + + await drive_base.straight(-100) + await drive_base.straight(50) + await left_arm.run_angle(500,-170) + + await drive_base.straight(-270) + await drive_base.turn(40) + await drive_base.straight(135) + left_arm.run_angle(1000,-670) + + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + right_arm.run_angle(5000,450, Stop.HOLD) + + await drive_base.turn(-35) + await drive_base.straight(300) + await drive_base.turn(63) + await drive_base.straight(170) + + await drive_base.turn(-80) + await drive_base.straight(87) + await drive_base.turn(-15) + + await drive_base.straight(-120) + await drive_base.turn(-100) + await drive_base.straight(300) + await drive_base.turn(-45) + await drive_base.straight(500) + async def Run2(): # From Heavy_lifting_final.py await drive_base.straight(200) -- 2.49.1 From 6e82f4d476f5d99f29d1d8892fd5ff3f3efcd841 Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Fri, 7 Nov 2025 23:12:55 +0000 Subject: [PATCH 003/100] Add missions/New_MapReveal/New_MapReveal_Mineshaft.py Rishi's updated code --- .../New_MapReveal/New_MapReveal_Mineshaft.py | 38 +++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 missions/New_MapReveal/New_MapReveal_Mineshaft.py diff --git a/missions/New_MapReveal/New_MapReveal_Mineshaft.py b/missions/New_MapReveal/New_MapReveal_Mineshaft.py new file mode 100644 index 0000000..2113b9b --- /dev/null +++ b/missions/New_MapReveal/New_MapReveal_Mineshaft.py @@ -0,0 +1,38 @@ +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) + +WALL_DISTANCE = 200 # mm + +async def main(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-220) + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -1200) + await drive_base.straight(84) + await right_arm.run_angle(300, 1200) + await drive_base.straight(-875) + +run_task(main()) \ No newline at end of file -- 2.49.1 From c7801d17c02fb0bbf5acecde55e75ef74c3bc9ae Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Fri, 7 Nov 2025 23:14:24 +0000 Subject: [PATCH 004/100] Update codes_for_scrimmage/hazmat/mainhazmatUPD.py --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index 63a05cf..26f4a3d 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -143,14 +143,14 @@ async def Run4(): # From Send_Over_Final.py # Add Rishi's code here async def Run5(): await drive_base.straight(700) - await drive_base.turn(-18) - await drive_base.straight(100) - await drive_base.straight(-205) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-220) await drive_base.turn(63) - await drive_base.straight(125) - await arm_motor.run_angle(1000, -1200) + await drive_base.straight(130) + await right_arm.run_angle(1000, -1200) await drive_base.straight(84) - await arm_motor.run_angle(300, 1200) + await right_arm.run_angle(300, 1200) await drive_base.straight(-875) # Add - Adi's code here -- 2.49.1 From 2d614c0e381ebefc99efa272a3ec8ee172c5f6ce Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Sat, 8 Nov 2025 22:25:56 +0000 Subject: [PATCH 005/100] Update LINEUPS.md well now we have 5 missions? --- LINEUPS.md | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/LINEUPS.md b/LINEUPS.md index c9a8d30..72ee538 100644 --- a/LINEUPS.md +++ b/LINEUPS.md @@ -2,14 +2,12 @@ ## These are the line-up positions for the robot game for various missions. -- Mission Run #1 (Mission #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot. +- Mission Run #1 (Run #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot. -- Mission Run #2 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the left home. The robot's right side should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is not part of the curve. +- Mission Run #2 (Tip the scales) [Right/Blue Home] - The middle of the left edge of the robot should be positioned on the 2nd thick line from the left. -- Mission Run #3 (Sand mission) [Right/Blue Home] - The robot should be lined up on the vertical edge of the left home. The robot's left side should be positioned on the 1/2th thin line from the bottom. +- Mission Run #3 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the right home. The robot's right edge should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is in the inner curve. -- Mission Run #4 (Boat mission) [Left/Red Home] - The robot should be lined up on the vertical edge of the left home. The robot's right side should be positioned on the 2nd thick line from the bottom. +- Mission Run #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thin line from the left. -- Mission Run #5 (Bautism) [Left/Red Home] - The robot's left edge should be positioned at the 1st thick, 2nd thin line from the left. - -- Mission Run #6 (Not-so-heavy Lifting) [Right/Blue Home] - The robot's right edge should be positioned at the 1st thick from the right. \ No newline at end of file +- Mission Run #5 (Boat mission) [Left/Red Home] - There are two alignments for this. When sending off the robot for part 1, the robot should be facing the right home. It's right edge should be positioned at the very bottom edge of the board. Once it completes the pulling part, once it comes back begin part 2. For part 2, the middle of the robot's right side should be positioned in the middle of the 3rd thick and the 3rd thick, 1st thin lines. \ No newline at end of file -- 2.49.1 From c3c875e80ea0ecb54a50be349950bad6905c27c1 Mon Sep 17 00:00:00 2001 From: alkadienePhoton Date: Sat, 8 Nov 2025 17:50:29 -0600 Subject: [PATCH 006/100] Merging with actual stuff fixed --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 41 --------------------- 1 file changed, 41 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index df2bab9..59de9f3 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -46,10 +46,6 @@ async def monitor_distance(): # New Section async def Run1(): # From M8_5.py right_arm.run_angle(1000,450) -<<<<<<< HEAD - left_arm.run_angle(500,80) - await drive_base.straight(200) -======= left_arm.run_angle(500,-80) await drive_base.straight(200) @@ -88,43 +84,6 @@ async def Run1(): # From M8_5.py await drive_base.turn(-45) await drive_base.straight(500) ->>>>>>> Johannes_Dev - - await drive_base.turn(-40) - await drive_base.straight(325) - await left_arm.run_angle(500,-80) - - await drive_base.straight(-100) - await drive_base.straight(50) - await left_arm.run_angle(500,170) - - await drive_base.straight(-270) - await drive_base.turn(40) - await drive_base.straight(135) - left_arm.run_angle(1000,670) - - await right_arm.run_angle(5000,-450, Stop.HOLD) - await right_arm.run_angle(5000,450, Stop.HOLD) - await right_arm.run_angle(5000,-450, Stop.HOLD) - await right_arm.run_angle(5000,450, Stop.HOLD) - await right_arm.run_angle(5000,-450, Stop.HOLD) - right_arm.run_angle(5000,450, Stop.HOLD) - - await drive_base.turn(-35) - await drive_base.straight(300) - await drive_base.turn(63) - await drive_base.straight(170) - - await drive_base.turn(-80) - await drive_base.straight(87) - await drive_base.turn(-15) - - await drive_base.straight(-120) - await drive_base.turn(-100) - await drive_base.straight(300) - await drive_base.turn(-45) - await drive_base.straight(500) - async def Run2(): # From Heavy_lifting_final.py await drive_base.straight(200) -- 2.49.1 From 9cdb70dd80ecdc289422364380f879bf3a83cd07 Mon Sep 17 00:00:00 2001 From: alkadienePhoton Date: Sat, 8 Nov 2025 17:51:13 -0600 Subject: [PATCH 007/100] Merging with actual stuff fixed #2 --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index 59de9f3..79f3692 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -142,7 +142,6 @@ async def Run4(): # From Send_Over_Final.py # Add Rishi's code here async def Run5(): -<<<<<<< HEAD await drive_base.straight(600) await drive_base.straight(-100) await drive_base.straight(150) @@ -153,18 +152,6 @@ async def Run5(): await drive_base.turn(-45) await drive_base.straight(-200) await drive_base.turn(75) -======= - await drive_base.straight(700) - await drive_base.turn(-20) - await drive_base.straight(110) - await drive_base.straight(-220) - await drive_base.turn(63) - await drive_base.straight(130) - await right_arm.run_angle(1000, -1200) - await drive_base.straight(84) - await right_arm.run_angle(300, 1200) - await drive_base.straight(-875) ->>>>>>> 2d614c0e381ebefc99efa272a3ec8ee172c5f6ce # Add - Adi's code here async def Run6(): -- 2.49.1 From 3b22d28e98edba99797a712e69a5fc73cb9da73e Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Sun, 9 Nov 2025 01:12:56 +0000 Subject: [PATCH 008/100] Update LINEUPS.md --- LINEUPS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LINEUPS.md b/LINEUPS.md index 72ee538..de269d3 100644 --- a/LINEUPS.md +++ b/LINEUPS.md @@ -8,6 +8,6 @@ - Mission Run #3 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the right home. The robot's right edge should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is in the inner curve. -- Mission Run #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thin line from the left. +- Mission Run #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thick line from the left. - Mission Run #5 (Boat mission) [Left/Red Home] - There are two alignments for this. When sending off the robot for part 1, the robot should be facing the right home. It's right edge should be positioned at the very bottom edge of the board. Once it completes the pulling part, once it comes back begin part 2. For part 2, the middle of the robot's right side should be positioned in the middle of the 3rd thick and the 3rd thick, 1st thin lines. \ No newline at end of file -- 2.49.1 From 30a5392e568ed0f890e76b77f70b89047d29e885 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Sun, 9 Nov 2025 01:20:19 +0000 Subject: [PATCH 009/100] Update LINEUPS.md --- LINEUPS.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/LINEUPS.md b/LINEUPS.md index de269d3..ece7496 100644 --- a/LINEUPS.md +++ b/LINEUPS.md @@ -4,10 +4,12 @@ - Mission Run #1 (Run #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot. +Alt text + - Mission Run #2 (Tip the scales) [Right/Blue Home] - The middle of the left edge of the robot should be positioned on the 2nd thick line from the left. - Mission Run #3 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the right home. The robot's right edge should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is in the inner curve. - Mission Run #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thick line from the left. -- Mission Run #5 (Boat mission) [Left/Red Home] - There are two alignments for this. When sending off the robot for part 1, the robot should be facing the right home. It's right edge should be positioned at the very bottom edge of the board. Once it completes the pulling part, once it comes back begin part 2. For part 2, the middle of the robot's right side should be positioned in the middle of the 3rd thick and the 3rd thick, 1st thin lines. \ No newline at end of file +- Mission Run #5 (Boat mission) [Left/Red Home] - There are two alignments for this. When sending off the robot for part 1, the robot should be facing the right home. It's right edge should be positioned at the very bottom edge of the board. Once it completes the pulling part, once it comes back begin part 2. For part 2, the middle of the robot's right side should be positioned in the middle of the 3rd thick and the 3rd thick, 1st thin lines from the top. For both runs the robot should be facing the blue home. \ No newline at end of file -- 2.49.1 From 31f482f57629a100f9a5d602634bbbdbd0aa5e51 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Sun, 9 Nov 2025 01:52:54 +0000 Subject: [PATCH 010/100] Update LINEUPS.md --- LINEUPS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LINEUPS.md b/LINEUPS.md index ece7496..3ba5981 100644 --- a/LINEUPS.md +++ b/LINEUPS.md @@ -2,7 +2,7 @@ ## These are the line-up positions for the robot game for various missions. -- Mission Run #1 (Run #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot. +- Mission Run #1 (Run #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot. Also, when counting these lines, make sure you count from the inside curve, not the outside. Alt text -- 2.49.1 From 1ee90ac2e17da82ae855ba85a5d37d71c57c2903 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 9 Nov 2025 22:16:39 +0000 Subject: [PATCH 011/100] Update missions/M8_5.py --- missions/M8_5.py | 60 ++++++++++++++++++++++++++++++------------------ 1 file changed, 38 insertions(+), 22 deletions(-) diff --git a/missions/M8_5.py b/missions/M8_5.py index 95ecc9e..7b81ba5 100644 --- a/missions/M8_5.py +++ b/missions/M8_5.py @@ -19,31 +19,47 @@ 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) + + right_arm.run_angle(1000,450) + left_arm.run_angle(500,-90) + await drive_base.straight(200) - 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(-40) + await drive_base.straight(325) + await left_arm.run_angle(500,90) + await drive_base.straight(-100) + await drive_base.straight(50) + await left_arm.run_angle(500,-180) + + await drive_base.straight(-90) + left_arm.run_angle(500,180) await drive_base.turn(-20) - await drive_base.straight(277) - await drive_base.turn(20) - await drive_base.straight(65) + await drive_base.turn(15) - await drive_base.turn(-30) - right_arm.run_angle(50,500) + await drive_base.straight(-173) 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) + await drive_base.straight(120) + left_arm.run_angle(1000,-670) + + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + right_arm.run_angle(5000,450, Stop.HOLD) + + await drive_base.turn(-35) + await drive_base.straight(297) + await drive_base.turn(63) + await drive_base.straight(170) + + await drive_base.turn(-80) + await drive_base.straight(87) + await drive_base.turn(-15) + + await drive_base.straight(-90) + await drive_base.turn(-100) + await drive_base.arc(-500,None,600) + run_task(main()) \ No newline at end of file -- 2.49.1 From d2738e26154198af83fa8e5820a403b63bb5c483 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 9 Nov 2025 22:26:09 +0000 Subject: [PATCH 012/100] Update codes_for_scrimmage/hazmat/mainhazmatUPD.py --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 27 ++++++++++++--------- 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index 79f3692..d23f655 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -45,21 +45,27 @@ async def monitor_distance(): # New Section async def Run1(): # From M8_5.py + right_arm.run_angle(1000,450) - left_arm.run_angle(500,-80) + left_arm.run_angle(500,-90) await drive_base.straight(200) await drive_base.turn(-40) await drive_base.straight(325) - await left_arm.run_angle(500,80) + await left_arm.run_angle(500,90) await drive_base.straight(-100) await drive_base.straight(50) - await left_arm.run_angle(500,-170) + await left_arm.run_angle(500,-180) - await drive_base.straight(-270) - await drive_base.turn(40) - await drive_base.straight(135) + await drive_base.straight(-90) + left_arm.run_angle(500,180) + await drive_base.turn(-20) + await drive_base.turn(15) + + await drive_base.straight(-173) + await drive_base.turn(45) + await drive_base.straight(120) left_arm.run_angle(1000,-670) await right_arm.run_angle(5000,-450, Stop.HOLD) @@ -70,7 +76,7 @@ async def Run1(): # From M8_5.py right_arm.run_angle(5000,450, Stop.HOLD) await drive_base.turn(-35) - await drive_base.straight(300) + await drive_base.straight(297) await drive_base.turn(63) await drive_base.straight(170) @@ -78,12 +84,9 @@ async def Run1(): # From M8_5.py await drive_base.straight(87) await drive_base.turn(-15) - await drive_base.straight(-120) + await drive_base.straight(-90) await drive_base.turn(-100) - await drive_base.straight(300) - await drive_base.turn(-45) - await drive_base.straight(500) - + await drive_base.arc(-500,None,600) async def Run2(): # From Heavy_lifting_final.py await drive_base.straight(200) -- 2.49.1 From 1c0896cbeb0169225fe8a174af259f27d9ab57bf Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 00:31:22 +0000 Subject: [PATCH 013/100] Add utils/FINAL_STARTER_BLANK_CODE.py ayaan is SO ANNOYING BRO --- utils/FINAL_STARTER_BLANK_CODE.py | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) create mode 100644 utils/FINAL_STARTER_BLANK_CODE.py diff --git a/utils/FINAL_STARTER_BLANK_CODE.py b/utils/FINAL_STARTER_BLANK_CODE.py new file mode 100644 index 0000000..56d98b6 --- /dev/null +++ b/utils/FINAL_STARTER_BLANK_CODE.py @@ -0,0 +1,29 @@ +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 +AXLE_TRACK = 180 # mm +drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) +drive_base.settings(600, 500, 300, 200) +drive_base.use_gyro(True) + +WALL_DISTANCE = 200 # mm + +async def main: + # Your code goes here + +run_task(main()) \ No newline at end of file -- 2.49.1 From 19f79b91d17bc64674a9095e0c73dfde0be7891c Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 00:37:21 +0000 Subject: [PATCH 014/100] Update utils/FINAL_STARTER_BLANK_CODE.py --- utils/FINAL_STARTER_BLANK_CODE.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/utils/FINAL_STARTER_BLANK_CODE.py b/utils/FINAL_STARTER_BLANK_CODE.py index 56d98b6..4afe3d7 100644 --- a/utils/FINAL_STARTER_BLANK_CODE.py +++ b/utils/FINAL_STARTER_BLANK_CODE.py @@ -23,7 +23,7 @@ drive_base.use_gyro(True) WALL_DISTANCE = 200 # mm -async def main: +async def main(): # Your code goes here run_task(main()) \ No newline at end of file -- 2.49.1 From 10960a8473503868da7e6baa869e34dd2565ba2f Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Wed, 12 Nov 2025 01:06:33 +0000 Subject: [PATCH 015/100] Add codes_for_scrimmage/regional-final/Final_combined.py --- .../regional-final/Final_combined.py | 221 ++++++++++++++++++ 1 file changed, 221 insertions(+) create mode 100644 codes_for_scrimmage/regional-final/Final_combined.py diff --git a/codes_for_scrimmage/regional-final/Final_combined.py b/codes_for_scrimmage/regional-final/Final_combined.py new file mode 100644 index 0000000..976ce7b --- /dev/null +++ b/codes_for_scrimmage/regional-final/Final_combined.py @@ -0,0 +1,221 @@ +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) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.stop + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# New Section +async def Run1(): # From M8_5.py + right_arm.run_angle(1000,450) + left_arm.run_angle(500,90) + await drive_base.straight(200) + + await drive_base.turn(-40) + await drive_base.straight(325) + await left_arm.run_angle(500,-90) + + await drive_base.straight(-100) + await drive_base.straight(50) + await left_arm.run_angle(500,180) + + await drive_base.straight(-90) + left_arm.run_angle(500,-180) + await drive_base.turn(-20) + await drive_base.turn(15) + + await drive_base.straight(-173) + await drive_base.turn(45) + await drive_base.straight(120) + left_arm.run_angle(1000,670) + + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + right_arm.run_angle(5000,450, Stop.HOLD) + + await drive_base.turn(-35) + await drive_base.straight(297) + await drive_base.turn(63) + await drive_base.straight(170) + + await drive_base.turn(-80) + await drive_base.straight(87) + await drive_base.turn(-15) + + await drive_base.straight(-90) + await drive_base.turn(-100) + await drive_base.arc(-500,None,600) + + +async def Run2(): # From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + await right_arm.run_angle(5000, 2900) + await drive_base.straight(40) + await right_arm.run_angle(5000, -4000) + await drive_base.straight(-60) + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): # tip the scale.py + right_arm.run_angle(500,400) + await drive_base.straight(800) + await drive_base.turn(90) + await drive_base.straight(86) + await right_arm.run_angle(800,-600) + await right_arm.run_angle(900,800) + + await drive_base.straight(-100) + await drive_base.turn(90) + await drive_base.straight(800) + drive_base.brake() + + +async def Run4(): # From Send_Over_Final.py + + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-110) + await drive_base.turn(90) + + await multitask( + drive_forward(), + monitor_distance() + ) + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -1200) + await drive_base.straight(84) + await right_arm.run_angle(300, 1200) + await drive_base.straight(-875) + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700, 250) + await drive_base.turn(30) + await drive_base.straight(-60) + await drive_base.turn(80) + await drive_base.straight(-900) + + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run2() #purple - vertically + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 6d54f9c2d70f4a8ef3b57720348bfe8b7b5a123d Mon Sep 17 00:00:00 2001 From: alkadienePhoton Date: Tue, 11 Nov 2025 19:10:21 -0600 Subject: [PATCH 016/100] Fixed conflicts --- commit-graph.html | 132 +++++++++++++++++++++++++++++++++++++++++ commit-graphnew.html | 136 +++++++++++++++++++++++++++++++++++++++++++ graph.txt | 112 +++++++++++++++++++++++++++++++++++ 3 files changed, 380 insertions(+) create mode 100644 commit-graph.html create mode 100644 commit-graphnew.html create mode 100644 graph.txt diff --git a/commit-graph.html b/commit-graph.html new file mode 100644 index 0000000..4770fe1 --- /dev/null +++ b/commit-graph.html @@ -0,0 +1,132 @@ + + + + + + +stdin + + + + + +
+*   d3294bc (HEAD -> main, tag: TwistScrimmageRelease, origin/main) SCRIMMAGE MERGE!!!
+|\  
+| * d66aecd (origin/dev, origin/HEAD, dev) Update README.md
+| * bbdf0d0 Shortened fun sounds
+| *   a2ed2c4 Merge pull request 'arcmyx-dev' (#14) from arcmyx-dev into dev
+| |\  
+| | * dd0070d (origin/arcmyx-dev) Update twist_scrimmage.py
+| | * 9a06677 Added comments. Good luck for scrimmage y'all!!!
+| | * 11e89c6 THE FINAL THINGY
+| * | 52214be Update final/4main.py
+| * | 4540269 Update final/4main.py
+| * | 785c955 Update final/4main.py
+| * | b6cffc6 Update final/4main
+| * | 870dce3 Merge pull request 'arcmyx-dev' (#13) from arcmyx-dev into dev
+| |\| 
+| | * bb76258 Update final/main4emaj.py
+| | * 75e64da Update final/main4emaj.py
+| | * 8ea7cd5 Update final/main4emaj.py
+* | | 5ba2811 Merge pull request 'Updated LICENSE and README' (#12) from dev into main
+|\| | 
+| * | dd4fb8b Switched to GPLv3
+| * | ee099d9 Switched to GPL v3
+| * | 489add5 Removed emojis
+* | | 387e00b Merge branch 'dev'
+|\| | 
+| * | 28e5bea Updated README file with some formatting help from AI
+* | | 3fdd6ae Merge to main for Scrimmage
+|\| | 
+| * | 1e612e2 (tag: Scrimmage-Twist) Updated license information
+| * |   4456a5a Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev
+| |\ \  
+| | * | 08e0b9a (origin/Johannes_Dev) Delete missions/Lift2.py
+| | * | 4533f95 Add stuff from Johannes accidental fork
+| * | |   ec74531 Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev
+| |\ \ \  
+| * \ \ \   62b76d4 Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev
+| |\ \ \ \  
+| | * | | | 8008daf (origin/ayaan_dev) Add missions/tip the scale.py
+| * | | | |   cba5cfc Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev
+| |\ \ \ \ \  
+| * \ \ \ \ \   3349e7f Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev
+| |\ \ \ \ \ \  
+| | * | | | | | 4b765b0 (origin/Rishi_dev) Update missions/M8_5.py
+| | * | | | | | 2eca0d7 Initial commit
+| |/ / / / / /  
+| * | / / / / 8949003 Mission 9 not in use
+| | |/ / / /  
+| |/| | | |   
+| * | | | | 6931731 Update LINEUPS.md
+| * | | | | d172c70 THIS CODE IS OUTDATED!!! DO NOT USE!!!
+| * | | | | efcc011 Initial Commit
+| * | | | |   28bb3fa Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev
+| |\ \ \ \ \  
+| * \ \ \ \ \   7ba2453 Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev
+| |\ \ \ \ \ \  
+| | | |_|_|/ /  
+| | |/| | | |   
+| | * | | | | 7eeead7 Sand Mission
+| | * | | | | e817650 Send Over
+| | * | | | | c4aa954 Boat mission
+* | | | | | | ee0b8eb Update README.md
+* | | | | | |   a745ed8 Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main
+|\ \ \ \ \ \ \  
+| | | | | | | | * 7e2dc0b (origin/Vickram_dev_) Update final/main5.py
+| | | | | | | | * 29bd9f0 Update final/main5.py
+| | | | | | | | * a3b04d3 Add final/main5.py
+| | | | | | | | * 2d9eb49 Update final/main4.py
+| | | | | | | | * 42090ea Update final/main4.py
+| | | | | | | | * f7072a6 Update final/main4.py
+| | | | | | | |/  
+| | | | | | | * 3f37e7e Update final/main4.py
+| | | | | | | * a3e7be2 Update final/main4.py
+| | | | | | | * c2204e7 Update final/main4.py
+| | | | | | | * 0664a61 Add final/main4.py
+| | | | | | | * 227619d Add final/3main.py
+| | | | | | | * 684447c Add final/2main.py
+| | | | | | |/  
+| | | | | | * 95d7c0c Add final/1main.py
+| | | | | | * 7e0c3d2 Delete Final Combined Codes
+| | | | | | * f190d38 Add Final Combined Codes
+| | | | | | * cd21a73 Delete missions/main.py
+| | | | | | * 0fa1019 Upload files to "missions"
+| | | | | |/  
+| | | | | * bb89e01 Update utils/combine_runs.py
+| | | | |/  
+| | | | * c690ae4 Update members/Vickram.txt
+| | | |/  
+| | |/|   
+| | * | d309b00 '{Johannes}'
+| | * | 37fb0a6 Add members/Ayaan.txt
+| | * | e895fd1 Add members/Vickram.txt
+| | * | 70e09fb Add members/Carlos.txt
+| | |/  
+| | * d017d13 Update members/atharv.txt
+| | * 6199a9c Atharv - added my About Me
+| | * 72547c5 Fixed grammar
+| | * 5d57a3a Initial commit
+| | * 5c7e2e9 Uploaded files from Bitbucket
+| | * e36e3d0 Delete Send_Over.py
+| | * a35d599 Delete M8_5.py
+| | * 6dedb0a Uploaded files from Bitbucket
+| | * be5350d Update README.md
+| | * 2412f2c Uploaded files from Bitbucket
+| | * 125f1df Uploaded files from Bitbucket
+| | * 3ddaf7e Uploaded files from Bitbucket
+| | * 2629845 Test new
+| | * fdbc180 Test
+| |/  
+| * ce4f984 Created new branch
+| * 7a0d651 Test commit
+|/  
+* 0d0e977 Initial commit
+
+ + diff --git a/commit-graphnew.html b/commit-graphnew.html new file mode 100644 index 0000000..ee955e9 --- /dev/null +++ b/commit-graphnew.html @@ -0,0 +1,136 @@ + + + + + + + COMMIT GRAPH + + + + + 
+*   d3294bc  (HEAD -> main, tag: TwistScrimmageRelease, origin/main) SCRIMMAGE MERGE!!! [Atharv]
+|\  
+| * d66aecd  (origin/dev, origin/HEAD, dev) Update README.md [Atharv]
+| * bbdf0d0  Shortened fun sounds [Atharv]
+| *   a2ed2c4  Merge pull request 'atharv-dev' (#14) from atharv-dev into dev [Atharv]
+| |\  
+| | * dd0070d  (origin/atharv-dev) Update twist_scrimmage.py [Atharv]
+| | * 9a06677  Added comments. Good luck for scrimmage y'all!!! [Atharv]
+| | * 11e89c6  THE FINAL THINGY [Atharv]
+| * | 52214be  Update final/4main.py [Ayaan]
+| * | 4540269  Update final/4main.py [Johannes]
+| * | 785c955  Update final/4main.py [Atharv]
+| * | b6cffc6  Update final/4main [Atharv]
+| * | 870dce3  Merge pull request 'atharv-dev' (#13) from atharv-dev into dev [Atharv]
+| |\| 
+| | * bb76258  Update final/main4emaj.py [Atharv]
+| | * 75e64da  Update final/main4emaj.py [Atharv]
+| | * 8ea7cd5  Update final/main4emaj.py [Atharv]
+* | | 5ba2811  Merge pull request 'Updated LICENSE and README' (#12) from dev into main [Atharv]
+|\| | 
+| * | dd4fb8b  Switched to GPLv3 [Atharv]
+| * | ee099d9  Switched to GPL v3 [Atharv]
+| * | 489add5  Removed emojis [Atharv]
+* | | 387e00b  Merge branch 'dev' [Coach]
+|\| | 
+| * | 28e5bea  Updated README file with some formatting help from AI [Coach]
+* | | 3fdd6ae  Merge to main for Scrimmage [Coach]
+|\| | 
+| * | 1e612e2  (tag: Scrimmage-Twist) Updated license information [Atharv]
+| * |   4456a5a  Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev [Atharv]
+| |\ \  
+| | * | 08e0b9a  (origin/Johannes_Dev) Delete missions/Lift2.py [Atharv]
+| | * | 4533f95  Add stuff from Johannes accidental fork [Atharv]
+| * | |   ec74531  Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev [Atharv]
+| |\ \ \  
+| * \ \ \   62b76d4  Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev [Atharv]
+| |\ \ \ \  
+| | * | | | 8008daf  (origin/ayaan_dev) Add missions/tip the scale.py [Ayaan]
+| * | | | |   cba5cfc  Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev [Atharv]
+| |\ \ \ \ \  
+| * \ \ \ \ \   3349e7f  Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev [Atharv]
+| |\ \ \ \ \ \  
+| | * | | | | | 4b765b0  (origin/Rishi_dev) Update missions/M8_5.py [Rishikesh Lolapu]
+| | * | | | | | 2eca0d7  Initial commit [Rishikesh Lolapu]
+| |/ / / / / /  
+| * | / / / / 8949003  Mission 9 not in use [Atharv]
+| | |/ / / /  
+| |/| | | |   
+| * | | | | 6931731  Update LINEUPS.md [Atharv]
+| * | | | | d172c70  THIS CODE IS OUTDATED!!! DO NOT USE!!! [Atharv]
+| * | | | | efcc011  Initial Commit [Vickram]
+| * | | | |   28bb3fa  Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev [Atharv]
+| |\ \ \ \ \  
+| * \ \ \ \ \   7ba2453  Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev [Atharv]
+| |\ \ \ \ \ \  
+| | | |_|_|/ /  
+| | |/| | | |   
+| | * | | | | 7eeead7  Sand Mission [Johannes]
+| | * | | | | e817650  Send Over [Johannes]
+| | * | | | | c4aa954  Boat mission [Johannes]
+* | | | | | | ee0b8eb  Update README.md [Atharv]
+* | | | | | |   a745ed8  Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main [Coach]
+|\ \ \ \ \ \ \  
+| | | | | | | | * 7e2dc0b  (origin/Vickram_dev_) Update final/main5.py [Rishikesh Lolapu]
+| | | | | | | | * 29bd9f0  Update final/main5.py [Rishikesh Lolapu]
+| | | | | | | | * a3b04d3  Add final/main5.py [Rishikesh Lolapu]
+| | | | | | | | * 2d9eb49  Update final/main4.py [Johannes]
+| | | | | | | | * 42090ea  Update final/main4.py [Johannes]
+| | | | | | | | * f7072a6  Update final/main4.py [Johannes]
+| | | | | | | |/  
+| | | | | | | * 3f37e7e  Update final/main4.py [Vickram]
+| | | | | | | * a3e7be2  Update final/main4.py [Atharv]
+| | | | | | | * c2204e7  Update final/main4.py [Vickram]
+| | | | | | | * 0664a61  Add final/main4.py [Vickram]
+| | | | | | | * 227619d  Add final/3main.py [Vickram]
+| | | | | | | * 684447c  Add final/2main.py [Vickram]
+| | | | | | |/  
+| | | | | | * 95d7c0c  Add final/1main.py [Vickram]
+| | | | | | * 7e0c3d2  Delete Final Combined Codes [Vickram]
+| | | | | | * f190d38  Add Final Combined Codes [Vickram]
+| | | | | | * cd21a73  Delete missions/main.py [Vickram]
+| | | | | | * 0fa1019  Upload files to "missions" [Vickram]
+| | | | | |/  
+| | | | | * bb89e01  Update utils/combine_runs.py [Vickram]
+| | | | |/  
+| | | | * c690ae4  Update members/Vickram.txt [Vickram]
+| | | |/  
+| | |/|   
+| | * | d309b00  '{Johannes}' [Johannes]
+| | * | 37fb0a6  Add members/Ayaan.txt [Ayaan]
+| | * | e895fd1  Add members/Vickram.txt [Vickram]
+| | * | 70e09fb  Add members/Carlos.txt [Carlos]
+| | |/  
+| | * d017d13  Update members/atharv.txt [Atharv]
+| | * 6199a9c  Atharv - added my About Me [Atharv]
+| | * 72547c5  Fixed grammar [Atharv]
+| | * 5d57a3a  Initial commit [Atharv]
+| | * 5c7e2e9  Uploaded files from Bitbucket [Atharv]
+| | * e36e3d0  Delete Send_Over.py [Atharv]
+| | * a35d599  Delete M8_5.py [Atharv]
+| | * 6dedb0a  Uploaded files from Bitbucket [Atharv]
+| | * be5350d  Update README.md [Atharv]
+| | * 2412f2c  Uploaded files from Bitbucket [Atharv]
+| | * 125f1df  Uploaded files from Bitbucket [Atharv]
+| | * 3ddaf7e  Uploaded files from Bitbucket [Atharv]
+| | * 2629845  Test new [Atharv]
+| | * fdbc180  Test [Atharv]
+| |/  
+| * ce4f984  Created new branch [Coach]
+| * 7a0d651  Test commit [Coach]
+|/  
+* 0d0e977  Initial commit [Coach]
+ + diff --git a/graph.txt b/graph.txt new file mode 100644 index 0000000..16e345d --- /dev/null +++ b/graph.txt @@ -0,0 +1,112 @@ +* d3294bc SCRIMMAGE MERGE!!! +|\ +| * d66aecd Update README.md +| * bbdf0d0 Shortened fun sounds +| * a2ed2c4 Merge pull request 'arcmyx-dev' (#14) from arcmyx-dev into dev +| |\ +| | * dd0070d Update twist_scrimmage.py +| | * 9a06677 Added comments. Good luck for scrimmage y'all!!! +| | * 11e89c6 THE FINAL THINGY +| * | 52214be Update final/4main.py +| * | 4540269 Update final/4main.py +| * | 785c955 Update final/4main.py +| * | b6cffc6 Update final/4main +| * | 870dce3 Merge pull request 'arcmyx-dev' (#13) from arcmyx-dev into dev +| |\| +| | * bb76258 Update final/main4emaj.py +| | * 75e64da Update final/main4emaj.py +| | * 8ea7cd5 Update final/main4emaj.py +* | | 5ba2811 Merge pull request 'Updated LICENSE and README' (#12) from dev into main +|\| | +| * | dd4fb8b Switched to GPLv3 +| * | ee099d9 Switched to GPL v3 +| * | 489add5 Removed emojis +* | | 387e00b Merge branch 'dev' +|\| | +| * | 28e5bea Updated README file with some formatting help from AI +* | | 3fdd6ae Merge to main for Scrimmage +|\| | +| * | 1e612e2 Updated license information +| * | 4456a5a Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev +| |\ \ +| | * | 08e0b9a Delete missions/Lift2.py +| | * | 4533f95 Add stuff from Johannes accidental fork +| * | | ec74531 Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev +| |\ \ \ +| * \ \ \ 62b76d4 Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev +| |\ \ \ \ +| | * | | | 8008daf Add missions/tip the scale.py +| * | | | | cba5cfc Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev +| |\ \ \ \ \ +| * \ \ \ \ \ 3349e7f Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev +| |\ \ \ \ \ \ +| | * | | | | | 4b765b0 Update missions/M8_5.py +| | * | | | | | 2eca0d7 Initial commit +| |/ / / / / / +| * | / / / / 8949003 Mission 9 not in use +| | |/ / / / +| |/| | | | +| * | | | | 6931731 Update LINEUPS.md +| * | | | | d172c70 THIS CODE IS OUTDATED!!! DO NOT USE!!! +| * | | | | efcc011 Initial Commit +| * | | | | 28bb3fa Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev +| |\ \ \ \ \ +| * \ \ \ \ \ 7ba2453 Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev +| |\ \ \ \ \ \ +| | | |_|_|/ / +| | |/| | | | +| | * | | | | 7eeead7 Sand Mission +| | * | | | | e817650 Send Over +| | * | | | | c4aa954 Boat mission +* | | | | | | ee0b8eb Update README.md +* | | | | | | a745ed8 Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main +|\ \ \ \ \ \ \ +| | | | | | | | * 7e2dc0b Update final/main5.py +| | | | | | | | * 29bd9f0 Update final/main5.py +| | | | | | | | * a3b04d3 Add final/main5.py +| | | | | | | | * 2d9eb49 Update final/main4.py +| | | | | | | | * 42090ea Update final/main4.py +| | | | | | | | * f7072a6 Update final/main4.py +| | | | | | | |/ +| | | | | | | * 3f37e7e Update final/main4.py +| | | | | | | * a3e7be2 Update final/main4.py +| | | | | | | * c2204e7 Update final/main4.py +| | | | | | | * 0664a61 Add final/main4.py +| | | | | | | * 227619d Add final/3main.py +| | | | | | | * 684447c Add final/2main.py +| | | | | | |/ +| | | | | | * 95d7c0c Add final/1main.py +| | | | | | * 7e0c3d2 Delete Final Combined Codes +| | | | | | * f190d38 Add Final Combined Codes +| | | | | | * cd21a73 Delete missions/main.py +| | | | | | * 0fa1019 Upload files to "missions" +| | | | | |/ +| | | | | * bb89e01 Update utils/combine_runs.py +| | | | |/ +| | | | * c690ae4 Update members/Vickram.txt +| | | |/ +| | |/| +| | * | d309b00 '{Johannes}' +| | * | 37fb0a6 Add members/Ayaan.txt +| | * | e895fd1 Add members/Vickram.txt +| | * | 70e09fb Add members/Carlos.txt +| | |/ +| | * d017d13 Update members/atharv.txt +| | * 6199a9c Atharv - added my About Me +| | * 72547c5 Fixed grammar +| | * 5d57a3a Initial commit +| | * 5c7e2e9 Uploaded files from Bitbucket +| | * e36e3d0 Delete Send_Over.py +| | * a35d599 Delete M8_5.py +| | * 6dedb0a Uploaded files from Bitbucket +| | * be5350d Update README.md +| | * 2412f2c Uploaded files from Bitbucket +| | * 125f1df Uploaded files from Bitbucket +| | * 3ddaf7e Uploaded files from Bitbucket +| | * 2629845 Test new +| | * fdbc180 Test +| |/ +| * ce4f984 Created new branch +| * 7a0d651 Test commit +|/ +* 0d0e977 Initial commit -- 2.49.1 From 7047a0d227e58d2727b7e0c32088373ff1cc38cb Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 01:12:58 +0000 Subject: [PATCH 017/100] Delete commit-graph.html --- commit-graph.html | 132 ---------------------------------------------- 1 file changed, 132 deletions(-) delete mode 100644 commit-graph.html diff --git a/commit-graph.html b/commit-graph.html deleted file mode 100644 index 4770fe1..0000000 --- a/commit-graph.html +++ /dev/null @@ -1,132 +0,0 @@ - - - - - - -stdin - - - - - -
-*   d3294bc (HEAD -> main, tag: TwistScrimmageRelease, origin/main) SCRIMMAGE MERGE!!!
-|\  
-| * d66aecd (origin/dev, origin/HEAD, dev) Update README.md
-| * bbdf0d0 Shortened fun sounds
-| *   a2ed2c4 Merge pull request 'arcmyx-dev' (#14) from arcmyx-dev into dev
-| |\  
-| | * dd0070d (origin/arcmyx-dev) Update twist_scrimmage.py
-| | * 9a06677 Added comments. Good luck for scrimmage y'all!!!
-| | * 11e89c6 THE FINAL THINGY
-| * | 52214be Update final/4main.py
-| * | 4540269 Update final/4main.py
-| * | 785c955 Update final/4main.py
-| * | b6cffc6 Update final/4main
-| * | 870dce3 Merge pull request 'arcmyx-dev' (#13) from arcmyx-dev into dev
-| |\| 
-| | * bb76258 Update final/main4emaj.py
-| | * 75e64da Update final/main4emaj.py
-| | * 8ea7cd5 Update final/main4emaj.py
-* | | 5ba2811 Merge pull request 'Updated LICENSE and README' (#12) from dev into main
-|\| | 
-| * | dd4fb8b Switched to GPLv3
-| * | ee099d9 Switched to GPL v3
-| * | 489add5 Removed emojis
-* | | 387e00b Merge branch 'dev'
-|\| | 
-| * | 28e5bea Updated README file with some formatting help from AI
-* | | 3fdd6ae Merge to main for Scrimmage
-|\| | 
-| * | 1e612e2 (tag: Scrimmage-Twist) Updated license information
-| * |   4456a5a Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev
-| |\ \  
-| | * | 08e0b9a (origin/Johannes_Dev) Delete missions/Lift2.py
-| | * | 4533f95 Add stuff from Johannes accidental fork
-| * | |   ec74531 Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev
-| |\ \ \  
-| * \ \ \   62b76d4 Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev
-| |\ \ \ \  
-| | * | | | 8008daf (origin/ayaan_dev) Add missions/tip the scale.py
-| * | | | |   cba5cfc Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev
-| |\ \ \ \ \  
-| * \ \ \ \ \   3349e7f Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev
-| |\ \ \ \ \ \  
-| | * | | | | | 4b765b0 (origin/Rishi_dev) Update missions/M8_5.py
-| | * | | | | | 2eca0d7 Initial commit
-| |/ / / / / /  
-| * | / / / / 8949003 Mission 9 not in use
-| | |/ / / /  
-| |/| | | |   
-| * | | | | 6931731 Update LINEUPS.md
-| * | | | | d172c70 THIS CODE IS OUTDATED!!! DO NOT USE!!!
-| * | | | | efcc011 Initial Commit
-| * | | | |   28bb3fa Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev
-| |\ \ \ \ \  
-| * \ \ \ \ \   7ba2453 Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev
-| |\ \ \ \ \ \  
-| | | |_|_|/ /  
-| | |/| | | |   
-| | * | | | | 7eeead7 Sand Mission
-| | * | | | | e817650 Send Over
-| | * | | | | c4aa954 Boat mission
-* | | | | | | ee0b8eb Update README.md
-* | | | | | |   a745ed8 Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main
-|\ \ \ \ \ \ \  
-| | | | | | | | * 7e2dc0b (origin/Vickram_dev_) Update final/main5.py
-| | | | | | | | * 29bd9f0 Update final/main5.py
-| | | | | | | | * a3b04d3 Add final/main5.py
-| | | | | | | | * 2d9eb49 Update final/main4.py
-| | | | | | | | * 42090ea Update final/main4.py
-| | | | | | | | * f7072a6 Update final/main4.py
-| | | | | | | |/  
-| | | | | | | * 3f37e7e Update final/main4.py
-| | | | | | | * a3e7be2 Update final/main4.py
-| | | | | | | * c2204e7 Update final/main4.py
-| | | | | | | * 0664a61 Add final/main4.py
-| | | | | | | * 227619d Add final/3main.py
-| | | | | | | * 684447c Add final/2main.py
-| | | | | | |/  
-| | | | | | * 95d7c0c Add final/1main.py
-| | | | | | * 7e0c3d2 Delete Final Combined Codes
-| | | | | | * f190d38 Add Final Combined Codes
-| | | | | | * cd21a73 Delete missions/main.py
-| | | | | | * 0fa1019 Upload files to "missions"
-| | | | | |/  
-| | | | | * bb89e01 Update utils/combine_runs.py
-| | | | |/  
-| | | | * c690ae4 Update members/Vickram.txt
-| | | |/  
-| | |/|   
-| | * | d309b00 '{Johannes}'
-| | * | 37fb0a6 Add members/Ayaan.txt
-| | * | e895fd1 Add members/Vickram.txt
-| | * | 70e09fb Add members/Carlos.txt
-| | |/  
-| | * d017d13 Update members/atharv.txt
-| | * 6199a9c Atharv - added my About Me
-| | * 72547c5 Fixed grammar
-| | * 5d57a3a Initial commit
-| | * 5c7e2e9 Uploaded files from Bitbucket
-| | * e36e3d0 Delete Send_Over.py
-| | * a35d599 Delete M8_5.py
-| | * 6dedb0a Uploaded files from Bitbucket
-| | * be5350d Update README.md
-| | * 2412f2c Uploaded files from Bitbucket
-| | * 125f1df Uploaded files from Bitbucket
-| | * 3ddaf7e Uploaded files from Bitbucket
-| | * 2629845 Test new
-| | * fdbc180 Test
-| |/  
-| * ce4f984 Created new branch
-| * 7a0d651 Test commit
-|/  
-* 0d0e977 Initial commit
-
- - -- 2.49.1 From b08d80b4b6de53a0691c1ba8d38581c86f4800f8 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 01:13:04 +0000 Subject: [PATCH 018/100] Delete graph.txt --- graph.txt | 112 ------------------------------------------------------ 1 file changed, 112 deletions(-) delete mode 100644 graph.txt diff --git a/graph.txt b/graph.txt deleted file mode 100644 index 16e345d..0000000 --- a/graph.txt +++ /dev/null @@ -1,112 +0,0 @@ -* d3294bc SCRIMMAGE MERGE!!! -|\ -| * d66aecd Update README.md -| * bbdf0d0 Shortened fun sounds -| * a2ed2c4 Merge pull request 'arcmyx-dev' (#14) from arcmyx-dev into dev -| |\ -| | * dd0070d Update twist_scrimmage.py -| | * 9a06677 Added comments. Good luck for scrimmage y'all!!! -| | * 11e89c6 THE FINAL THINGY -| * | 52214be Update final/4main.py -| * | 4540269 Update final/4main.py -| * | 785c955 Update final/4main.py -| * | b6cffc6 Update final/4main -| * | 870dce3 Merge pull request 'arcmyx-dev' (#13) from arcmyx-dev into dev -| |\| -| | * bb76258 Update final/main4emaj.py -| | * 75e64da Update final/main4emaj.py -| | * 8ea7cd5 Update final/main4emaj.py -* | | 5ba2811 Merge pull request 'Updated LICENSE and README' (#12) from dev into main -|\| | -| * | dd4fb8b Switched to GPLv3 -| * | ee099d9 Switched to GPL v3 -| * | 489add5 Removed emojis -* | | 387e00b Merge branch 'dev' -|\| | -| * | 28e5bea Updated README file with some formatting help from AI -* | | 3fdd6ae Merge to main for Scrimmage -|\| | -| * | 1e612e2 Updated license information -| * | 4456a5a Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev -| |\ \ -| | * | 08e0b9a Delete missions/Lift2.py -| | * | 4533f95 Add stuff from Johannes accidental fork -| * | | ec74531 Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev -| |\ \ \ -| * \ \ \ 62b76d4 Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev -| |\ \ \ \ -| | * | | | 8008daf Add missions/tip the scale.py -| * | | | | cba5cfc Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev -| |\ \ \ \ \ -| * \ \ \ \ \ 3349e7f Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev -| |\ \ \ \ \ \ -| | * | | | | | 4b765b0 Update missions/M8_5.py -| | * | | | | | 2eca0d7 Initial commit -| |/ / / / / / -| * | / / / / 8949003 Mission 9 not in use -| | |/ / / / -| |/| | | | -| * | | | | 6931731 Update LINEUPS.md -| * | | | | d172c70 THIS CODE IS OUTDATED!!! DO NOT USE!!! -| * | | | | efcc011 Initial Commit -| * | | | | 28bb3fa Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev -| |\ \ \ \ \ -| * \ \ \ \ \ 7ba2453 Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev -| |\ \ \ \ \ \ -| | | |_|_|/ / -| | |/| | | | -| | * | | | | 7eeead7 Sand Mission -| | * | | | | e817650 Send Over -| | * | | | | c4aa954 Boat mission -* | | | | | | ee0b8eb Update README.md -* | | | | | | a745ed8 Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main -|\ \ \ \ \ \ \ -| | | | | | | | * 7e2dc0b Update final/main5.py -| | | | | | | | * 29bd9f0 Update final/main5.py -| | | | | | | | * a3b04d3 Add final/main5.py -| | | | | | | | * 2d9eb49 Update final/main4.py -| | | | | | | | * 42090ea Update final/main4.py -| | | | | | | | * f7072a6 Update final/main4.py -| | | | | | | |/ -| | | | | | | * 3f37e7e Update final/main4.py -| | | | | | | * a3e7be2 Update final/main4.py -| | | | | | | * c2204e7 Update final/main4.py -| | | | | | | * 0664a61 Add final/main4.py -| | | | | | | * 227619d Add final/3main.py -| | | | | | | * 684447c Add final/2main.py -| | | | | | |/ -| | | | | | * 95d7c0c Add final/1main.py -| | | | | | * 7e0c3d2 Delete Final Combined Codes -| | | | | | * f190d38 Add Final Combined Codes -| | | | | | * cd21a73 Delete missions/main.py -| | | | | | * 0fa1019 Upload files to "missions" -| | | | | |/ -| | | | | * bb89e01 Update utils/combine_runs.py -| | | | |/ -| | | | * c690ae4 Update members/Vickram.txt -| | | |/ -| | |/| -| | * | d309b00 '{Johannes}' -| | * | 37fb0a6 Add members/Ayaan.txt -| | * | e895fd1 Add members/Vickram.txt -| | * | 70e09fb Add members/Carlos.txt -| | |/ -| | * d017d13 Update members/atharv.txt -| | * 6199a9c Atharv - added my About Me -| | * 72547c5 Fixed grammar -| | * 5d57a3a Initial commit -| | * 5c7e2e9 Uploaded files from Bitbucket -| | * e36e3d0 Delete Send_Over.py -| | * a35d599 Delete M8_5.py -| | * 6dedb0a Uploaded files from Bitbucket -| | * be5350d Update README.md -| | * 2412f2c Uploaded files from Bitbucket -| | * 125f1df Uploaded files from Bitbucket -| | * 3ddaf7e Uploaded files from Bitbucket -| | * 2629845 Test new -| | * fdbc180 Test -| |/ -| * ce4f984 Created new branch -| * 7a0d651 Test commit -|/ -* 0d0e977 Initial commit -- 2.49.1 From 73ca30ed4c675eeeb5f279fd93018b5b25fddcf4 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 01:13:09 +0000 Subject: [PATCH 019/100] Delete commit-graphnew.html --- commit-graphnew.html | 136 ------------------------------------------- 1 file changed, 136 deletions(-) delete mode 100644 commit-graphnew.html diff --git a/commit-graphnew.html b/commit-graphnew.html deleted file mode 100644 index ee955e9..0000000 --- a/commit-graphnew.html +++ /dev/null @@ -1,136 +0,0 @@ - - - - - - - COMMIT GRAPH - - - - - 
-*   d3294bc  (HEAD -> main, tag: TwistScrimmageRelease, origin/main) SCRIMMAGE MERGE!!! [Atharv]
-|\  
-| * d66aecd  (origin/dev, origin/HEAD, dev) Update README.md [Atharv]
-| * bbdf0d0  Shortened fun sounds [Atharv]
-| *   a2ed2c4  Merge pull request 'atharv-dev' (#14) from atharv-dev into dev [Atharv]
-| |\  
-| | * dd0070d  (origin/atharv-dev) Update twist_scrimmage.py [Atharv]
-| | * 9a06677  Added comments. Good luck for scrimmage y'all!!! [Atharv]
-| | * 11e89c6  THE FINAL THINGY [Atharv]
-| * | 52214be  Update final/4main.py [Ayaan]
-| * | 4540269  Update final/4main.py [Johannes]
-| * | 785c955  Update final/4main.py [Atharv]
-| * | b6cffc6  Update final/4main [Atharv]
-| * | 870dce3  Merge pull request 'atharv-dev' (#13) from atharv-dev into dev [Atharv]
-| |\| 
-| | * bb76258  Update final/main4emaj.py [Atharv]
-| | * 75e64da  Update final/main4emaj.py [Atharv]
-| | * 8ea7cd5  Update final/main4emaj.py [Atharv]
-* | | 5ba2811  Merge pull request 'Updated LICENSE and README' (#12) from dev into main [Atharv]
-|\| | 
-| * | dd4fb8b  Switched to GPLv3 [Atharv]
-| * | ee099d9  Switched to GPL v3 [Atharv]
-| * | 489add5  Removed emojis [Atharv]
-* | | 387e00b  Merge branch 'dev' [Coach]
-|\| | 
-| * | 28e5bea  Updated README file with some formatting help from AI [Coach]
-* | | 3fdd6ae  Merge to main for Scrimmage [Coach]
-|\| | 
-| * | 1e612e2  (tag: Scrimmage-Twist) Updated license information [Atharv]
-| * |   4456a5a  Merge pull request 'Johannes_Dev' (#9) from Johannes_Dev into dev [Atharv]
-| |\ \  
-| | * | 08e0b9a  (origin/Johannes_Dev) Delete missions/Lift2.py [Atharv]
-| | * | 4533f95  Add stuff from Johannes accidental fork [Atharv]
-| * | |   ec74531  Merge pull request 'Vickram_dev_' (#8) from Vickram_dev_ into dev [Atharv]
-| |\ \ \  
-| * \ \ \   62b76d4  Merge pull request 'Add missions/tip the scale.py' (#4) from ayaan_dev into dev [Atharv]
-| |\ \ \ \  
-| | * | | | 8008daf  (origin/ayaan_dev) Add missions/tip the scale.py [Ayaan]
-| * | | | |   cba5cfc  Merge pull request 'Update utils/combine_runs.py' (#5) from Vickram_dev_ into dev [Atharv]
-| |\ \ \ \ \  
-| * \ \ \ \ \   3349e7f  Merge pull request 'Rishi_dev' (#7) from Rishi_dev into dev [Atharv]
-| |\ \ \ \ \ \  
-| | * | | | | | 4b765b0  (origin/Rishi_dev) Update missions/M8_5.py [Rishikesh Lolapu]
-| | * | | | | | 2eca0d7  Initial commit [Rishikesh Lolapu]
-| |/ / / / / /  
-| * | / / / / 8949003  Mission 9 not in use [Atharv]
-| | |/ / / /  
-| |/| | | |   
-| * | | | | 6931731  Update LINEUPS.md [Atharv]
-| * | | | | d172c70  THIS CODE IS OUTDATED!!! DO NOT USE!!! [Atharv]
-| * | | | | efcc011  Initial Commit [Vickram]
-| * | | | |   28bb3fa  Merge pull request 'Pull from Vickram to dev' (#2) from Vickram_dev_ into dev [Atharv]
-| |\ \ \ \ \  
-| * \ \ \ \ \   7ba2453  Merge pull request 'Pull from Johannes_Dev to dev' (#3) from Johannes_Dev into dev [Atharv]
-| |\ \ \ \ \ \  
-| | | |_|_|/ /  
-| | |/| | | |   
-| | * | | | | 7eeead7  Sand Mission [Johannes]
-| | * | | | | e817650  Send Over [Johannes]
-| | * | | | | c4aa954  Boat mission [Johannes]
-* | | | | | | ee0b8eb  Update README.md [Atharv]
-* | | | | | |   a745ed8  Merge pull request 'WIP - Test Merge ( dev to main )' (#1) from dev into main [Coach]
-|\ \ \ \ \ \ \  
-| | | | | | | | * 7e2dc0b  (origin/Vickram_dev_) Update final/main5.py [Rishikesh Lolapu]
-| | | | | | | | * 29bd9f0  Update final/main5.py [Rishikesh Lolapu]
-| | | | | | | | * a3b04d3  Add final/main5.py [Rishikesh Lolapu]
-| | | | | | | | * 2d9eb49  Update final/main4.py [Johannes]
-| | | | | | | | * 42090ea  Update final/main4.py [Johannes]
-| | | | | | | | * f7072a6  Update final/main4.py [Johannes]
-| | | | | | | |/  
-| | | | | | | * 3f37e7e  Update final/main4.py [Vickram]
-| | | | | | | * a3e7be2  Update final/main4.py [Atharv]
-| | | | | | | * c2204e7  Update final/main4.py [Vickram]
-| | | | | | | * 0664a61  Add final/main4.py [Vickram]
-| | | | | | | * 227619d  Add final/3main.py [Vickram]
-| | | | | | | * 684447c  Add final/2main.py [Vickram]
-| | | | | | |/  
-| | | | | | * 95d7c0c  Add final/1main.py [Vickram]
-| | | | | | * 7e0c3d2  Delete Final Combined Codes [Vickram]
-| | | | | | * f190d38  Add Final Combined Codes [Vickram]
-| | | | | | * cd21a73  Delete missions/main.py [Vickram]
-| | | | | | * 0fa1019  Upload files to "missions" [Vickram]
-| | | | | |/  
-| | | | | * bb89e01  Update utils/combine_runs.py [Vickram]
-| | | | |/  
-| | | | * c690ae4  Update members/Vickram.txt [Vickram]
-| | | |/  
-| | |/|   
-| | * | d309b00  '{Johannes}' [Johannes]
-| | * | 37fb0a6  Add members/Ayaan.txt [Ayaan]
-| | * | e895fd1  Add members/Vickram.txt [Vickram]
-| | * | 70e09fb  Add members/Carlos.txt [Carlos]
-| | |/  
-| | * d017d13  Update members/atharv.txt [Atharv]
-| | * 6199a9c  Atharv - added my About Me [Atharv]
-| | * 72547c5  Fixed grammar [Atharv]
-| | * 5d57a3a  Initial commit [Atharv]
-| | * 5c7e2e9  Uploaded files from Bitbucket [Atharv]
-| | * e36e3d0  Delete Send_Over.py [Atharv]
-| | * a35d599  Delete M8_5.py [Atharv]
-| | * 6dedb0a  Uploaded files from Bitbucket [Atharv]
-| | * be5350d  Update README.md [Atharv]
-| | * 2412f2c  Uploaded files from Bitbucket [Atharv]
-| | * 125f1df  Uploaded files from Bitbucket [Atharv]
-| | * 3ddaf7e  Uploaded files from Bitbucket [Atharv]
-| | * 2629845  Test new [Atharv]
-| | * fdbc180  Test [Atharv]
-| |/  
-| * ce4f984  Created new branch [Coach]
-| * 7a0d651  Test commit [Coach]
-|/  
-* 0d0e977  Initial commit [Coach]
- - -- 2.49.1 From eae9c77bcf8c8dbf48c3ed4b1f1781b454c0f6bf Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 01:14:40 +0000 Subject: [PATCH 020/100] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 3567d58..fbe8f8f 100644 --- a/README.md +++ b/README.md @@ -63,17 +63,17 @@ Repository ### Installation & Deployment - from the server - everyday -1. Download the file codes_for_scrimmage/hazmat/mainhazmatUPD.py +1. Download the file codes_for_scrimmage/regional-final/Final_combined.py - You can do this through the repo, by using cURL, or by using git. - - Repo - Go to [codes_for_scrimmage/hazmat/mainhazmatUPD.py](codes_for_scrimmage/hazmat/mainhazmatUPD.py) and click the "Download" button. + - Repo - Go to [codes_for_scrimmage/regional-final/Final_combined.py](codes_for_scrimmage/regional-final/Final_combined.py) and click the "Download" button. - cURL or another HTTP data transferrer - - ```curl -o mainhazmatUPD.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/hazmat/mainhazmatUPD.py``` + ```curl -o Final_combined.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/regional-final/Final_combined.py``` - git CLI - ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/hazmat``` - Then use mainhazmatUPD.py. + Then use Final_combined.py. 2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button. -- 2.49.1 From 9e429cf8f1d643aae814d18899d5c047f95077c0 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Wed, 12 Nov 2025 01:15:22 +0000 Subject: [PATCH 021/100] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index fbe8f8f..3bb5d68 100644 --- a/README.md +++ b/README.md @@ -71,7 +71,7 @@ Repository ```curl -o Final_combined.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/regional-final/Final_combined.py``` - git CLI - - ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/hazmat``` + ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/regional-final``` Then use Final_combined.py. -- 2.49.1 From d5e9a97fc611b479b2728a3d077394d73925ab83 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Sat, 15 Nov 2025 17:13:26 +0000 Subject: [PATCH 022/100] RegionalFinal.py This is the final code. If changes are needed, please contact (31lolapr@elmbrookstudents.org). --- RegionalFinal.py | 220 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 220 insertions(+) create mode 100644 RegionalFinal.py diff --git a/RegionalFinal.py b/RegionalFinal.py new file mode 100644 index 0000000..c6df462 --- /dev/null +++ b/RegionalFinal.py @@ -0,0 +1,220 @@ +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) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + await drive_base.stop + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# New Section +async def Run1(): # From M8_5.py + right_arm.run_angle(1000,450) + left_arm.run_angle(500,90) + await drive_base.straight(200) + + await drive_base.turn(-40) + await drive_base.straight(325) + await left_arm.run_angle(500,-90) + + await drive_base.straight(-100) + await drive_base.straight(50) + await left_arm.run_angle(500,180) + + await drive_base.straight(-90) + left_arm.run_angle(500,-180) + await drive_base.turn(-20) + await drive_base.turn(15) + + await drive_base.straight(-173) + await drive_base.turn(45) + await drive_base.straight(120) + left_arm.run_angle(1000,670) + + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + await right_arm.run_angle(5000,450, Stop.HOLD) + await right_arm.run_angle(5000,-450, Stop.HOLD) + right_arm.run_angle(5000,450, Stop.HOLD) + + await drive_base.turn(-35) + await drive_base.straight(297) + await drive_base.turn(63) + await drive_base.straight(170) + + await drive_base.turn(-80) + await drive_base.straight(87) + await drive_base.turn(-15) + + await drive_base.straight(-90) + await drive_base.turn(-100) + await drive_base.arc(-500,None,600) + + +async def Run2(): # From Heavy_lifting_final.py + await drive_base.straight(200) + await drive_base.turn(-20) + await drive_base.straight(536) + await drive_base.turn(60, Stop.HOLD) + await drive_base.straight(30) + await right_arm.run_angle(5000, 2900) + await drive_base.straight(40) + await right_arm.run_angle(5000, -4000) + await drive_base.straight(-60) + await drive_base.turn(-60) + await drive_base.straight(-670) + + +async def Run3(): # tip the scale.py + right_arm.run_angle(500,400) + await drive_base.straight(800) + await drive_base.turn(90) + await drive_base.straight(86) + await right_arm.run_angle(800,-600) + await right_arm.run_angle(900,800) + + await drive_base.straight(-100) + await drive_base.turn(90) + await drive_base.straight(800) + drive_base.brake() + + +async def Run4(): # From Send_Over_Final.py + + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve + drive_base.turn(-10) + await left_arm.run_angle(10000,-4000) + await drive_base.straight(-110) + await drive_base.turn(90) + + await multitask( + drive_forward(), + monitor_distance() + ) + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -1200) + await drive_base.straight(84) + await right_arm.run_angle(300, 1200) + await drive_base.straight(-900) + + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + await drive_base.turn(-102.5) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700, 270) + await drive_base.turn(30) + await drive_base.straight(-60) + + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run2() #purple - vertically + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 751e008854c1ea5b5df9015842ea7d0069de550c Mon Sep 17 00:00:00 2001 From: nifrali Date: Tue, 25 Nov 2025 13:17:33 -0600 Subject: [PATCH 023/100] Experimentals --- .../hazmat/HazmatCodeChanges.py | 0 .../hazmat/Heavy_lifting_final.py | 0 .../hazmat/M8_5.py | 0 .../hazmat/Send_Over_Final.py | 0 .../hazmat/hazmat_main.py | 0 .../hazmat/mainhazmatUPD.py | 0 .../hazmat/tip the scale.py | 0 .../regional-final/Final_combined.py | 0 .../sectionals/sectional_main_experimental.py | 350 ++++++++++++++++++ 9 files changed, 350 insertions(+) rename {codes_for_scrimmage => competition_codes}/hazmat/HazmatCodeChanges.py (100%) rename {codes_for_scrimmage => competition_codes}/hazmat/Heavy_lifting_final.py (100%) rename {codes_for_scrimmage => competition_codes}/hazmat/M8_5.py (100%) rename {codes_for_scrimmage => competition_codes}/hazmat/Send_Over_Final.py (100%) rename {codes_for_scrimmage => competition_codes}/hazmat/hazmat_main.py (100%) rename {codes_for_scrimmage => competition_codes}/hazmat/mainhazmatUPD.py (100%) rename {codes_for_scrimmage => competition_codes}/hazmat/tip the scale.py (100%) rename {codes_for_scrimmage => competition_codes}/regional-final/Final_combined.py (100%) create mode 100644 competition_codes/sectionals/sectional_main_experimental.py diff --git a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py b/competition_codes/hazmat/HazmatCodeChanges.py similarity index 100% rename from codes_for_scrimmage/hazmat/HazmatCodeChanges.py rename to competition_codes/hazmat/HazmatCodeChanges.py diff --git a/codes_for_scrimmage/hazmat/Heavy_lifting_final.py b/competition_codes/hazmat/Heavy_lifting_final.py similarity index 100% rename from codes_for_scrimmage/hazmat/Heavy_lifting_final.py rename to competition_codes/hazmat/Heavy_lifting_final.py diff --git a/codes_for_scrimmage/hazmat/M8_5.py b/competition_codes/hazmat/M8_5.py similarity index 100% rename from codes_for_scrimmage/hazmat/M8_5.py rename to competition_codes/hazmat/M8_5.py diff --git a/codes_for_scrimmage/hazmat/Send_Over_Final.py b/competition_codes/hazmat/Send_Over_Final.py similarity index 100% rename from codes_for_scrimmage/hazmat/Send_Over_Final.py rename to competition_codes/hazmat/Send_Over_Final.py diff --git a/codes_for_scrimmage/hazmat/hazmat_main.py b/competition_codes/hazmat/hazmat_main.py similarity index 100% rename from codes_for_scrimmage/hazmat/hazmat_main.py rename to competition_codes/hazmat/hazmat_main.py diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/competition_codes/hazmat/mainhazmatUPD.py similarity index 100% rename from codes_for_scrimmage/hazmat/mainhazmatUPD.py rename to competition_codes/hazmat/mainhazmatUPD.py diff --git a/codes_for_scrimmage/hazmat/tip the scale.py b/competition_codes/hazmat/tip the scale.py similarity index 100% rename from codes_for_scrimmage/hazmat/tip the scale.py rename to competition_codes/hazmat/tip the scale.py diff --git a/codes_for_scrimmage/regional-final/Final_combined.py b/competition_codes/regional-final/Final_combined.py similarity index 100% rename from codes_for_scrimmage/regional-final/Final_combined.py rename to competition_codes/regional-final/Final_combined.py diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py new file mode 100644 index 0000000..dabb297 --- /dev/null +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -0,0 +1,350 @@ +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +WALL_DISTANCE = 300 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + +async def async_drive(speed, direction): + drive_base.d + + +async def monitor_distance(): + """Monitor ultrasonic sensor and stop when wall is detected.""" + while True: + distance = await lazer_ranger.distance() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Experimental - Removed forge and who live here part +async def Run1(): # From M8_5.py + right_arm.run_angle(500,30) + left_arm.run_angle(500,90) + await drive_base.straight(200) + + await drive_base.turn(-40) + await drive_base.straight(325) + await left_arm.run_angle(500,-90) + + await drive_base.straight(-100) + await drive_base.straight(50) + await left_arm.run_angle(500,180) + + await drive_base.straight(-90) + left_arm.run_angle(500,-180) + await drive_base.turn(-20) + await drive_base.turn(15) + + await drive_base.straight(-173) + await drive_base.turn(45) + await drive_base.straight(120) + left_arm.run_angle(1000,670) + + await right_arm.run_angle(4000,-30, Stop.HOLD) + await right_arm.run_angle(4000,30, Stop.HOLD) + await right_arm.run_angle(4000,-30, Stop.HOLD) + await right_arm.run_angle(4000,30, Stop.HOLD) + await right_arm.run_angle(4000,-30, Stop.HOLD) + right_arm.run_angle(4000,30, Stop.HOLD) + + # await drive_base.turn(-35) + # await drive_base.straight(297) + # await drive_base.turn(63) + # await drive_base.straight(170) + + # await drive_base.turn(-80) + # await drive_base.straight(87) + # await drive_base.turn(-15) + + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def Run2(): # experiment with ferris wheel for silo + await drive_base.straight(410) + #await drive_base.turn(-20) + #await drive_base.straight(536) + #await drive_base.turn(60, Stop.HOLD) + #await drive_base.straight(30) + for i in range(3): + await right_arm.run_angle(10000, -360) + await drive_base.straight(-400) + +# Experimental - This to solve forge, who lived here and heavy lifting combined +async def Run2_1(): + await right_arm.run_target(50,50) + #await right_arm.re + #await multitask( + await right_arm.run_angle(50,-30) + await drive_base.arc(350,113, None) + #) + await drive_base.turn(-60) + await drive_base.straight(-40) + + await right_arm.run_angle(500,-90) # arm down + await wait(100) + await drive_base.turn(20) # turn right a little bit + #await wait(100) + await right_arm.run_angle(500,90) #arm up + await drive_base.turn(-20) #reset position + + await drive_base.straight(50) + await drive_base.turn(-15) + await drive_base.straight(50) + await drive_base.turn(-25) + + await drive_base.straight(-50) + await drive_base.turn(-100) + await drive_base.arc(-500,None,600) + drive_base.brake() + + +async def Run3(): # tip the scale.py + right_arm.run_angle(500,30) + await drive_base.straight(800) + await drive_base.turn(90) + await drive_base.straight(86) + await right_arm.run_angle(800,-140) + await right_arm.run_angle(900,140) + + await drive_base.straight(-100) + await drive_base.turn(90) + await drive_base.straight(800) + drive_base.brake() + + +async def Run4(): # From Send_Over_Final.py + + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve + drive_base.turn(-10) + await left_arm.run_angle(10000,-3000) + await drive_base.straight(-110) + await drive_base.turn(90) + + await multitask( + drive_forward(), + monitor_distance() + ) + +async def Run_3_4(): #combined angler artifacts and tip the scale - experimental + await drive_base.straight(920) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve + drive_base.turn(-10) + await left_arm.run_angle(10000,-3000) + await drive_base.straight(-110) + await drive_base.turn(90) + await drive_base.arc(-150,-95, None) + + await drive_base.straight(100) + await right_arm.run_angle(800,-150) + await right_arm.run_angle(900,150) + + await drive_base.straight(-80) + await drive_base.turn(-67) + await drive_base.straight(450,Stop.COAST_SMART) + await drive_base.arc(10,-25, None) + #await drive_base.turn(-23, Stop.COAST_SMART) + + await multitask( + drive_forward(), + monitor_distance() + ) + + +# Add Rishi's code here +async def Run5(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + await drive_base.straight(-875) + +# Add - Adi's code here +async def Run6(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700, 250) + await drive_base.turn(30) + await drive_base.straight(-60) + await drive_base.turn(80) + await drive_base.straight(-900) + +async def arc_back(radius, angle): + #print(radius, angle) + drive_base.arc(radius, angle, None) + +async def lift_right_arm(): + await right_arm.run_angle(100, -90) + +# This is a refactor of Salvage operation mission without wait and realignment +async def Run6_1(): #experimental + + await drive_base.straight(500) + await right_arm.run_angle(100,90) + await drive_base.straight(-75) + + #ack back while raising arm + await multitask ( + lift_right_arm(), + arc_back(-215, -45) + ) + + #align to raise the ship + await drive_base.straight(-150) + await drive_base.turn(-45) + + #await drive_base.straight(-350) + #await wait(1000) + + #Solve ship + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -700) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700, 250) + await drive_base.turn(15) + await drive_base.straight(-80) + await drive_base.turn(80) + await drive_base.straight(-900) + drive_base.stop() + +async def Run6_7(): # experiment with ferris wheel for Site Markings + await drive_base.straight(500) + + await right_arm.run_angle(100, -10) + await wait(50) + #await multitask ( + #lift_right_arm() + #await right_arm.run_angle(100, 10) + #await arc_back(-215, -140) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + #await drive_base.straight(-300) + drive_base.stop() + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + h, s, v = await color_sensor.hsv() + print(color_sensor.color()) + print(h,s,v) + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + print(color) + + + if color == "Red": + print('Running Mission 3') + await Run3() #red + elif color == "Orange": + print('Running Mission 6') + await Run6_1() #orange + elif color == "Yellow": + print('Running Mission 4') + await Run_3_4() #yellow + elif color == "Green": + print('Running Mission 1') + await Run1() #green - vertically + elif color == "Blue": + print('Running Mission 5') + await Run5() #blue - vertically + elif color == "Purple": + print('Running Mission 2') + await Run6_7() #purple - vertically + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run2_1() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 05be290f90ef00ebff4f87654fdbe1bd664efba6 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Tue, 25 Nov 2025 20:23:48 +0000 Subject: [PATCH 024/100] Update competition_codes/sectionals/sectional_main_experimental.py --- .../sectionals/sectional_main_experimental.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index dabb297..164ddc0 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -31,9 +31,6 @@ async def drive_backward(): """Drive forward continuously using DriveBase.""" drive_base.drive(400, 0) -async def async_drive(speed, direction): - drive_base.d - async def monitor_distance(): """Monitor ultrasonic sensor and stop when wall is detected.""" @@ -46,11 +43,14 @@ async def monitor_distance(): drive_base.stop() print(f"Wall detected at {distance}mm!") break + if distance is None: + continue + # Small delay to prevent overwhelming the sensor await wait(50) -# Experimental - Removed forge and who live here part +# Experimental - Removed forge and who lived here part async def Run1(): # From M8_5.py right_arm.run_angle(500,30) left_arm.run_angle(500,90) -- 2.49.1 From 489ff94601d572516c87e318e3c09c1cafffce42 Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Tue, 25 Nov 2025 20:27:57 +0000 Subject: [PATCH 025/100] Update competition_codes/sectionals/sectional_main_experimental.py --- competition_codes/sectionals/sectional_main_experimental.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index 164ddc0..3deb707 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -131,7 +131,7 @@ async def Run2_1(): await drive_base.straight(-50) await drive_base.turn(-100) await drive_base.arc(-500,None,600) - drive_base.brake() + drive_base.stop() async def Run3(): # tip the scale.py @@ -145,7 +145,7 @@ async def Run3(): # tip the scale.py await drive_base.straight(-100) await drive_base.turn(90) await drive_base.straight(800) - drive_base.brake() + drive_base.stop() async def Run4(): # From Send_Over_Final.py -- 2.49.1 From f389ff7101577e2caa92c7d67dd95e8d44a51b61 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Thu, 4 Dec 2025 01:46:03 +0000 Subject: [PATCH 026/100] Update competition_codes/sectionals/sectional_main_experimental.py --- competition_codes/sectionals/sectional_main_experimental.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index 3deb707..d6accad 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -173,7 +173,7 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental await left_arm.run_angle(10000,-3000) await drive_base.straight(-110) await drive_base.turn(90) - await drive_base.arc(-150,-95, None) + await drive_base.arc(-150,-100, None) await drive_base.straight(100) await right_arm.run_angle(800,-150) -- 2.49.1 From e8c25a4e906daf5dbbf6ae291cd6d2f7430f458a Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Thu, 4 Dec 2025 03:01:19 +0000 Subject: [PATCH 027/100] Update competition_codes/sectionals/sectional_main_experimental.py --- .../sectionals/sectional_main_experimental.py | 23 ++++++++++--------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index d6accad..715d7ba 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -21,7 +21,7 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) drive_base.settings(600, 500, 300, 200) drive_base.use_gyro(True) -WALL_DISTANCE = 300 # mm +WALL_DISTANCE = 200 # mm async def drive_forward(): """Drive forward continuously using DriveBase.""" @@ -113,14 +113,15 @@ async def Run2_1(): await right_arm.run_angle(50,-30) await drive_base.arc(350,113, None) #) + await drive_base.straight(20) await drive_base.turn(-60) - await drive_base.straight(-40) + await drive_base.straight(-47) await right_arm.run_angle(500,-90) # arm down await wait(100) await drive_base.turn(20) # turn right a little bit #await wait(100) - await right_arm.run_angle(500,90) #arm up + await right_arm.run_angle(500,140) #arm up await drive_base.turn(-20) #reset position await drive_base.straight(50) @@ -175,14 +176,14 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental await drive_base.turn(90) await drive_base.arc(-150,-100, None) - await drive_base.straight(100) + await drive_base.straight(135) await right_arm.run_angle(800,-150) await right_arm.run_angle(900,150) - await drive_base.straight(-80) - await drive_base.turn(-67) - await drive_base.straight(450,Stop.COAST_SMART) - await drive_base.arc(10,-25, None) + await drive_base.straight(-100) + await drive_base.turn(-65) + await drive_base.straight(320,Stop.COAST_SMART) + await drive_base.arc(10,-47, None) #await drive_base.turn(-23, Stop.COAST_SMART) await multitask( @@ -324,7 +325,7 @@ async def main(): if color == "Red": print('Running Mission 3') - await Run3() #red + await Run2_1() #red elif color == "Orange": print('Running Mission 6') await Run6_1() #orange @@ -342,9 +343,9 @@ async def main(): await Run6_7() #purple - vertically elif color == "Light_Blue": print("Running Mission 2_1") - await Run2_1() + await Run3() else: print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") await wait(10) # Run the main function -run_task(main()) \ No newline at end of file +run_task(main()) -- 2.49.1 From d235d602ce6ea39b58e3ea69a6865d62d1d3bb32 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Thu, 4 Dec 2025 23:33:57 +0000 Subject: [PATCH 028/100] Update competition_codes/sectionals/sectional_main_experimental.py --- .../sectionals/sectional_main_experimental.py | 265 +++++++++--------- 1 file changed, 132 insertions(+), 133 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index 715d7ba..64952ff 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -50,8 +50,24 @@ async def monitor_distance(): # Small delay to prevent overwhelming the sensor await wait(50) -# Experimental - Removed forge and who lived here part -async def Run1(): # From M8_5.py +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + await solve_whats_on_sale() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale(): + right_arm.run_angle(500,30) left_arm.run_angle(500,90) await drive_base.straight(200) @@ -69,6 +85,7 @@ async def Run1(): # From M8_5.py await drive_base.turn(-20) await drive_base.turn(15) +async def solve_silo(): await drive_base.straight(-173) await drive_base.turn(45) await drive_base.straight(120) @@ -81,91 +98,86 @@ async def Run1(): # From M8_5.py await right_arm.run_angle(4000,-30, Stop.HOLD) right_arm.run_angle(4000,30, Stop.HOLD) - # await drive_base.turn(-35) - # await drive_base.straight(297) - # await drive_base.turn(63) - # await drive_base.straight(170) - # await drive_base.turn(-80) - # await drive_base.straight(87) - # await drive_base.turn(-15) +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() - await drive_base.straight(-90) - #await drive_base.turn(-100) - await drive_base.arc(200,None,-300) + # return to base + await drive_base.arc(-500,None,600) drive_base.stop() - -async def Run2(): # experiment with ferris wheel for silo - await drive_base.straight(410) - #await drive_base.turn(-20) - #await drive_base.straight(536) - #await drive_base.turn(60, Stop.HOLD) - #await drive_base.straight(30) - for i in range(3): - await right_arm.run_angle(10000, -360) - await drive_base.straight(-400) -# Experimental - This to solve forge, who lived here and heavy lifting combined -async def Run2_1(): +async def solve_forge(): await right_arm.run_target(50,50) - #await right_arm.re - #await multitask( await right_arm.run_angle(50,-30) await drive_base.arc(350,113, None) - #) + await drive_base.straight(20) await drive_base.turn(-60) await drive_base.straight(-47) +async def solve_heavy_lifting(): await right_arm.run_angle(500,-90) # arm down await wait(100) await drive_base.turn(20) # turn right a little bit - #await wait(100) await right_arm.run_angle(500,140) #arm up await drive_base.turn(-20) #reset position +async def solve_who_lived_here(): await drive_base.straight(50) await drive_base.turn(-15) await drive_base.straight(50) await drive_base.turn(-25) - await drive_base.straight(-50) await drive_base.turn(-100) + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base await drive_base.arc(-500,None,600) drive_base.stop() +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) -async def Run3(): # tip the scale.py - right_arm.run_angle(500,30) - await drive_base.straight(800) - await drive_base.turn(90) - await drive_base.straight(86) - await right_arm.run_angle(800,-140) - await right_arm.run_angle(900,140) +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_angler_artifacts() + await solve_tip_the_scale() - await drive_base.straight(-100) - await drive_base.turn(90) - await drive_base.straight(800) - drive_base.stop() - - -async def Run4(): # From Send_Over_Final.py - - await drive_base.straight(920) - await drive_base.turn(-90,Stop.HOLD) - await drive_base.straight(65) - #Solve - drive_base.turn(-10) - await left_arm.run_angle(10000,-3000) - await drive_base.straight(-110) - await drive_base.turn(90) - + #cross over to red side await multitask( drive_forward(), monitor_distance() ) -async def Run_3_4(): #combined angler artifacts and tip the scale - experimental + +async def solve_angler_artifacts(): await drive_base.straight(920) await drive_base.turn(-90,Stop.HOLD) await drive_base.straight(65) @@ -173,9 +185,11 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental drive_base.turn(-10) await left_arm.run_angle(10000,-3000) await drive_base.straight(-110) + await drive_base.turn(90) await drive_base.arc(-150,-100, None) +async def solve_tip_the_scale(): await drive_base.straight(135) await right_arm.run_angle(800,-150) await right_arm.run_angle(900,150) @@ -186,27 +200,48 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental await drive_base.arc(10,-47, None) #await drive_base.turn(-23, Stop.COAST_SMART) - await multitask( - drive_forward(), - monitor_distance() - ) + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await solve_brush_reveal() + await solve_mineshaft_explorer() + + #return to base + await drive_base.straight(-875) -# Add Rishi's code here -async def Run5(): +async def solve_brush_reveal(): await drive_base.straight(700) await drive_base.turn(-20) await drive_base.straight(110) await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): await drive_base.turn(63) await drive_base.straight(130) await right_arm.run_angle(1000, -90) await drive_base.straight(84) await right_arm.run_angle(300, 90) - await drive_base.straight(-875) -# Add - Adi's code here +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" async def Run6(): + await solve_salvage_operation() + await solve_statue_rebuild() + + #return to base + await drive_base.straight(-60) + await drive_base.turn(80) + await drive_base.straight(-900) + +async def solve_salvage_operation(): await drive_base.straight(500) await right_arm.run_angle(300,500) await drive_base.straight(-75) @@ -217,6 +252,8 @@ async def Run6(): await drive_base.straight(-200) await drive_base.turn(-15) await drive_base.straight(350) + +async def solve_statue_rebuild(): await drive_base.turn(-100) await drive_base.straight(-80) await left_arm.run_angle(500, -900) @@ -224,71 +261,33 @@ async def Run6(): await drive_base.straight(50) await left_arm.run_angle(700, 250) await drive_base.turn(30) - await drive_base.straight(-60) - await drive_base.turn(80) - await drive_base.straight(-900) -async def arc_back(radius, angle): - #print(radius, angle) - drive_base.arc(radius, angle, None) - -async def lift_right_arm(): - await right_arm.run_angle(100, -90) - -# This is a refactor of Salvage operation mission without wait and realignment -async def Run6_1(): #experimental - - await drive_base.straight(500) - await right_arm.run_angle(100,90) - await drive_base.straight(-75) - - #ack back while raising arm - await multitask ( - lift_right_arm(), - arc_back(-215, -45) - ) - - #align to raise the ship - await drive_base.straight(-150) - await drive_base.turn(-45) - - #await drive_base.straight(-350) - #await wait(1000) - - #Solve ship - await drive_base.straight(800) - await drive_base.straight(-200) - await drive_base.turn(-15) - await drive_base.straight(350) - await drive_base.turn(-100) - await drive_base.straight(-80) - await left_arm.run_angle(500, -700) - await drive_base.straight(50) - await drive_base.straight(50) - await left_arm.run_angle(700, 250) - await drive_base.turn(15) - await drive_base.straight(-80) - await drive_base.turn(80) - await drive_base.straight(-900) +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) drive_base.stop() -async def Run6_7(): # experiment with ferris wheel for Site Markings +async def solve_site_mark_1(): await drive_base.straight(500) - await right_arm.run_angle(100, -10) await wait(50) - #await multitask ( - #lift_right_arm() - #await right_arm.run_angle(100, 10) - #await arc_back(-215, -140) await drive_base.straight(-300) await drive_base.arc(-150, -140, None) - + +async def solve_site_mark_2(): await drive_base.straight(-300) await wait(50) await right_arm.run_angle(50, 50) - #await drive_base.straight(-300) - drive_base.stop() + + # Function to classify color based on HSV def detect_color(h, s, v, reflected): @@ -323,27 +322,27 @@ async def main(): print(color) - if color == "Red": - print('Running Mission 3') - await Run2_1() #red - elif color == "Orange": - print('Running Mission 6') - await Run6_1() #orange - elif color == "Yellow": - print('Running Mission 4') - await Run_3_4() #yellow - elif color == "Green": + if color == "Green": print('Running Mission 1') - await Run1() #green - vertically - elif color == "Blue": - print('Running Mission 5') - await Run5() #blue - vertically - elif color == "Purple": + await Run1() + elif color == "Red": print('Running Mission 2') - await Run6_7() #purple - vertically + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run6_7() elif color == "Light_Blue": print("Running Mission 2_1") - await Run3() + await Run2_1() else: print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") await wait(10) -- 2.49.1 From 8bee9efe6be06154099a2c75faab8bcface6b79e Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Thu, 4 Dec 2025 23:41:29 +0000 Subject: [PATCH 029/100] Add utils/tests/Diagnostics.py Returns all information about the robot --- utils/tests/Diagnostics.py | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 utils/tests/Diagnostics.py diff --git a/utils/tests/Diagnostics.py b/utils/tests/Diagnostics.py new file mode 100644 index 0000000..07d7766 --- /dev/null +++ b/utils/tests/Diagnostics.py @@ -0,0 +1,33 @@ +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +WALL_DISTANCE = 200 # mm + +if hub.battery.voltage() > 7800: + print(f"Battery voltage is sufficient: {hub.battery.voltage()}") +elif hub.battery.voltage < 7800 : + print(f"Charging needed: {hub.battery.voltage()}") + +print(hub.battery.current()) +print(hub.imu.heading()) +print(hub.system.info()) \ No newline at end of file -- 2.49.1 From d507a9c2040d4a3cf98059f0293f12c00c25d18a Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Thu, 4 Dec 2025 23:46:26 +0000 Subject: [PATCH 030/100] Update competition_codes/sectionals/sectional_main_experimental.py --- .../sectionals/sectional_main_experimental.py | 32 +++++++++++++------ 1 file changed, 23 insertions(+), 9 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index 64952ff..a078cad 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -207,13 +207,17 @@ Run #4 - Blue Key """ async def Run4(): - await solve_brush_reveal() - await solve_mineshaft_explorer() - - #return to base + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + await drive_base.turn(60) + await drive_base.straight(130) + await right_arm.run_angle(1000, -200) + await drive_base.straight(90) + await right_arm.run_angle(300, 200) await drive_base.straight(-875) - async def solve_brush_reveal(): await drive_base.straight(700) await drive_base.turn(-20) @@ -233,10 +237,20 @@ Run#5 - Orange Key """ async def Run6(): - await solve_salvage_operation() - await solve_statue_rebuild() - - #return to base + await drive_base.straight(550) + await right_arm.run_angle(300,100) + await drive_base.straight(-75) + await right_arm.run_angle(300, -100) + await drive_base.straight(300) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + await drive_base.turn(-103) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(101) + await left_arm.run_angle(700, 285) + await drive_base.turn(30) await drive_base.straight(-60) await drive_base.turn(80) await drive_base.straight(-900) -- 2.49.1 From e8607d02ae89450a0f88d837376961d38628b88b Mon Sep 17 00:00:00 2001 From: Atharv <30nagava@elmbrookstudents.org> Date: Fri, 5 Dec 2025 16:28:00 +0000 Subject: [PATCH 031/100] Update utils/tests/ColorSensor.py --- utils/tests/{colorsensortest.py => ColorSensor.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename utils/tests/{colorsensortest.py => ColorSensor.py} (100%) diff --git a/utils/tests/colorsensortest.py b/utils/tests/ColorSensor.py similarity index 100% rename from utils/tests/colorsensortest.py rename to utils/tests/ColorSensor.py -- 2.49.1 From 6fee096cf8082d8606ad228566b3075787d3a7b0 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 6 Dec 2025 14:26:20 +0000 Subject: [PATCH 032/100] Update competition_codes/sectionals/sectional_main_experimental.py --- competition_codes/sectionals/sectional_main_experimental.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index a078cad..21a9c0e 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -115,7 +115,7 @@ async def Run2(): async def solve_forge(): await right_arm.run_target(50,50) - await right_arm.run_angle(50,-30) + # await right_arm.run_angle(50,-30) await drive_base.arc(350,113, None) await drive_base.straight(20) -- 2.49.1 From 8b2ab7b9c248c90c690bc682d2f6cfac8078562c Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:19:39 +0000 Subject: [PATCH 033/100] Upload files to "BatteryDiagnostics.py" --- BatteryDiagnostics.py/BatteryDiagnostics.py | 33 +++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 BatteryDiagnostics.py/BatteryDiagnostics.py diff --git a/BatteryDiagnostics.py/BatteryDiagnostics.py b/BatteryDiagnostics.py/BatteryDiagnostics.py new file mode 100644 index 0000000..07d7766 --- /dev/null +++ b/BatteryDiagnostics.py/BatteryDiagnostics.py @@ -0,0 +1,33 @@ +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +WALL_DISTANCE = 200 # mm + +if hub.battery.voltage() > 7800: + print(f"Battery voltage is sufficient: {hub.battery.voltage()}") +elif hub.battery.voltage < 7800 : + print(f"Charging needed: {hub.battery.voltage()}") + +print(hub.battery.current()) +print(hub.imu.heading()) +print(hub.system.info()) \ No newline at end of file -- 2.49.1 From ca0a9df8011789cce97000505994df211048d848 Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:20:14 +0000 Subject: [PATCH 034/100] Delete BatteryDiagnostics.py/BatteryDiagnostics.py --- BatteryDiagnostics.py/BatteryDiagnostics.py | 33 --------------------- 1 file changed, 33 deletions(-) delete mode 100644 BatteryDiagnostics.py/BatteryDiagnostics.py diff --git a/BatteryDiagnostics.py/BatteryDiagnostics.py b/BatteryDiagnostics.py/BatteryDiagnostics.py deleted file mode 100644 index 07d7766..0000000 --- a/BatteryDiagnostics.py/BatteryDiagnostics.py +++ /dev/null @@ -1,33 +0,0 @@ -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,Direction.CLOCKWISE) # Specify default direction -left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction -right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration -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) - -WALL_DISTANCE = 200 # mm - -if hub.battery.voltage() > 7800: - print(f"Battery voltage is sufficient: {hub.battery.voltage()}") -elif hub.battery.voltage < 7800 : - print(f"Charging needed: {hub.battery.voltage()}") - -print(hub.battery.current()) -print(hub.imu.heading()) -print(hub.system.info()) \ No newline at end of file -- 2.49.1 From 1a966fd553d1166fb594c86ae515ce2c24d879c0 Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:20:58 +0000 Subject: [PATCH 035/100] Upload files to "utils/tests/BatteryDiagnostics.py" --- .../BatteryDiagnostics.py | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py diff --git a/utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py b/utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py new file mode 100644 index 0000000..07d7766 --- /dev/null +++ b/utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py @@ -0,0 +1,33 @@ +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +WALL_DISTANCE = 200 # mm + +if hub.battery.voltage() > 7800: + print(f"Battery voltage is sufficient: {hub.battery.voltage()}") +elif hub.battery.voltage < 7800 : + print(f"Charging needed: {hub.battery.voltage()}") + +print(hub.battery.current()) +print(hub.imu.heading()) +print(hub.system.info()) \ No newline at end of file -- 2.49.1 From 61d3dd3c06e0b04906455f3908928de7eae9bf62 Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:21:24 +0000 Subject: [PATCH 036/100] Delete utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py --- .../BatteryDiagnostics.py | 33 ------------------- 1 file changed, 33 deletions(-) delete mode 100644 utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py diff --git a/utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py b/utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py deleted file mode 100644 index 07d7766..0000000 --- a/utils/tests/BatteryDiagnostics.py/BatteryDiagnostics.py +++ /dev/null @@ -1,33 +0,0 @@ -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,Direction.CLOCKWISE) # Specify default direction -left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction -right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration -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) - -WALL_DISTANCE = 200 # mm - -if hub.battery.voltage() > 7800: - print(f"Battery voltage is sufficient: {hub.battery.voltage()}") -elif hub.battery.voltage < 7800 : - print(f"Charging needed: {hub.battery.voltage()}") - -print(hub.battery.current()) -print(hub.imu.heading()) -print(hub.system.info()) \ No newline at end of file -- 2.49.1 From 821924e8757f7a37f0e7f8acf370aac34fd0cd44 Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:22:50 +0000 Subject: [PATCH 037/100] Upload files to "utils/tests/FullDiagnostics" --- .../FullDiagnostics/BatteryDiagnostics.py | 33 +++++++++++++++++ .../tests/FullDiagnostics/FullDiagnostics.py | 35 +++++++++++++++++++ 2 files changed, 68 insertions(+) create mode 100644 utils/tests/FullDiagnostics/BatteryDiagnostics.py create mode 100644 utils/tests/FullDiagnostics/FullDiagnostics.py diff --git a/utils/tests/FullDiagnostics/BatteryDiagnostics.py b/utils/tests/FullDiagnostics/BatteryDiagnostics.py new file mode 100644 index 0000000..07d7766 --- /dev/null +++ b/utils/tests/FullDiagnostics/BatteryDiagnostics.py @@ -0,0 +1,33 @@ +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +WALL_DISTANCE = 200 # mm + +if hub.battery.voltage() > 7800: + print(f"Battery voltage is sufficient: {hub.battery.voltage()}") +elif hub.battery.voltage < 7800 : + print(f"Charging needed: {hub.battery.voltage()}") + +print(hub.battery.current()) +print(hub.imu.heading()) +print(hub.system.info()) \ No newline at end of file diff --git a/utils/tests/FullDiagnostics/FullDiagnostics.py b/utils/tests/FullDiagnostics/FullDiagnostics.py new file mode 100644 index 0000000..af8a6b0 --- /dev/null +++ b/utils/tests/FullDiagnostics/FullDiagnostics.py @@ -0,0 +1,35 @@ +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 +hub = PrimeHub() +from BatteryDiagnostics import BatteryDiagnostics +battery = BatteryDiagnostics() +clearConfirmation = input("Do you want to clear the console before proceeding? Y/N (default: yes): ") +if(clearConfirmation == "Y" or clearConfirmation == "y" or clearConfirmation == "yes" or clearConfirmation == ""): + print("Clearing console... \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n") + +while True: + print("\nWhat diagnostic do you want to perform?") + print("Enter 'b' for Battery diagnostics") + print("Enter 'm' for Motor diagnostics") + print("Enter 'q' to Quit") + + choice = input("Your choice: ").strip().lower() + + if choice == "b": + print("-----------------------BATTERY DIAGNOSTICS-----------------------") + battery.printAll() + + elif choice == "m": + print("------------------------MOTOR DIAGNOSTICS------------------------") + # motor.printAll() # call your motor diagnostics here + print("Motor diagnostics would run here.") + + elif choice == "q": + print("Diagnostics completed successfully. Exiting with code 0. Good luck in the robot game!") + break + + else: + print("Invalid choice. Please enter 'b', 'm', or 'q'.") \ No newline at end of file -- 2.49.1 From 1db4458e164fa644535d639109ac908ec6eb3a58 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:44:20 +0000 Subject: [PATCH 038/100] Delete utils/tests/FullDiagnostics/BatteryDiagnostics.py --- .../FullDiagnostics/BatteryDiagnostics.py | 33 ------------------- 1 file changed, 33 deletions(-) delete mode 100644 utils/tests/FullDiagnostics/BatteryDiagnostics.py diff --git a/utils/tests/FullDiagnostics/BatteryDiagnostics.py b/utils/tests/FullDiagnostics/BatteryDiagnostics.py deleted file mode 100644 index 07d7766..0000000 --- a/utils/tests/FullDiagnostics/BatteryDiagnostics.py +++ /dev/null @@ -1,33 +0,0 @@ -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,Direction.CLOCKWISE) # Specify default direction -left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction -right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration -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) - -WALL_DISTANCE = 200 # mm - -if hub.battery.voltage() > 7800: - print(f"Battery voltage is sufficient: {hub.battery.voltage()}") -elif hub.battery.voltage < 7800 : - print(f"Charging needed: {hub.battery.voltage()}") - -print(hub.battery.current()) -print(hub.imu.heading()) -print(hub.system.info()) \ No newline at end of file -- 2.49.1 From 63d4b27648b20a5d5f5e3c8ddc58dfccde53b93d Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:44:25 +0000 Subject: [PATCH 039/100] Delete utils/tests/FullDiagnostics/FullDiagnostics.py --- .../tests/FullDiagnostics/FullDiagnostics.py | 35 ------------------- 1 file changed, 35 deletions(-) delete mode 100644 utils/tests/FullDiagnostics/FullDiagnostics.py diff --git a/utils/tests/FullDiagnostics/FullDiagnostics.py b/utils/tests/FullDiagnostics/FullDiagnostics.py deleted file mode 100644 index af8a6b0..0000000 --- a/utils/tests/FullDiagnostics/FullDiagnostics.py +++ /dev/null @@ -1,35 +0,0 @@ -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 -hub = PrimeHub() -from BatteryDiagnostics import BatteryDiagnostics -battery = BatteryDiagnostics() -clearConfirmation = input("Do you want to clear the console before proceeding? Y/N (default: yes): ") -if(clearConfirmation == "Y" or clearConfirmation == "y" or clearConfirmation == "yes" or clearConfirmation == ""): - print("Clearing console... \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n") - -while True: - print("\nWhat diagnostic do you want to perform?") - print("Enter 'b' for Battery diagnostics") - print("Enter 'm' for Motor diagnostics") - print("Enter 'q' to Quit") - - choice = input("Your choice: ").strip().lower() - - if choice == "b": - print("-----------------------BATTERY DIAGNOSTICS-----------------------") - battery.printAll() - - elif choice == "m": - print("------------------------MOTOR DIAGNOSTICS------------------------") - # motor.printAll() # call your motor diagnostics here - print("Motor diagnostics would run here.") - - elif choice == "q": - print("Diagnostics completed successfully. Exiting with code 0. Good luck in the robot game!") - break - - else: - print("Invalid choice. Please enter 'b', 'm', or 'q'.") \ No newline at end of file -- 2.49.1 From f926fbba795e13651a3a1127712690464f77ba4f Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:45:31 +0000 Subject: [PATCH 040/100] Delete utils/tests/ColorSensor.py --- utils/tests/ColorSensor.py | 69 -------------------------------------- 1 file changed, 69 deletions(-) delete mode 100644 utils/tests/ColorSensor.py diff --git a/utils/tests/ColorSensor.py b/utils/tests/ColorSensor.py deleted file mode 100644 index 3d5a8d9..0000000 --- a/utils/tests/ColorSensor.py +++ /dev/null @@ -1,69 +0,0 @@ -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() - -color_sensor = ColorSensor(Port.F) - -# 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(315,100,60) -Color.BLUE = Color(240,100,100) -Color.CYAN = Color(180,100,100) -Color.RED = Color(350, 100, 100) -LEGO_BRICKS_COLOR = [ - Color.BLUE, - Color.GREEN, - Color.WHITE, - Color.RED, - Color.YELLOW, - Color.MAGENTA, - Color.NONE -] -magenta_counter = 0 -stable_color = None -real_color = None -#Update Detectable colors -color_sensor.detectable_colors(LEGO_BRICKS_COLOR) -print(f'Yellow:{Color.YELLOW} : {Color.YELLOW.h}, {Color.YELLOW.s}, {Color.YELLOW.v}') -print("Updated Detected Colors:", color_sensor.detectable_colors()) -async def main(): - while True: - global magenta_counter, stable_color, real_color - color_reflected_percent = await color_sensor.reflection() - print("Reflection: ", color_reflected_percent) - if color_reflected_percent > 15: - color_detected = await color_sensor.color() - - if color_detected == Color.MAGENTA: - magenta_counter += 1 - else: - magenta_counter = 0 - stable_color = color_detected - - # Only accept magenta if it's been stable for a while - usually triggers before other colors so we gotta do this :| - if magenta_counter > 10: - stable_color = Color.MAGENTA - if stable_color != Color.MAGENTA: - stable_color = await color_sensor.color() - - real_color = stable_color - #if(color_detected != Color.NONE): - # return - - print("Magenta counter: ", magenta_counter) - if real_color is not None: - print(f'Detected color: {real_color} : {real_color.h}, {real_color.s}, {real_color.v}') - else: - print("No valid color detected yet.") - await wait(50) - -run_task(main()) \ No newline at end of file -- 2.49.1 From 42ceb9f38e4ef88eb1b5d6edcb79df04558412cb Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:45:34 +0000 Subject: [PATCH 041/100] Delete utils/tests/Diagnostics.py --- utils/tests/Diagnostics.py | 33 --------------------------------- 1 file changed, 33 deletions(-) delete mode 100644 utils/tests/Diagnostics.py diff --git a/utils/tests/Diagnostics.py b/utils/tests/Diagnostics.py deleted file mode 100644 index 07d7766..0000000 --- a/utils/tests/Diagnostics.py +++ /dev/null @@ -1,33 +0,0 @@ -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,Direction.CLOCKWISE) # Specify default direction -left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction -right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration -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) - -WALL_DISTANCE = 200 # mm - -if hub.battery.voltage() > 7800: - print(f"Battery voltage is sufficient: {hub.battery.voltage()}") -elif hub.battery.voltage < 7800 : - print(f"Charging needed: {hub.battery.voltage()}") - -print(hub.battery.current()) -print(hub.imu.heading()) -print(hub.system.info()) \ No newline at end of file -- 2.49.1 From 59a4c42060fa8ea92f78caea146c2d416d1b75c8 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Sat, 6 Dec 2025 17:47:05 +0000 Subject: [PATCH 042/100] Update competition_codes/sectionals/sectional_main_experimental.py --- .../sectionals/sectional_main_experimental.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py index 21a9c0e..5ed26d2 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_experimental.py @@ -208,14 +208,14 @@ Run #4 """ async def Run4(): await drive_base.straight(700) - await drive_base.turn(-20) - await drive_base.straight(110) + await drive_base.turn(-18) + await drive_base.straight(120) await drive_base.straight(-210) - await drive_base.turn(60) - await drive_base.straight(130) - await right_arm.run_angle(1000, -200) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) await drive_base.straight(90) - await right_arm.run_angle(300, 200) + await right_arm.run_angle(100, 95) await drive_base.straight(-875) async def solve_brush_reveal(): @@ -248,7 +248,7 @@ async def Run6(): await drive_base.turn(-103) await drive_base.straight(-80) await left_arm.run_angle(500, -900) - await drive_base.straight(101) + await drive_base.straight(105) await left_arm.run_angle(700, 285) await drive_base.turn(30) await drive_base.straight(-60) -- 2.49.1 From ddc0f2ccca79cf3da96168d3899fe712a9690310 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Sat, 6 Dec 2025 18:01:47 +0000 Subject: [PATCH 043/100] Update competition_codes/sectionals/sectional_main_dec_6.py --- .../{sectional_main_experimental.py => sectional_main_dec_6.py} | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename competition_codes/sectionals/{sectional_main_experimental.py => sectional_main_dec_6.py} (99%) diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_dec_6.py similarity index 99% rename from competition_codes/sectionals/sectional_main_experimental.py rename to competition_codes/sectionals/sectional_main_dec_6.py index 5ed26d2..c0a04f1 100644 --- a/competition_codes/sectionals/sectional_main_experimental.py +++ b/competition_codes/sectionals/sectional_main_dec_6.py @@ -236,7 +236,7 @@ Run#5 - Solves Salvage Operation + Statue Rebuild - Orange Key """ -async def Run6(): +async def Run5(): await drive_base.straight(550) await right_arm.run_angle(300,100) await drive_base.straight(-75) -- 2.49.1 From f1f800783f183df043019b7269797434d8e54592 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 6 Dec 2025 20:16:37 +0000 Subject: [PATCH 044/100] Update competition_codes/sectionals/sectional_main_dec_6.py Updates for gear ratio change --- competition_codes/sectionals/sectional_main_dec_6.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_dec_6.py b/competition_codes/sectionals/sectional_main_dec_6.py index c0a04f1..7aeacff 100644 --- a/competition_codes/sectionals/sectional_main_dec_6.py +++ b/competition_codes/sectionals/sectional_main_dec_6.py @@ -123,10 +123,10 @@ async def solve_forge(): await drive_base.straight(-47) async def solve_heavy_lifting(): - await right_arm.run_angle(500,-90) # arm down + await right_arm.run_angle(500,-160) # arm down await wait(100) await drive_base.turn(20) # turn right a little bit - await right_arm.run_angle(500,140) #arm up + await right_arm.run_angle(500,160) #arm up await drive_base.turn(-20) #reset position async def solve_who_lived_here(): -- 2.49.1 From 27e1e2f7514e35528886d8fb5b04b95cb85e41fd Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 6 Dec 2025 20:35:00 +0000 Subject: [PATCH 045/100] Update competition_codes/sectionals/sectional_main_dec_6.py --- competition_codes/sectionals/sectional_main_dec_6.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_dec_6.py b/competition_codes/sectionals/sectional_main_dec_6.py index 7aeacff..c5f74ff 100644 --- a/competition_codes/sectionals/sectional_main_dec_6.py +++ b/competition_codes/sectionals/sectional_main_dec_6.py @@ -176,9 +176,8 @@ async def Run3(): monitor_distance() ) - async def solve_angler_artifacts(): - await drive_base.straight(920) + await drive_base.straight(940) await drive_base.turn(-90,Stop.HOLD) await drive_base.straight(65) #Solve @@ -187,20 +186,23 @@ async def solve_angler_artifacts(): await drive_base.straight(-110) await drive_base.turn(90) - await drive_base.arc(-150,-100, None) + await drive_base.arc(-150,-103, None) async def solve_tip_the_scale(): - await drive_base.straight(135) + await drive_base.turn(3) + await drive_base.straight(142.5) await right_arm.run_angle(800,-150) await right_arm.run_angle(900,150) await drive_base.straight(-100) await drive_base.turn(-65) - await drive_base.straight(320,Stop.COAST_SMART) + await drive_base.straight(300,Stop.COAST_SMART) await drive_base.arc(10,-47, None) #await drive_base.turn(-23, Stop.COAST_SMART) + + """ Run #4 - Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal -- 2.49.1 From f838d6b5664e2d57cff84b23992248177e313422 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 6 Dec 2025 20:36:10 +0000 Subject: [PATCH 046/100] Update competition_codes/sectionals/sectional_main_dec_6.py --- competition_codes/sectionals/sectional_main_dec_6.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/competition_codes/sectionals/sectional_main_dec_6.py b/competition_codes/sectionals/sectional_main_dec_6.py index c5f74ff..9236075 100644 --- a/competition_codes/sectionals/sectional_main_dec_6.py +++ b/competition_codes/sectionals/sectional_main_dec_6.py @@ -203,6 +203,8 @@ async def solve_tip_the_scale(): + + """ Run #4 - Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal -- 2.49.1 From a0bec55e97a108b1e459e59fc5d4ffb9ca543776 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Sun, 7 Dec 2025 21:10:25 +0000 Subject: [PATCH 047/100] Update competition_codes/sectionals/sectional_main_dec_6.py --- .../sectionals/sectional_main_dec_6.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_dec_6.py b/competition_codes/sectionals/sectional_main_dec_6.py index 9236075..e671f6c 100644 --- a/competition_codes/sectionals/sectional_main_dec_6.py +++ b/competition_codes/sectionals/sectional_main_dec_6.py @@ -252,12 +252,13 @@ async def Run5(): await drive_base.turn(-103) await drive_base.straight(-80) await left_arm.run_angle(500, -900) - await drive_base.straight(105) - await left_arm.run_angle(700, 285) - await drive_base.turn(30) - await drive_base.straight(-60) - await drive_base.turn(80) - await drive_base.straight(-900) + await drive_base.straight(120) + await drive_base.turn(10) + await left_arm.run_angle(700, 290) + await drive_base.turn(20) + await drive_base.straight(-100) + await drive_base.turn(-120) + await drive_base.straight(900) async def solve_salvage_operation(): await drive_base.straight(500) -- 2.49.1 From 4f21cdc99ca88dd552ed64d74ca96802d8235707 Mon Sep 17 00:00:00 2001 From: nifrali Date: Mon, 8 Dec 2025 00:05:09 +0000 Subject: [PATCH 048/100] Update competition_codes/sectionals/sectional_main_dec_6.py Updated values --- .../sectionals/sectional_main_dec_6.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/competition_codes/sectionals/sectional_main_dec_6.py b/competition_codes/sectionals/sectional_main_dec_6.py index e671f6c..5a4bc39 100644 --- a/competition_codes/sectionals/sectional_main_dec_6.py +++ b/competition_codes/sectionals/sectional_main_dec_6.py @@ -248,17 +248,20 @@ async def Run5(): await drive_base.straight(300) await drive_base.straight(-200) await drive_base.turn(-15) + #solving statue await drive_base.straight(350) - await drive_base.turn(-103) + await drive_base.turn(-104) await drive_base.straight(-80) await left_arm.run_angle(500, -900) await drive_base.straight(120) - await drive_base.turn(10) - await left_arm.run_angle(700, 290) - await drive_base.turn(20) + await drive_base.turn(5) + await left_arm.run_angle(500, 290) + await drive_base.turn(18) await drive_base.straight(-100) - await drive_base.turn(-120) + await drive_base.turn(-90) await drive_base.straight(900) + drive_base.stop() + async def solve_salvage_operation(): await drive_base.straight(500) -- 2.49.1 From 288c4eac26b984e43107ffd252c7a0c8b746f530 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Mon, 8 Dec 2025 17:29:02 +0000 Subject: [PATCH 049/100] Update README.md --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 3bb5d68..d843821 100644 --- a/README.md +++ b/README.md @@ -63,17 +63,17 @@ Repository ### Installation & Deployment - from the server - everyday -1. Download the file codes_for_scrimmage/regional-final/Final_combined.py +1. Download the file competition_codes/sectionals/sectional_main_dec_6.py - You can do this through the repo, by using cURL, or by using git. - - Repo - Go to [codes_for_scrimmage/regional-final/Final_combined.py](codes_for_scrimmage/regional-final/Final_combined.py) and click the "Download" button. + - Repo - Go to [competition_codes/sectionals/sectional_main_dec_6.py](competition_codes/sectionals/sectional_main_dec_6.py) and click the "Download" button. - cURL or another HTTP data transferrer - - ```curl -o Final_combined.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/regional-final/Final_combined.py``` + ```curl -o Release-65266.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/competition_codes/sectionals/sectional_main_dec_6.py``` - git CLI - - ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/regional-final``` + ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/competition_codes/sectionals``` - Then use Final_combined.py. + Then use sectional_main_dec_6.py. 2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button. -- 2.49.1 From 4539ee361f44c63c1fae651547301f41452ea881 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Mon, 8 Dec 2025 19:13:17 +0000 Subject: [PATCH 050/100] Update README.md --- README.md | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index d843821..ad658ca 100644 --- a/README.md +++ b/README.md @@ -65,15 +65,12 @@ Repository 1. Download the file competition_codes/sectionals/sectional_main_dec_6.py - You can do this through the repo, by using cURL, or by using git. - - Repo - Go to [competition_codes/sectionals/sectional_main_dec_6.py](competition_codes/sectionals/sectional_main_dec_6.py) and click the "Download" button. - - cURL or another HTTP data transferrer - - - ```curl -o Release-65266.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/competition_codes/sectionals/sectional_main_dec_6.py``` + - Repo - Go to the latest release and click the "Download as ZIP" button to get the full repository. + - Single file - Go to the latest release and click the file link to get the master file. - git CLI - - - ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/competition_codes/sectionals``` + ```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git``` - Then use sectional_main_dec_6.py. + Then use the master file. 2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button. -- 2.49.1 From 4d94a35503be9df7ab3aa0f8f6623abf60f57ab5 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Mon, 8 Dec 2025 19:15:10 +0000 Subject: [PATCH 051/100] Update competition_codes/sectionals/mukwonago_sectionals_final.py --- .../{sectional_main_dec_6.py => mukwonago_sectionals_final.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename competition_codes/sectionals/{sectional_main_dec_6.py => mukwonago_sectionals_final.py} (100%) diff --git a/competition_codes/sectionals/sectional_main_dec_6.py b/competition_codes/sectionals/mukwonago_sectionals_final.py similarity index 100% rename from competition_codes/sectionals/sectional_main_dec_6.py rename to competition_codes/sectionals/mukwonago_sectionals_final.py -- 2.49.1 From 5a805e75fca86e45efb296c412e99fdaa3401747 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Mon, 8 Dec 2025 19:16:10 +0000 Subject: [PATCH 052/100] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index ad658ca..0719e11 100644 --- a/README.md +++ b/README.md @@ -66,7 +66,7 @@ Repository 1. Download the file competition_codes/sectionals/sectional_main_dec_6.py - You can do this through the repo, by using cURL, or by using git. - Repo - Go to the latest release and click the "Download as ZIP" button to get the full repository. - - Single file - Go to the latest release and click the file link to get the master file. + - Single file - Go to the latest release and click the file link to get the raw master file. - git CLI - ```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git``` -- 2.49.1 From f38a3cc62530fb06cdebbb2b78a1e1f01a45a7b2 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Mon, 8 Dec 2025 19:18:33 +0000 Subject: [PATCH 053/100] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 0719e11..86d54dc 100644 --- a/README.md +++ b/README.md @@ -65,7 +65,7 @@ Repository 1. Download the file competition_codes/sectionals/sectional_main_dec_6.py - You can do this through the repo, by using cURL, or by using git. - - Repo - Go to the latest release and click the "Download as ZIP" button to get the full repository. + - Repo - Go to the [latest release](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/releases) and click the "Download as ZIP" button to get the full repository. - Single file - Go to the latest release and click the file link to get the raw master file. - git CLI - ```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git``` -- 2.49.1 From 3014305d69b894a3abf0d6a73b4c2970c0abdfd0 Mon Sep 17 00:00:00 2001 From: nifrali Date: Tue, 9 Dec 2025 17:34:12 +0000 Subject: [PATCH 054/100] Update competition_codes/sectionals/mukwonago_sectionals_final.py Fixed return --- .../sectionals/mukwonago_sectionals_final.py | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/competition_codes/sectionals/mukwonago_sectionals_final.py b/competition_codes/sectionals/mukwonago_sectionals_final.py index 5a4bc39..084eb70 100644 --- a/competition_codes/sectionals/mukwonago_sectionals_final.py +++ b/competition_codes/sectionals/mukwonago_sectionals_final.py @@ -220,7 +220,11 @@ async def Run4(): await right_arm.run_angle(400, -200) await drive_base.straight(90) await right_arm.run_angle(100, 95) - await drive_base.straight(-875) + #await drive_base.straight(-875) + #return with arc + await drive_base.straight(-600) + await drive_base.arc(10,-47, None) + await drive_base.straight(-400,Stop.COAST_SMART) async def solve_brush_reveal(): await drive_base.straight(700) @@ -291,8 +295,15 @@ Run#6 - Purple Key """ async def Run6_7(): # experiment with ferris wheel for Site Markings - solve_site_mark_1() - solve_site_mark_2() + #solve_site_mark_1() + #solve_site_mark_2() + await drive_base.straight(640) + await drive_base.straight(-150) + await drive_base.turn(-8) + await left_arm.run_angle(500, -520) + await drive_base.straight(300) + await wait(50) + await left_arm.run_angle(500, 700) #return to base await drive_base.straight(-300) drive_base.stop() @@ -360,7 +371,7 @@ async def main(): print('Running Mission 5') await Run5() elif color == "Purple": - print('Running Mission 6') + print('Running Mission 6_7') await Run6_7() elif color == "Light_Blue": print("Running Mission 2_1") -- 2.49.1 From a902f29952144dbcc8f24c3075cff1f3a2705802 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 22 Dec 2025 23:00:02 +0000 Subject: [PATCH 055/100] Add competition_codes/state/sunprarie_state_main.py --- .../state/sunprarie_state_main.py | 382 ++++++++++++++++++ 1 file changed, 382 insertions(+) create mode 100644 competition_codes/state/sunprarie_state_main.py diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py new file mode 100644 index 0000000..942e488 --- /dev/null +++ b/competition_codes/state/sunprarie_state_main.py @@ -0,0 +1,382 @@ +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +WALL_DISTANCE = 200 # mm + +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(400, 0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + if distance is None: + continue + + + # Small delay to prevent overwhelming the sensor + await wait(50) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + await left_arm.run_until_stalled(1500 ,duty_limit=15) + left_arm.reset_angle(0) + await solve_whats_on_sale() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale(): + + right_arm.run_angle(500,30) + left_arm.run_angle(500,-119.5) + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-80) + await drive_base.turn(42) + await drive_base.straight(90) + + + await right_arm.run_angle(10000,-80, Stop.HOLD) + await right_arm.run_angle(10000,80, Stop.HOLD) + await right_arm.run_angle(10000,-80, Stop.HOLD) + await right_arm.run_angle(10000,80, Stop.HOLD) + await right_arm.run_angle(10000,-80, Stop.HOLD) + await right_arm.run_angle(10000,80, Stop.HOLD) + await right_arm.run_angle(10000,-80, Stop.HOLD) + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge(): + await right_arm.run_target(50,50) + # await right_arm.run_angle(50,-30) + await drive_base.arc(350,113, None) + + await drive_base.straight(20) + await drive_base.turn(-60) + await drive_base.straight(-47) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(50) + await drive_base.turn(-15) + await drive_base.straight(50) + await drive_base.turn(-25) + await drive_base.straight(-50) + await drive_base.turn(-40) + await drive_base.straight(50) + right_arm.run_angle(1000,-160) + await drive_base.turn(-60) + await right_arm.run_angle(2000,160) + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_angler_artifacts() + await solve_tip_the_scale() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_angler_artifacts(): + await drive_base.straight(940) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(65) + #Solve + drive_base.turn(-10) + await left_arm.run_angle(10000,-3000) + await drive_base.straight(-110) + + await drive_base.turn(90) + await drive_base.arc(-150,-103, None) + +async def solve_tip_the_scale(): + await drive_base.turn(3) + await drive_base.straight(142.5) + await right_arm.run_angle(800,-150) + await right_arm.run_angle(900,150) + + await drive_base.straight(-100) + await drive_base.turn(-65) + await drive_base.straight(300,Stop.COAST_SMART) + await drive_base.arc(10,-47, None) + #await drive_base.turn(-23, Stop.COAST_SMART) + + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" +async def Run5(): + await drive_base.straight(550) + await right_arm.run_angle(300,100) + await drive_base.straight(-75) + await right_arm.run_angle(300, -100) + await drive_base.straight(300) + await drive_base.straight(-200) + await drive_base.turn(-15) + #solving statue + await drive_base.straight(350) + await drive_base.turn(-104) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(120) + await drive_base.turn(5) + await left_arm.run_angle(500, 290) + await drive_base.turn(18) + await drive_base.straight(-100) + await drive_base.turn(-90) + await drive_base.straight(900) + drive_base.stop() + + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700, 250) + await drive_base.turn(30) + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + h, s, v = await color_sensor.hsv() + print(color_sensor.color()) + print(h,s,v) + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + print(color) + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run6_7() + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run2_1() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + await wait(10) +# Run the main function +run_task(main()) -- 2.49.1 From 5a5b6d2d16d2eedff3c6709ccecc720cf4eb798e Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Wed, 24 Dec 2025 16:34:38 +0000 Subject: [PATCH 056/100] Update competition_codes/state/sunprarie_state_main.py Code optimization and additions to 1st run. --- .../state/sunprarie_state_main.py | 41 +++++++++++++------ 1 file changed, 29 insertions(+), 12 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 942e488..29f4509 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -50,6 +50,9 @@ async def monitor_distance(): # Small delay to prevent overwhelming the sensor await wait(50) + +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) """ Run#1 - Removed forge and who lived here part @@ -58,11 +61,16 @@ Run#1 """ async def Run1(): - await left_arm.run_until_stalled(1500 ,duty_limit=15) + # Fast approach to near-stall position + await left_arm.run_angle(2000, 180) # Fast movement upward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(1500, duty_limit=15) left_arm.reset_angle(0) + await solve_whats_on_sale() await solve_silo() - + # return to base await drive_base.straight(-90) #await drive_base.turn(-100) @@ -94,14 +102,14 @@ async def solve_silo(): await drive_base.turn(42) await drive_base.straight(90) + SPEED = 10000 # speed in degree per second + SWING_ANGLE = 80 # the angle! + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.COAST) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.COAST) # Swing down - await right_arm.run_angle(10000,-80, Stop.HOLD) - await right_arm.run_angle(10000,80, Stop.HOLD) - await right_arm.run_angle(10000,-80, Stop.HOLD) - await right_arm.run_angle(10000,80, Stop.HOLD) - await right_arm.run_angle(10000,-80, Stop.HOLD) - await right_arm.run_angle(10000,80, Stop.HOLD) - await right_arm.run_angle(10000,-80, Stop.HOLD) right_arm.run_angle(4000,60, Stop.HOLD) @@ -319,7 +327,16 @@ async def solve_site_mark_2(): await wait(50) await right_arm.run_angle(50, 50) - +async def Run10(): # experiment with ferris wheel for Site Markings + + await drive_base.straight(680) + drive_base.settings(150, 750, 50, 750) + await drive_base.turn(-45) + await drive_base.straight(200) + set_default_speed() + await drive_base.straight(-100) + await drive_base.turn(45) + drive_base.stop() # Function to classify color based on HSV def detect_color(h, s, v, reflected): @@ -371,7 +388,7 @@ async def main(): await Run5() elif color == "Purple": print('Running Mission 6') - await Run6_7() + await Run10() elif color == "Light_Blue": print("Running Mission 2_1") await Run2_1() @@ -379,4 +396,4 @@ async def main(): print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") await wait(10) # Run the main function -run_task(main()) +run_task(main()) \ No newline at end of file -- 2.49.1 From d9dec685c3e266f1447fcefe18dd419426e07184 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 28 Dec 2025 01:55:38 +0000 Subject: [PATCH 057/100] Update competition_codes/state/sunprarie_state_main.py Slight updates to Send over and the first mission run. --- .../state/sunprarie_state_main.py | 32 ++++++++----------- 1 file changed, 14 insertions(+), 18 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 29f4509..7fd5991 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -25,7 +25,7 @@ WALL_DISTANCE = 200 # mm async def drive_forward(): """Drive forward continuously using DriveBase.""" - drive_base.drive(400, 0) + drive_base.drive(1000,0) async def drive_backward(): """Drive forward continuously using DriveBase.""" @@ -80,7 +80,11 @@ async def Run1(): async def solve_whats_on_sale(): right_arm.run_angle(500,30) - left_arm.run_angle(500,-119.5) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + left_arm.run_target(500,-121.5, Stop.HOLD) + await drive_base.straight(180) await drive_base.turn(-40) @@ -195,28 +199,20 @@ async def Run3(): ) async def solve_angler_artifacts(): - await drive_base.straight(940) + await drive_base.straight(890) await drive_base.turn(-90,Stop.HOLD) - await drive_base.straight(65) + await drive_base.straight(45) #Solve drive_base.turn(-10) - await left_arm.run_angle(10000,-3000) - await drive_base.straight(-110) + await left_arm.run_angle(10000,-750) + await drive_base.straight(-130) - await drive_base.turn(90) - await drive_base.arc(-150,-103, None) + await drive_base.turn(67) async def solve_tip_the_scale(): - await drive_base.turn(3) - await drive_base.straight(142.5) - await right_arm.run_angle(800,-150) - await right_arm.run_angle(900,150) - - await drive_base.straight(-100) - await drive_base.turn(-65) - await drive_base.straight(300,Stop.COAST_SMART) - await drive_base.arc(10,-47, None) - #await drive_base.turn(-23, Stop.COAST_SMART) + await drive_base.straight(-200) + await drive_base.straight(60) + await drive_base.turn(22) -- 2.49.1 From 6755e783f49c550475b7ebdf1e541cb5af423c63 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 29 Dec 2025 05:44:11 +0000 Subject: [PATCH 058/100] Add competition_codes/state/run10_experimental.py --- competition_codes/state/run10_experimental.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 competition_codes/state/run10_experimental.py diff --git a/competition_codes/state/run10_experimental.py b/competition_codes/state/run10_experimental.py new file mode 100644 index 0000000..95dd75b --- /dev/null +++ b/competition_codes/state/run10_experimental.py @@ -0,0 +1,16 @@ +await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() -- 2.49.1 From d5e7e5816a08baecb4cb49caa43230e5595ae919 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 29 Dec 2025 05:44:44 +0000 Subject: [PATCH 059/100] Add competition_codes/state/run11_experimental.py --- competition_codes/state/run11_experimental.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 competition_codes/state/run11_experimental.py diff --git a/competition_codes/state/run11_experimental.py b/competition_codes/state/run11_experimental.py new file mode 100644 index 0000000..c342307 --- /dev/null +++ b/competition_codes/state/run11_experimental.py @@ -0,0 +1,16 @@ +await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(250) + #left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-180) + #await drive_base.straight(400) + #await left_arm.run_angle(50,120) + #await drive_base.straight(-200) + await left_arm.run_angle(300,-300) + await drive_base.straight(-600) + drive_base.stop() -- 2.49.1 From aa69eed5344307b6dbce26f456177b2c8105a6c6 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 29 Dec 2025 19:25:24 +0000 Subject: [PATCH 060/100] Update competition_codes/state/sunprarie_state_main.py Updates to run 10. --- .../state/sunprarie_state_main.py | 20 +++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 7fd5991..6d96528 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -325,13 +325,21 @@ async def solve_site_mark_2(): async def Run10(): # experiment with ferris wheel for Site Markings - await drive_base.straight(680) - drive_base.settings(150, 750, 50, 750) - await drive_base.turn(-45) - await drive_base.straight(200) + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(250) + #left_arm.run_angle(300,218) + set_default_speed() - await drive_base.straight(-100) - await drive_base.turn(45) + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-180) + #await drive_base.straight(400) + #await left_arm.run_angle(50,120) + #await drive_base.straight(-200) + await left_arm.run_angle(300,-300) + await drive_base.straight(-600) drive_base.stop() # Function to classify color based on HSV -- 2.49.1 From 54aa537877cf09f3b8d925edc2cc3d745430e12a Mon Sep 17 00:00:00 2001 From: Vickram <31kapoov@elmbrookstudents.org> Date: Mon, 29 Dec 2025 22:45:02 +0000 Subject: [PATCH 061/100] Fixed motor angles for the left arm --- competition_codes/state/sunprarie_state_main.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 6d96528..568d5ad 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -266,10 +266,10 @@ async def Run5(): await drive_base.straight(350) await drive_base.turn(-104) await drive_base.straight(-80) - await left_arm.run_angle(500, -900) + await left_arm.run_angle(500, -300) await drive_base.straight(120) await drive_base.turn(5) - await left_arm.run_angle(500, 290) + await left_arm.run_angle(500, 120) await drive_base.turn(18) await drive_base.straight(-100) await drive_base.turn(-90) -- 2.49.1 From 6dbcfbe146750b79312e248b79a476d1b5388be9 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 3 Jan 2026 18:38:23 +0000 Subject: [PATCH 062/100] Update competition_codes/state/sunprarie_state_main.py Changes to Run 12 --- .../state/sunprarie_state_main.py | 72 +++++++++++++++++-- 1 file changed, 66 insertions(+), 6 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 568d5ad..95646be 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -323,7 +323,26 @@ async def solve_site_mark_2(): await wait(50) await right_arm.run_angle(50, 50) -async def Run10(): # experiment with ferris wheel for Site Markings +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment await drive_base.straight(600) drive_base.settings(150, 750, 50, 500) @@ -342,6 +361,46 @@ async def Run10(): # experiment with ferris wheel for Site Markings await drive_base.straight(-600) drive_base.stop() +async def Run12(): # experimental careful recovery attachment + + right_arm.reset_angle(0) + # This raises the left arm to avoid entanglement when turning + await left_arm.run_angle(2000, 180) # Fast movement upward + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(1500, duty_limit=15) + left_arm.reset_angle(0) + + # Drive the robot to the wall + await drive_base.straight(900) + await drive_base.turn(83) # Align robot to Mineshaft entrance + + # This change robot movement to slow + drive_base.settings(100, 100, 50, 500) + + # Bring down left arm to position + await left_arm.run_angle(2000, -180) + await left_arm.run_until_stalled(-1500,duty_limit=15) + left_arm.reset_angle(0) + + # Bring down right arm to position + await right_arm.run_target(2000,-120) + right_arm.reset_angle(0) + + await drive_base.straight(190) # Slowly move straight to mineshaft 190 mm + + await right_arm.run_angle(100,95,Stop.HOLD) # Raise mineshaft + await wait(50) + await left_arm.run_angle(100,60) # recover artifact by lifting arm 60 degrees + + # Moving back + await drive_base.straight(-200) + + # Return home + set_default_speed() # change movement robot movement to fast + await drive_base.turn(100) + await drive_base.straight(700) + drive_base.stop() + # Function to classify color based on HSV def detect_color(h, s, v, reflected): if reflected > 4: @@ -368,11 +427,11 @@ def detect_color(h, s, v, reflected): async def main(): while True: h, s, v = await color_sensor.hsv() - print(color_sensor.color()) - print(h,s,v) + #print(color_sensor.color()) + #print(h,s,v) reflected = await color_sensor.reflection() color = detect_color(h, s, v, reflected) - print(color) + #print(color) if color == "Green": @@ -392,12 +451,13 @@ async def main(): await Run5() elif color == "Purple": print('Running Mission 6') - await Run10() + await Run11() elif color == "Light_Blue": print("Running Mission 2_1") - await Run2_1() + await Run12() else: print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass await wait(10) # Run the main function run_task(main()) \ No newline at end of file -- 2.49.1 From 4233cc5f742193b52aebac3f8e55b402b5fdd0f9 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 4 Jan 2026 18:09:47 +0000 Subject: [PATCH 063/100] Update competition_codes/state/sunprarie_state_main.py Various updates to a few of the codes. --- competition_codes/state/sunprarie_state_main.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 95646be..16e2bc3 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -1,3 +1,5 @@ +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. + 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 @@ -104,7 +106,7 @@ async def solve_whats_on_sale(): async def solve_silo(): await drive_base.straight(-80) await drive_base.turn(42) - await drive_base.straight(90) + await drive_base.straight(95) SPEED = 10000 # speed in degree per second SWING_ANGLE = 80 # the angle! @@ -199,7 +201,7 @@ async def Run3(): ) async def solve_angler_artifacts(): - await drive_base.straight(890) + await drive_base.straight(870) await drive_base.turn(-90,Stop.HOLD) await drive_base.straight(45) #Solve @@ -386,14 +388,14 @@ async def Run12(): # experimental careful recovery attachment await right_arm.run_target(2000,-120) right_arm.reset_angle(0) - await drive_base.straight(190) # Slowly move straight to mineshaft 190 mm + await drive_base.straight(180) # Slowly move straight to mineshaft 180 mm await right_arm.run_angle(100,95,Stop.HOLD) # Raise mineshaft await wait(50) await left_arm.run_angle(100,60) # recover artifact by lifting arm 60 degrees # Moving back - await drive_base.straight(-200) + await drive_base.straight(-190) # Return home set_default_speed() # change movement robot movement to fast -- 2.49.1 From 3efdf8ecbcfaf41fe0e9288908b35826182192cf Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 5 Jan 2026 01:24:12 +0000 Subject: [PATCH 064/100] Update competition_codes/state/sunprarie_state_main.py Slight changes to motor angles in Run_5. --- competition_codes/state/sunprarie_state_main.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 16e2bc3..46d8021 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -257,21 +257,24 @@ Run#5 - Orange Key """ async def Run5(): + # Getting the sand down await drive_base.straight(550) await right_arm.run_angle(300,100) await drive_base.straight(-75) await right_arm.run_angle(300, -100) + # Shoving the boat into place await drive_base.straight(300) await drive_base.straight(-200) await drive_base.turn(-15) - #solving statue + # Solving statue await drive_base.straight(350) await drive_base.turn(-104) await drive_base.straight(-80) await left_arm.run_angle(500, -300) await drive_base.straight(120) await drive_base.turn(5) - await left_arm.run_angle(500, 120) + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) await drive_base.turn(18) await drive_base.straight(-100) await drive_base.turn(-90) @@ -297,7 +300,7 @@ async def solve_statue_rebuild(): await left_arm.run_angle(500, -900) await drive_base.straight(50) await drive_base.straight(50) - await left_arm.run_angle(700, 250) + await left_arm.run_angle(700,200) await drive_base.turn(30) """ @@ -391,7 +394,6 @@ async def Run12(): # experimental careful recovery attachment await drive_base.straight(180) # Slowly move straight to mineshaft 180 mm await right_arm.run_angle(100,95,Stop.HOLD) # Raise mineshaft - await wait(50) await left_arm.run_angle(100,60) # recover artifact by lifting arm 60 degrees # Moving back -- 2.49.1 From 4942f28e67c9f88faee75fc5d564500fdf653555 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Tue, 6 Jan 2026 22:23:43 +0000 Subject: [PATCH 065/100] Update competition_codes/state/sunprarie_state_main.py Battery diagnostics added. --- .../state/sunprarie_state_main.py | 91 +++++++++++++++---- 1 file changed, 71 insertions(+), 20 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 46d8021..fd889af 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -1,5 +1,10 @@ -#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +Francisco Liwa +7:58 AM (8 hours ago) +to me + +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath 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 @@ -23,8 +28,24 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) drive_base.settings(600, 500, 300, 200) drive_base.use_gyro(True) -WALL_DISTANCE = 200 # mm +""" +Debugging helps +""" +DEBUG = 0 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 200 # mm async def drive_forward(): """Drive forward continuously using DriveBase.""" drive_base.drive(1000,0) @@ -47,14 +68,18 @@ async def monitor_distance(): break if distance is None: continue - - + # Small delay to prevent overwhelming the sensor await wait(50) - +# Use this to set default def set_default_speed(): drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + """ Run#1 - Removed forge and who lived here part @@ -69,8 +94,9 @@ async def Run1(): # Gentle stall detection (shorter distance = faster) await left_arm.run_until_stalled(1500, duty_limit=15) left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") - await solve_whats_on_sale() + await solve_whats_on_sale_v2() await solve_silo() # return to base @@ -78,7 +104,7 @@ async def Run1(): #await drive_base.turn(-100) await drive_base.arc(200,None,-300) drive_base.stop() - + async def solve_whats_on_sale(): right_arm.run_angle(500,30) @@ -86,6 +112,33 @@ async def solve_whats_on_sale(): #Automated inconsistency #left_arm.run_angle(500,-119.5) left_arm.run_target(500,-121.5, Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) await drive_base.straight(180) @@ -109,12 +162,14 @@ async def solve_silo(): await drive_base.straight(95) SPEED = 10000 # speed in degree per second - SWING_ANGLE = 80 # the angle! + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 # Repeat this motion 4 times for _ in range(4): - await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.COAST) # Swing up - await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.COAST) # Swing down + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + right_arm.run_angle(4000,60, Stop.HOLD) @@ -430,12 +485,15 @@ def detect_color(h, s, v, reflected): async def main(): while True: + pressed = hub.buttons.pressed() h, s, v = await color_sensor.hsv() - #print(color_sensor.color()) - #print(h,s,v) reflected = await color_sensor.reflection() color = detect_color(h, s, v, reflected) - #print(color) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") if color == "Green": @@ -458,10 +516,3 @@ async def main(): await Run11() elif color == "Light_Blue": print("Running Mission 2_1") - await Run12() - else: - print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") - #pass - await wait(10) -# Run the main function -run_task(main()) \ No newline at end of file -- 2.49.1 From a116a9b3bbb77f8d9eb8ce4727265cfdc8856593 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Tue, 6 Jan 2026 22:24:05 +0000 Subject: [PATCH 066/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index fd889af..4c5ac54 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -1,8 +1,3 @@ - -Francisco Liwa -7:58 AM (8 hours ago) -to me - #Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. import umath from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor -- 2.49.1 From 50d125a09e29161ab8a47616e1e26378f0bb3d7a Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Wed, 7 Jan 2026 00:17:23 +0000 Subject: [PATCH 067/100] Update competition_codes/state/sunprarie_state_main.py Forgot to add run task before --- .../state/sunprarie_state_main.py | 25 ++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 4c5ac54..4f79446 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -26,7 +26,7 @@ drive_base.use_gyro(True) """ Debugging helps """ -DEBUG = 0 # Enable when you want to show logs +DEBUG = 1 # Enable when you want to show logs # Example conversion function (adjust min/max values as needed for your hub) async def get_battery_percentage(voltage_mV:float): max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us @@ -511,3 +511,26 @@ async def main(): await Run11() elif color == "Light_Blue": print("Running Mission 2_1") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 8b152a371d3d3e46cff0c2b1da9a6a1b4ea367c7 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Thu, 8 Jan 2026 23:11:34 +0000 Subject: [PATCH 068/100] Add competition_codes/state/Updated state.py --- competition_codes/state/Updated state.py | 513 +++++++++++++++++++++++ 1 file changed, 513 insertions(+) create mode 100644 competition_codes/state/Updated state.py diff --git a/competition_codes/state/Updated state.py b/competition_codes/state/Updated state.py new file mode 100644 index 0000000..4b0cebb --- /dev/null +++ b/competition_codes/state/Updated state.py @@ -0,0 +1,513 @@ +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +""" +Debugging helps +""" +DEBUG = 1 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 + +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 200 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(1000,0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + if distance is None: + continue + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Use this to set default +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + # Fast approach to near-stall position + await left_arm.run_angle(2000, 180) # Fast movement upward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(1500, duty_limit=15) + left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") + + await solve_whats_on_sale_v2() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale(): + + right_arm.run_angle(500,30) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + left_arm.run_target(500,-121.5, Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-80) + await drive_base.turn(42) + await drive_base.straight(95) + + SPEED = 10000 # speed in degree per second + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + + + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge(): + await right_arm.run_target(50,50) + # await right_arm.run_angle(50,-30) + await drive_base.arc(350,113, None) + + await drive_base.straight(20) + await drive_base.turn(-60) + await drive_base.straight(-47) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(50) + await drive_base.turn(-15) + await drive_base.straight(50) + await drive_base.turn(-25) + await drive_base.straight(-50) + await drive_base.turn(-40) + await drive_base.straight(50) + right_arm.run_angle(1000,-160) + await drive_base.turn(-60) + await right_arm.run_angle(2000,160) + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_angler_artifacts() + await solve_tip_the_scale() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_angler_artifacts(): + await drive_base.straight(870) + await drive_base.turn(-90,Stop.HOLD) + await drive_base.straight(45) + #Solve + drive_base.turn(-10) + await left_arm.run_angle(10000,-750) + await drive_base.straight(-130) + + await drive_base.turn(67) + +async def solve_tip_the_scale(): + await drive_base.straight(-200) + await drive_base.straight(60) + await drive_base.turn(22) + + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" +async def Run5(): + # Getting the sand down + await drive_base.straight(550) + await right_arm.run_angle(300,100) + await drive_base.straight(-75) + await right_arm.run_angle(300, -100) + # Shoving the boat into place + await drive_base.straight(300) + await drive_base.straight(-200) + await drive_base.turn(-15) + # Solving statue + await drive_base.straight(350) + await drive_base.turn(-104) + await drive_base.straight(-80) + await left_arm.run_angle(500, -300) + await drive_base.straight(120) + await drive_base.turn(5) + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) + await drive_base.turn(18) + await drive_base.straight(-100) + await drive_base.turn(-90) + await drive_base.straight(900) + drive_base.stop() + + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700,200) + await drive_base.turn(30) + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(250) + #left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-100) + await drive_base.turn(30) + await drive_base.straight(-190) + #await drive_base.straight(400) + #await left_arm.run_angle(50,120) + #await drive_base.straight(-200) + await left_arm.run_angle(300,-300) + await drive_base.straight(-600) + drive_base.stop() + +async def Run12(): + await drive_base.straight(900) + await drive_base.turn(83) + await left_arm.run_angle(3000, -300) + await right_arm.run_angle(1100, -180) + drive_base.settings(150, 50, 50, 50) + await drive_base.straight(120) + left_arm.reset_angle(0) + await left_arm.run_angle(50, 50) + await right_arm.run_angle(50, 90) + await drive_base.straight(-100) + drive_base.settings(950, 750, 750, 750) + await drive_base.turn(110) + await drive_base.straight(1000) + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + pressed = hub.buttons.pressed() + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run11() + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From fa28fbb0864a841e40c7d2939ef1ce5a5f8e4e87 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Thu, 8 Jan 2026 23:21:51 +0000 Subject: [PATCH 069/100] Update competition_codes/state/sunprarie_state_main.py --- .../state/sunprarie_state_main.py | 51 +++++-------------- 1 file changed, 14 insertions(+), 37 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 4f79446..4b0cebb 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -406,9 +406,9 @@ async def Run11(): # experimental surface brushing attachment #left_arm.run_angle(300,218) set_default_speed() - await drive_base.straight(-80) + await drive_base.straight(-100) await drive_base.turn(30) - await drive_base.straight(-180) + await drive_base.straight(-190) #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) @@ -416,44 +416,21 @@ async def Run11(): # experimental surface brushing attachment await drive_base.straight(-600) drive_base.stop() -async def Run12(): # experimental careful recovery attachment - - right_arm.reset_angle(0) - # This raises the left arm to avoid entanglement when turning - await left_arm.run_angle(2000, 180) # Fast movement upward - # Gentle stall detection (shorter distance = faster) - await left_arm.run_until_stalled(1500, duty_limit=15) - left_arm.reset_angle(0) - - # Drive the robot to the wall +async def Run12(): await drive_base.straight(900) - await drive_base.turn(83) # Align robot to Mineshaft entrance - - # This change robot movement to slow - drive_base.settings(100, 100, 50, 500) - - # Bring down left arm to position - await left_arm.run_angle(2000, -180) - await left_arm.run_until_stalled(-1500,duty_limit=15) + await drive_base.turn(83) + await left_arm.run_angle(3000, -300) + await right_arm.run_angle(1100, -180) + drive_base.settings(150, 50, 50, 50) + await drive_base.straight(120) left_arm.reset_angle(0) + await left_arm.run_angle(50, 50) + await right_arm.run_angle(50, 90) + await drive_base.straight(-100) + drive_base.settings(950, 750, 750, 750) + await drive_base.turn(110) + await drive_base.straight(1000) - # Bring down right arm to position - await right_arm.run_target(2000,-120) - right_arm.reset_angle(0) - - await drive_base.straight(180) # Slowly move straight to mineshaft 180 mm - - await right_arm.run_angle(100,95,Stop.HOLD) # Raise mineshaft - await left_arm.run_angle(100,60) # recover artifact by lifting arm 60 degrees - - # Moving back - await drive_base.straight(-190) - - # Return home - set_default_speed() # change movement robot movement to fast - await drive_base.turn(100) - await drive_base.straight(700) - drive_base.stop() # Function to classify color based on HSV def detect_color(h, s, v, reflected): -- 2.49.1 From a395daba025c7d292032f371e29f4d38b7e21dab Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 01:29:36 +0000 Subject: [PATCH 070/100] Delete RoshoDaGoat.py --- RoshoDaGoat.py | 42 ------------------------------------------ 1 file changed, 42 deletions(-) delete mode 100644 RoshoDaGoat.py diff --git a/RoshoDaGoat.py b/RoshoDaGoat.py deleted file mode 100644 index 7d84ee2..0000000 --- a/RoshoDaGoat.py +++ /dev/null @@ -1,42 +0,0 @@ -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, run_task, multitask - -hub = PrimeHub() - -# Initialize both motors. In this example, the motor on the -# left must turn counterclockwise to make the robot go forward. -left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) -right_motor = Motor(Port.B) - -arm_motor = Motor(Port.D, Direction.CLOCKWISE) -arm_motor_left= Motor(Port.C, Direction.CLOCKWISE) -# Initialize the drive base. In this example, the wheel diameter is 56mm. -# The distance between the two wheel-ground contact points is 112mm. -drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180) - -print('The default settings are: ' + str(drive_base.settings())) -drive_base.settings(300,1000,300,750) -# Optionally, uncomment the line below to use the gyro for improved accuracy. -drive_base.use_gyro(True) - -async def main(): - await drive_base.straight(519) - await arm_motor_left.run_angle(-10000, 300) - await arm_motor_left.run_angle(10000, 600) - await drive_base.straight(160) - await drive_base.turn(-30) - await drive_base.straight(50) - await arm_motor.run_angle(3000, 3000) - await drive_base.straight(-150) - await drive_base.turn(135) - await drive_base.straight(50) - await arm_motor.run_angle(10000, -3000) - await drive_base.straight(-100) - await drive_base.turn(-54) - await arm_motor.run_angle(10000, -3000) - await drive_base.straight(200) - await arm_motor.run_angle(10000, 10000) -run_task(main()) \ No newline at end of file -- 2.49.1 From 44bbcf176dac4ef80a65c709367032eec504393d Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 01:29:48 +0000 Subject: [PATCH 071/100] Delete config.py --- config.py | 40 ---------------------------------------- 1 file changed, 40 deletions(-) delete mode 100644 config.py diff --git a/config.py b/config.py deleted file mode 100644 index f59fbfb..0000000 --- a/config.py +++ /dev/null @@ -1,40 +0,0 @@ -# config.py - Robot configuration shared across all modules -from pybricks.hubs import PrimeHub -from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor -from pybricks.parameters import Port - -# Initialize hub -hub = PrimeHub() - -# Robot hardware configuration -ROBOT_CONFIG = { - # Drive motors - 'left_motor': Motor(Port.A), - 'right_motor': Motor(Port.B), - - # Attachment motors - 'attachment_motor': Motor(Port.C), - 'lift_motor': Motor(Port.D), - - # Sensors - #'color_left': ColorSensor(Port.E), - 'color_back': ColorSensor(Port.F), - 'ultrasonic': UltrasonicSensor(Port.E), - - # Hub reference - 'hub': hub -} - -# Speed and distance constants -SPEEDS = { - 'FAST': 400, - 'NORMAL': 250, - 'SLOW': 100, - 'PRECISE': 50 -} - -DISTANCES = { - 'TILE_SIZE': 300, # mm per field tile - 'ROBOT_LENGTH': 180, # mm - 'ROBOT_WIDTH': 140 # mm -} \ No newline at end of file -- 2.49.1 From b93ab2f7881305e97f8d2b5e3d0330a4ef5f534a Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 01:30:03 +0000 Subject: [PATCH 072/100] Delete test_10_17_2025.py --- test_10_17_2025.py | 303 --------------------------------------------- 1 file changed, 303 deletions(-) delete mode 100644 test_10_17_2025.py diff --git a/test_10_17_2025.py b/test_10_17_2025.py deleted file mode 100644 index 1d89281..0000000 --- a/test_10_17_2025.py +++ /dev/null @@ -1,303 +0,0 @@ -# Stuff from 10/15/2025 -# Atharv trying with no avail to add more colors to the color sensor logic 😭😭😭😭😭😭😭 -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) -Color.ORANGE = Color(28, 61, 61) -Color.BLUE = Color(230,100,100) -Color.YELLOW = Color(37, 85, 95) -Color.PURPLE = Color(326, 60, 87) -color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW, Color.NONE, Color.PURPLE]) -hub.speaker.volume(50) # Set the volume of the speaker -color_sensor.detectable_colors() -# 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() - -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(-700) - -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(-750) - - -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 drive_base.straight(519) - await arm_motor_left.run_angle(-10000, 300) - await arm_motor_left.run_angle(10000, 600) - await drive_base.straight(160) - await drive_base.turn(-30) - await drive_base.straight(50) - await arm_motor.run_angle(3000, 3000) - await drive_base.straight(-150) - await drive_base.turn(135) - await drive_base.straight(50) - await arm_motor.run_angle(10000, -3000) - await drive_base.straight(-100) - await drive_base.turn(-54) - await arm_motor.run_angle(10000, -3000) - await drive_base.straight(250) - await drive_base.turn(-5) - await arm_motor.run_angle(10000, 7000) - await drive_base.straight(-50) - await drive_base.turn(68) - await arm_motor.run_angle(10000, -6000) - await drive_base.straight(200) - await arm_motor.run_angle(10000, 4000) - await drive_base.turn(-40) - await arm_motor.run_angle(10000, 7000) - -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.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) -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.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) - 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 4') - await Run4() - #await celebrate_mission_complete(CelebrationSound.POWER_UP) - elif color_detected == Color.ORANGE: - print('Running Mission 5') - await Run5() - #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) - elif color_detected == Color.PURPLE: - print('Running Mission 6 (this is ayaan\'s code)') - await Run6() - #await celebrate_mission_complete(CelebrationSound.LEVEL_UP) - else: - hub.light.off() - left_motor.stop() - right_motor.stop() - await wait(1000) #prevent loop from iterating fast -# Main execution loop -run_task(main()) -- 2.49.1 From 79158d0f15af2766ddf1e0dcf6877c2ca129c93e Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:22:24 +0000 Subject: [PATCH 073/100] Update competition_codes/regional-final/RegionalFinalOld.py --- .../regional-final/RegionalFinalOld.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename RegionalFinal.py => competition_codes/regional-final/RegionalFinalOld.py (100%) diff --git a/RegionalFinal.py b/competition_codes/regional-final/RegionalFinalOld.py similarity index 100% rename from RegionalFinal.py rename to competition_codes/regional-final/RegionalFinalOld.py -- 2.49.1 From 3bbf3fb2e6dcfebf0667a75577aa6fc51920df0b Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:22:47 +0000 Subject: [PATCH 074/100] Update competition_codes/twist_scrimmagetwist_scrimmage.py --- .../twist_scrimmagetwist_scrimmage.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename twist_scrimmage.py => competition_codes/twist_scrimmagetwist_scrimmage.py (100%) diff --git a/twist_scrimmage.py b/competition_codes/twist_scrimmagetwist_scrimmage.py similarity index 100% rename from twist_scrimmage.py rename to competition_codes/twist_scrimmagetwist_scrimmage.py -- 2.49.1 From ba3e83343404b97433f7ec1d733cee0fa53fd300 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:22:52 +0000 Subject: [PATCH 075/100] Update competition_codes/twist_scrimmage/twist_scrimmage.py --- .../twist_scrimmage.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename competition_codes/{twist_scrimmagetwist_scrimmage.py => twist_scrimmage/twist_scrimmage.py} (100%) diff --git a/competition_codes/twist_scrimmagetwist_scrimmage.py b/competition_codes/twist_scrimmage/twist_scrimmage.py similarity index 100% rename from competition_codes/twist_scrimmagetwist_scrimmage.py rename to competition_codes/twist_scrimmage/twist_scrimmage.py -- 2.49.1 From b3ab479bc43c65f9fb590ac8c563f18f3fd669a9 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:24:33 +0000 Subject: [PATCH 076/100] Update final/old_combined/1main.py --- final/{ => old_combined}/1main.py | 1 - 1 file changed, 1 deletion(-) rename final/{ => old_combined}/1main.py (99%) diff --git a/final/1main.py b/final/old_combined/1main.py similarity index 99% rename from final/1main.py rename to final/old_combined/1main.py index f535603..4912045 100644 --- a/final/1main.py +++ b/final/old_combined/1main.py @@ -1,4 +1,3 @@ - from pybricks.hubs import PrimeHub from pybricks.pupdevices import Motor, ColorSensor from pybricks.parameters import Port, Stop, Color, Direction -- 2.49.1 From dbf5fc4880176662854bf5bc2559154427d9b0ee Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:24:59 +0000 Subject: [PATCH 077/100] Update old_combined/1main.py --- {final/old_combined => old_combined}/1main.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename {final/old_combined => old_combined}/1main.py (100%) diff --git a/final/old_combined/1main.py b/old_combined/1main.py similarity index 100% rename from final/old_combined/1main.py rename to old_combined/1main.py -- 2.49.1 From b0fd33d6b063e2b36471043e0d0fbece7930ad44 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:25:06 +0000 Subject: [PATCH 078/100] Update old_combined/2main.py --- {final => old_combined}/2main.py | 1 - 1 file changed, 1 deletion(-) rename {final => old_combined}/2main.py (99%) diff --git a/final/2main.py b/old_combined/2main.py similarity index 99% rename from final/2main.py rename to old_combined/2main.py index 7c0940d..892e31c 100644 --- a/final/2main.py +++ b/old_combined/2main.py @@ -1,4 +1,3 @@ - from pybricks.hubs import PrimeHub from pybricks.pupdevices import Motor, ColorSensor from pybricks.parameters import Port, Stop, Color, Direction -- 2.49.1 From 664defae7347bab73914b5ce205502dd2b26a51d Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:25:14 +0000 Subject: [PATCH 079/100] Update old_combined/3main.py --- {final => old_combined}/3main.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename {final => old_combined}/3main.py (100%) diff --git a/final/3main.py b/old_combined/3main.py similarity index 100% rename from final/3main.py rename to old_combined/3main.py -- 2.49.1 From ccd30af870c0ddb48a2e0007e8bdf6e82497956d Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:27:28 +0000 Subject: [PATCH 080/100] Update old_combined/4main.py --- {final => old_combined}/4main.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename {final => old_combined}/4main.py (100%) diff --git a/final/4main.py b/old_combined/4main.py similarity index 100% rename from final/4main.py rename to old_combined/4main.py -- 2.49.1 From 65373a16d3a78a7a82125a957cebbcb58e6d0130 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:27:35 +0000 Subject: [PATCH 081/100] Update old_combined/main5.py --- {final => old_combined}/main5.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename {final => old_combined}/main5.py (100%) diff --git a/final/main5.py b/old_combined/main5.py similarity index 100% rename from final/main5.py rename to old_combined/main5.py -- 2.49.1 From 3e4dab3c9c38905589d55e3404fe2ce304e0ad50 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:28:45 +0000 Subject: [PATCH 082/100] Delete utils/color_sensor_navi.py --- utils/color_sensor_navi.py | 41 -------------------------------------- 1 file changed, 41 deletions(-) delete mode 100644 utils/color_sensor_navi.py diff --git a/utils/color_sensor_navi.py b/utils/color_sensor_navi.py deleted file mode 100644 index 54bb542..0000000 --- a/utils/color_sensor_navi.py +++ /dev/null @@ -1,41 +0,0 @@ -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 - -hub = PrimeHub() - -# Robot hardware configuration
ROBOT_CONFIG = {
 # Drive motors
 'left_motor': Motor(Port.A),
 'right_motor': Motor(Port.B),
 
 # Attachment motors
 'attachment_motor': Motor(Port.C),
 'lift_motor': Motor(Port.D),
 
 # Sensors
 'color_left': ColorSensor(Port.E),
 'color_right': ColorSensor(Port.F),
 'ultrasonic': UltrasonicSensor(Port.S1),
 
 # Hub reference
 'hub': hub
}

# Speed and distance constants
SPEEDS = {
 'FAST': 400,
 'NORMAL': 250,
 'SLOW': 100,
 'PRECISE': 50
}

DISTANCES = {
 'TILE_SIZE': 300, # mm per field tile
 'ROBOT_LENGTH': 180, # mm
 'ROBOT_WIDTH': 140 # mm
} - - -def mission_run_1(): - print('Running missions in Run 1') - -def mission_run_2(): - print('Running missions in Run 2') - -def mission_run_3(): - print('Running missions in Run 3') - -# In main.py - sensor-based navigation -def main(self): - """Use color sensor to select runs""" - print("Place colored object in front of sensor:") - print("RED=Run1, GREEN=Run2, BLUE=Run3, YELLOW=Test") - while True: - color = ROBOT_CONFIG['color_left'].color() - if color == Color.RED: - mission_run_1() - break - elif color == Color.GREEN: - mission_run_2() - break - elif color == Color.BLUE: - mission_run_3() - break - elif color == Color.YELLOW: - self.test_mode() - break - wait(1000) -main() -- 2.49.1 From aed13bedff07ad165620ff3924fe3847e4841041 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:29:06 +0000 Subject: [PATCH 083/100] Delete utils/constants.py --- utils/constants.py | 13 ------------- 1 file changed, 13 deletions(-) delete mode 100644 utils/constants.py diff --git a/utils/constants.py b/utils/constants.py deleted file mode 100644 index f74d325..0000000 --- a/utils/constants.py +++ /dev/null @@ -1,13 +0,0 @@ -#Speed and distance constants -SPEEDS = { - 'FAST': 400, - 'NORMAL': 250, - 'SLOW': 100, - 'PRECISE': 50 -} - -DISTANCES = { - 'TILE_SIZE': 300, # mm per field tile - 'ROBOT_LENGTH': 180, # mm - 'ROBOT_WIDTH': 140 # mm -} \ No newline at end of file -- 2.49.1 From e306b7dce164b9a85008a2bcb052dc7580506a9f Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Fri, 9 Jan 2026 13:30:08 +0000 Subject: [PATCH 084/100] Delete utils/starter_drivebase_code.py --- utils/starter_drivebase_code.py | 36 --------------------------------- 1 file changed, 36 deletions(-) delete mode 100644 utils/starter_drivebase_code.py diff --git a/utils/starter_drivebase_code.py b/utils/starter_drivebase_code.py deleted file mode 100644 index d7cb0b7..0000000 --- a/utils/starter_drivebase_code.py +++ /dev/null @@ -1,36 +0,0 @@ -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 - -hub = PrimeHub() - -# Initialize both motors. In this example, the motor on the -# left must turn counterclockwise to make the robot go forward. -left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) -right_motor = Motor(Port.B) - -arm_motor = Motor(Port.E, Direction.CLOCKWISE) -arm_motor.run_angle(299,90, Stop.HOLD) -# Initialize the drive base. In this example, the wheel diameter is 56mm. -# The distance between the two wheel-ground contact points is 112mm. -drive_base = DriveBase(left_motor, right_motor, wheel_diameter=54, axle_track=112) - -print('The default settings are: ' + str(drive_base.settings())) -drive_base.settings(100,1000,166,750) -# Optionally, uncomment the line below to use the gyro for improved accuracy. -drive_base.use_gyro(True) - -# Drive forward by 500mm (half a meter). -drive_base.straight(500) - -# Turn around clockwise by 180 degrees. -drive_base.turn(180) - -# Drive forward again to get back to the start. -drive_base.straight(500) - -# Turn around counterclockwise. -drive_base.turn(-180) -arm_motor.run_angle(299,-90, Stop.HOLD) \ No newline at end of file -- 2.49.1 From 0e009d2da4371a57bbd72e1e26bb5db1364c8616 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Fri, 9 Jan 2026 14:33:43 +0000 Subject: [PATCH 085/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 4b0cebb..e9e6fb0 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -84,14 +84,14 @@ Run#1 async def Run1(): # Fast approach to near-stall position - await left_arm.run_angle(2000, 180) # Fast movement upward + await left_arm.run_angle(2000, -190) # Fast movement downward # Gentle stall detection (shorter distance = faster) - await left_arm.run_until_stalled(1500, duty_limit=15) + await left_arm.run_until_stalled(-1500, duty_limit=15) left_arm.reset_angle(0) print(f"Initial left arm angle : {left_arm.angle()}") - await solve_whats_on_sale_v2() + await solve_whats_on_sale_v3() await solve_silo() # return to base @@ -100,13 +100,13 @@ async def Run1(): await drive_base.arc(200,None,-300) drive_base.stop() -async def solve_whats_on_sale(): +async def solve_whats_on_sale_v3(): right_arm.run_angle(500,30) #Automated inconsistency #left_arm.run_angle(500,-119.5) - left_arm.run_target(500,-121.5, Stop.HOLD) + left_arm.run_target(500,70, Stop.HOLD) print(f"Position left arm angle : {left_arm.angle()}") await drive_base.straight(180) @@ -412,6 +412,7 @@ async def Run11(): # experimental surface brushing attachment #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) + await wait(67) await left_arm.run_angle(300,-300) await drive_base.straight(-600) drive_base.stop() -- 2.49.1 From 70c4df4a12fec062207b50fc4a62c5acd4cd86b4 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 10 Jan 2026 03:01:48 +0000 Subject: [PATCH 086/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index e9e6fb0..765521e 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -408,12 +408,9 @@ async def Run11(): # experimental surface brushing attachment set_default_speed() await drive_base.straight(-100) await drive_base.turn(30) - await drive_base.straight(-190) #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) - await wait(67) - await left_arm.run_angle(300,-300) await drive_base.straight(-600) drive_base.stop() -- 2.49.1 From e46897548b30e12d1f03e2ccd6cd19660a40f54b Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 10 Jan 2026 03:02:02 +0000 Subject: [PATCH 087/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 765521e..981a6e9 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -84,7 +84,7 @@ Run#1 async def Run1(): # Fast approach to near-stall position - await left_arm.run_angle(2000, -190) # Fast movement downward + await left_arm.run_angle(2000, -210) # Fast movement downward # Gentle stall detection (shorter distance = faster) await left_arm.run_until_stalled(-1500, duty_limit=15) @@ -106,7 +106,8 @@ async def solve_whats_on_sale_v3(): #Automated inconsistency #left_arm.run_angle(500,-119.5) - left_arm.run_target(500,70, Stop.HOLD) + await left_arm.run_angle(500, 75,Stop.HOLD) + #await left_arm.run_target(500,90,Stop.HOLD) print(f"Position left arm angle : {left_arm.angle()}") await drive_base.straight(180) @@ -153,7 +154,7 @@ async def solve_whats_on_sale_v2(): async def solve_silo(): await drive_base.straight(-80) - await drive_base.turn(42) + await drive_base.turn(43) await drive_base.straight(95) SPEED = 10000 # speed in degree per second -- 2.49.1 From 54dd1db320f93c5c859b5b4644c0c1b875575b08 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 11 Jan 2026 00:47:37 +0000 Subject: [PATCH 088/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 981a6e9..a085862 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -84,7 +84,7 @@ Run#1 async def Run1(): # Fast approach to near-stall position - await left_arm.run_angle(2000, -210) # Fast movement downward + await left_arm.run_angle(2000, -190) # Fast movement downward # Gentle stall detection (shorter distance = faster) await left_arm.run_until_stalled(-1500, duty_limit=15) @@ -106,8 +106,7 @@ async def solve_whats_on_sale_v3(): #Automated inconsistency #left_arm.run_angle(500,-119.5) - await left_arm.run_angle(500, 75,Stop.HOLD) - #await left_arm.run_target(500,90,Stop.HOLD) + left_arm.run_target(500,70, Stop.HOLD) print(f"Position left arm angle : {left_arm.angle()}") await drive_base.straight(180) @@ -154,7 +153,7 @@ async def solve_whats_on_sale_v2(): async def solve_silo(): await drive_base.straight(-80) - await drive_base.turn(43) + await drive_base.turn(42) await drive_base.straight(95) SPEED = 10000 # speed in degree per second @@ -407,12 +406,14 @@ async def Run11(): # experimental surface brushing attachment #left_arm.run_angle(300,218) set_default_speed() - await drive_base.straight(-100) + await drive_base.straight(-120) await drive_base.turn(30) #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) - await drive_base.straight(-600) + await drive_base.straight(-129) + await left_arm.run_angle(300, -75) + await drive_base.straight(-400) drive_base.stop() async def Run12(): -- 2.49.1 From eb9b2ca30fc37654217fa2a0035a9a04b1aad645 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 11 Jan 2026 00:57:25 +0000 Subject: [PATCH 089/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index a085862..f91001f 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -406,12 +406,12 @@ async def Run11(): # experimental surface brushing attachment #left_arm.run_angle(300,218) set_default_speed() - await drive_base.straight(-120) + await drive_base.straight(-210) await drive_base.turn(30) #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) - await drive_base.straight(-129) + await drive_base.straight(-119) await left_arm.run_angle(300, -75) await drive_base.straight(-400) drive_base.stop() -- 2.49.1 From 2d57f65a58977bd3dfac8fd45c37e49b2de5b991 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 11 Jan 2026 01:19:39 +0000 Subject: [PATCH 090/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index f91001f..5d2eb14 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -411,9 +411,9 @@ async def Run11(): # experimental surface brushing attachment #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) - await drive_base.straight(-119) + await drive_base.straight(-80) await left_arm.run_angle(300, -75) - await drive_base.straight(-400) + await drive_base.straight(-600) drive_base.stop() async def Run12(): -- 2.49.1 From 67c6554c61c00ba290878d50d6188961da314c0b Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 11 Jan 2026 20:16:08 +0000 Subject: [PATCH 091/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 5d2eb14..4f6560d 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -412,7 +412,7 @@ async def Run11(): # experimental surface brushing attachment #await left_arm.run_angle(50,120) #await drive_base.straight(-200) await drive_base.straight(-80) - await left_arm.run_angle(300, -75) + #await left_arm.run_angle(300, -75) await drive_base.straight(-600) drive_base.stop() -- 2.49.1 From ea9723a67d01ed9ad27096ef8bc7cffa6c90de4e Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 12 Jan 2026 03:30:25 +0000 Subject: [PATCH 092/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 4f6560d..974a4d1 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -412,8 +412,8 @@ async def Run11(): # experimental surface brushing attachment #await left_arm.run_angle(50,120) #await drive_base.straight(-200) await drive_base.straight(-80) - #await left_arm.run_angle(300, -75) - await drive_base.straight(-600) + await left_arm.run_angle(300, -75) + await drive_base.arc(550,None,800) drive_base.stop() async def Run12(): -- 2.49.1 From edd49e0a9bbcea62d6b26627860f2ef88ab20421 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 12 Jan 2026 03:36:10 +0000 Subject: [PATCH 093/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 974a4d1..d7beea2 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -411,9 +411,9 @@ async def Run11(): # experimental surface brushing attachment #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) - await drive_base.straight(-80) - await left_arm.run_angle(300, -75) - await drive_base.arc(550,None,800) + #await drive_base.straight(-80) + #await left_arm.run_angle(300, -75) + await drive_base.arc(-650,None,-800) drive_base.stop() async def Run12(): -- 2.49.1 From 782b6ec78f51b11398aa69788a7863aae1dedd0a Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Mon, 12 Jan 2026 03:37:32 +0000 Subject: [PATCH 094/100] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index d7beea2..2507054 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -406,7 +406,7 @@ async def Run11(): # experimental surface brushing attachment #left_arm.run_angle(300,218) set_default_speed() - await drive_base.straight(-210) + await drive_base.straight(-230) await drive_base.turn(30) #await drive_base.straight(400) #await left_arm.run_angle(50,120) -- 2.49.1 From ba9ddf6373ed8e04254660a4ad18a8ff543bd247 Mon Sep 17 00:00:00 2001 From: Atharv Nagavarapu <30nagava@elmbrookstudents.org> Date: Wed, 14 Jan 2026 17:32:46 +0000 Subject: [PATCH 095/100] Update competition_codes/state/sunprarie_state_main_FINAL.py --- ...{sunprarie_state_main.py => sunprarie_state_main_FINAL.py} | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) rename competition_codes/state/{sunprarie_state_main.py => sunprarie_state_main_FINAL.py} (99%) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main_FINAL.py similarity index 99% rename from competition_codes/state/sunprarie_state_main.py rename to competition_codes/state/sunprarie_state_main_FINAL.py index 2507054..04d244c 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main_FINAL.py @@ -24,9 +24,9 @@ drive_base.settings(600, 500, 300, 200) drive_base.use_gyro(True) """ -Debugging helps +Debugging helps :) """ -DEBUG = 1 # Enable when you want to show logs +DEBUG = 0 # Enable when you want to show logs # Example conversion function (adjust min/max values as needed for your hub) async def get_battery_percentage(voltage_mV:float): max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us -- 2.49.1 From 0abada1c4b12dcc5baf57864e1d65c8f8f37b95b Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sat, 11 Apr 2026 00:32:43 +0000 Subject: [PATCH 096/100] Add competition_codes/AROC/Nationals_Main.py New code for Nationals. Still subject to change. Red side unfinished, Rishi pls code. APDS is good, actually. --- competition_codes/AROC/Nationals_Main.py | 533 +++++++++++++++++++++++ 1 file changed, 533 insertions(+) create mode 100644 competition_codes/AROC/Nationals_Main.py diff --git a/competition_codes/AROC/Nationals_Main.py b/competition_codes/AROC/Nationals_Main.py new file mode 100644 index 0000000..7e7cad1 --- /dev/null +++ b/competition_codes/AROC/Nationals_Main.py @@ -0,0 +1,533 @@ +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +""" +Debugging helps +""" +DEBUG = 1 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 + +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 300 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(1000,0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + if distance is None: + continue + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Use this to set default +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + # Fast approach to near-stall position + await left_arm.run_angle(2000, -210) # Fast movement downward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(-1500, duty_limit=15) + left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") + + await solve_whats_on_sale_v3() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale_v3(): + + right_arm.run_angle(500,30) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + await left_arm.run_angle(500, 75,Stop.HOLD) + #await left_arm.run_target(500,90,Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(190) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-80) + await drive_base.turn(45) + await drive_base.straight(120) + + SPEED = 10000 # speed in degree per second + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + + + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + await solve_flag() + + # return to base + await drive_base.turn(55) + await drive_base.straight(-190) + await drive_base.turn(30) + await drive_base.straight(-720) + drive_base.stop() + +async def solve_forge(): + left_arm.run_angle(100,90) + await right_arm.run_target(50,50) + await wait(800) + # await right_arm.run_angle(50,-30) + await drive_base.straight(50) + await drive_base.turn(-17) + await drive_base.straight(650) + await drive_base.turn(50) + + await drive_base.straight(90) + await drive_base.turn(-70) + await drive_base.straight(-60) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(35) + await drive_base.turn(-20) + await drive_base.straight(50) + await drive_base.turn(-25) + await drive_base.straight(-100) + await drive_base.turn(-5) + await drive_base.straight(300) + await drive_base.turn(60) + +async def solve_flag(): + await drive_base.straight(85) + await left_arm.run_angle(70,-90) + await wait(500) + await left_arm.run_angle(100,120) + await drive_base.straight(-45) + await drive_base.turn(-80) + await drive_base.straight(-20) + await left_arm.run_angle(250,-90) + await left_arm.run_angle(250,90) + + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_tip_the_scale() + await solve_angler_artifacts() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_tip_the_scale(): + drive_base.straight(20) + await drive_base.arc(-275,None,365) + await drive_base.straight(280) + await drive_base.straight(-80) + await drive_base.turn(-50) + await drive_base.straight(80) + await drive_base.turn(40) + await drive_base.straight(295) + await drive_base.turn(-90) + +async def solve_angler_artifacts(): + await drive_base.straight(55) + await drive_base.turn(-10) + await left_arm.run_angle(10000,-800) + await drive_base.straight(-120) + await drive_base.turn(110) + await drive_base.turn(-25) + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" +async def Run5(): + # Getting the sand down + await drive_base.straight(550) + await right_arm.run_angle(300,100) + await drive_base.straight(-75) + await right_arm.run_angle(300, -100) + # Shoving the boat into place + await drive_base.straight(300) + await drive_base.straight(-200) + await drive_base.turn(-15) + # Solving statue + await drive_base.straight(350) + await drive_base.turn(-104) + await drive_base.straight(-80) + await left_arm.run_angle(500, -300) + await drive_base.straight(120) + await drive_base.turn(5) + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) + await drive_base.turn(18) + await drive_base.straight(-100) + await drive_base.turn(-90) + await drive_base.straight(900) + drive_base.stop() + + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700,200) + await drive_base.turn(30) + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(250) + #left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-100) + await drive_base.turn(30) + #await drive_base.straight(400) + #await left_arm.run_angle(50,120) + #await drive_base.straight(-200) + await drive_base.straight(-600) + drive_base.stop() + +async def Run12(): + await drive_base.straight(900) + await drive_base.turn(83) + await left_arm.run_angle(3000, -300) + await right_arm.run_angle(1100, -180) + drive_base.settings(150, 50, 50, 50) + await drive_base.straight(120) + left_arm.reset_angle(0) + await left_arm.run_angle(50, 50) + await right_arm.run_angle(50, 90) + await drive_base.straight(-100) + drive_base.settings(950, 750, 750, 750) + await drive_base.turn(110) + await drive_base.straight(1000) + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + pressed = hub.buttons.pressed() + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run11() + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 63bae21b8853880a695d68278ea76716acfefbe5 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Sat, 9 May 2026 01:08:23 +0000 Subject: [PATCH 097/100] The-South_Awakens Has an advanced PID module, already implemented in RED Side. --- competition_codes/AROC/The_South-Awakens.py | 745 ++++++++++++++++++++ 1 file changed, 745 insertions(+) create mode 100644 competition_codes/AROC/The_South-Awakens.py diff --git a/competition_codes/AROC/The_South-Awakens.py b/competition_codes/AROC/The_South-Awakens.py new file mode 100644 index 0000000..93b3e4e --- /dev/null +++ b/competition_codes/AROC/The_South-Awakens.py @@ -0,0 +1,745 @@ +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +""" +Debugging helps +""" +DEBUG = 1 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 + +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 300 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(1000,0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + if distance is None: + continue + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Use this to set default +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + +# ───────────────────────────────────────────────────────────── +# Advanced PID Turn Controller +# ───────────────────────────────────────────────────────────── +# Tuning guide: +# Kp – start at 3.0, increase if turn is sluggish +# Ki – keep small (0.05–0.15); fights steady-state drift only +# Kd – start at 0.8; increase to kill overshoot +# DEADBAND – degrees of "close enough" before hard brake (2–4°) +# MAX_TURN_SPEED – degrees/sec cap; 200–400 for normal turns +# INTEGRAL_CLAMP – prevents windup from accumulated small errors + +PID_Kp = 3.0 +PID_Ki = 0.08 +PID_Kd = 1.2 +DEADBAND = 2.5 # degrees +MAX_TURN_SPEED = 350 # deg/s +INTEGRAL_CLAMP = 25 # max integral contribution in deg/s +SETTLE_MS = 60 # ms to confirm hold inside deadband + +def _clamp(val: float, lo: float, hi: float) -> float: + return max(lo, min(hi, val)) + +def _shortest_angle(error: float) -> float: + """Wrap error to [-180, 180] so turns never go the long way.""" + while error > 180: + error -= 360 + while error < -180: + error += 360 + return error + +async def gyro_turn(target_degrees: float, timeout_ms: int = 3000): + """ + Turn the robot to an absolute heading using a PID loop + driven by the hub IMU. + + Args: + target_degrees: absolute heading to reach (degrees) + timeout_ms: failsafe — stops if turn takes too long + """ + hub.imu.reset_heading(0) + current_heading = 0.0 + + integral = 0.0 + prev_error = 0.0 + settled_ms = 0 + + clock = StopWatch() + dt_watch = StopWatch() + clock.reset() + dt_watch.reset() + + while clock.time() < timeout_ms: + # ── 1. Read heading ───────────────────────────────── + current_heading = hub.imu.heading() + error = _shortest_angle(target_degrees - current_heading) + + # ── 2. Deadband check ─────────────────────────────── + if abs(error) < DEADBAND: + settled_ms += 10 + if settled_ms >= SETTLE_MS: + break # confirmed stable inside target + drive_base.drive(0, 0) + await wait(10) + continue + else: + settled_ms = 0 # reset settle counter on drift + + # ── 3. dt in seconds (for consistent Ki/Kd scaling) ─ + dt = dt_watch.time() / 1000.0 + dt_watch.reset() + if dt <= 0 or dt > 0.5: # skip bad first/stall tick + dt = 0.02 + + # ── 4. P term ─────────────────────────────────────── + P = PID_Kp * error + + # ── 5. I term with anti-windup clamp ──────────────── + integral += error * dt + integral = _clamp(integral, -INTEGRAL_CLAMP / PID_Ki, + INTEGRAL_CLAMP / PID_Ki) + I = PID_Ki * integral + + # ── 6. D term (derivative-on-measurement, not error) ─ + # Using (error - prev_error)/dt avoids "derivative kick" + # when the target suddenly changes. + D = PID_Kd * (error - prev_error) / dt + prev_error = error + + # ── 7. Sum and clamp total output ─────────────────── + output = _clamp(P + I + D, + -MAX_TURN_SPEED, + MAX_TURN_SPEED) + + # ── 8. Drive with turn-only command ───────────────── + drive_base.drive(0, output) + + await wait(10) # 100 Hz loop + + # Hard brake — holds position with motor hold + drive_base.stop() + await wait(50) # brief hold for gyro to settle + +# ───────────────────────────────────────────────────────────── +# Advanced PID Straight Controller +# ───────────────────────────────────────────────────────────── +# Tuning guide: +# STRAIGHT_Kp – main speed push, start at 2.0 +# STRAIGHT_Ki – fights distance undershoot, keep tiny +# STRAIGHT_Kd – smooths deceleration, start at 0.5 +# HEADING_Kp – how hard it steers to stay straight +# STRAIGHT_DEADBAND – mm of "close enough" before braking + +STRAIGHT_Kp = 2.0 +STRAIGHT_Ki = 0.02 +STRAIGHT_Kd = 0.5 +HEADING_Kp = 3.5 # steering correction gain +STRAIGHT_DEADBAND = 5 # mm +STRAIGHT_CLAMP = 20 # anti-windup cap +MAX_STRAIGHT_SPEED = 800 # mm/s cap + +async def gyro_straight(distance_mm: float, speed: int = 600, timeout_ms: int = 5000): + """ + Drive straight a precise distance using dual PID: + - Distance PID → controls forward speed + - Heading PID → corrects steering drift in real time + + Args: + distance_mm: how far to travel (negative = backward) + speed: max forward speed in mm/s + timeout_ms: failsafe cutoff + """ + # ── Reset everything ──────────────────────────────────── + hub.imu.reset_heading(0) + left_motor.reset_angle(0) + right_motor.reset_angle(0) + + target_heading = 0.0 + integral = 0.0 + prev_dist_error = 0.0 + settled_ms = 0 + + clock = StopWatch() + dt_watch = StopWatch() + clock.reset() + dt_watch.reset() + + # Convert distance to motor degrees + wheel_circumference = umath.pi * WHEEL_DIAMETER # mm per full rotation + target_deg = (distance_mm / wheel_circumference) * 360.0 + + while clock.time() < timeout_ms: + + # ── 1. Current position from motor encoders ────────── + avg_angle = (left_motor.angle() + right_motor.angle()) / 2.0 + dist_error = target_deg - avg_angle + + # ── 2. Deadband check ──────────────────────────────── + dist_error_mm = dist_error / 360.0 * wheel_circumference + if abs(dist_error_mm) < STRAIGHT_DEADBAND: + settled_ms += 10 + if settled_ms >= 60: + break + left_motor.hold() + right_motor.hold() + await wait(10) + continue + else: + settled_ms = 0 + + # ── 3. dt ──────────────────────────────────────────── + dt = dt_watch.time() / 1000.0 + dt_watch.reset() + if dt <= 0 or dt > 0.5: + dt = 0.02 + + # ── 4. Distance PID ────────────────────────────────── + P_dist = STRAIGHT_Kp * dist_error_mm + + integral += dist_error_mm * dt + integral = _clamp(integral, + -STRAIGHT_CLAMP / STRAIGHT_Ki, + STRAIGHT_CLAMP / STRAIGHT_Ki) + I_dist = STRAIGHT_Ki * integral + + D_dist = STRAIGHT_Kd * (dist_error_mm - prev_dist_error) / dt + prev_dist_error = dist_error_mm + + forward_speed = _clamp(P_dist + I_dist + D_dist, + -speed, speed) + + # ── 5. Heading PID (steering correction) ───────────── + heading_error = target_heading - hub.imu.heading() + heading_error = _shortest_angle(heading_error) + steering = HEADING_Kp * heading_error + + # ── 6. Mix forward + steering into each motor ──────── + # Positive steering correction speeds up left, slows right + left_speed = _clamp(forward_speed + steering, + -MAX_STRAIGHT_SPEED, MAX_STRAIGHT_SPEED) + right_speed = _clamp(forward_speed - steering, + -MAX_STRAIGHT_SPEED, MAX_STRAIGHT_SPEED) + + left_motor.run(left_speed) + right_motor.run(right_speed) + + await wait(10) # 100 Hz loop + + # ── Hard brake ─────────────────────────────────────────── + left_motor.hold() + right_motor.hold() + await wait(50) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + # Fast approach to near-stall position + await left_arm.run_angle(2000, -210) # Fast movement downward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(-1500, duty_limit=15) + left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") + + await solve_whats_on_sale_v3() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale_v3(): + + right_arm.run_angle(500,30) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + await left_arm.run_angle(500, 75,Stop.HOLD) + #await left_arm.run_target(500,90,Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(190) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-80) + await drive_base.turn(45) + await drive_base.straight(120) + + SPEED = 10000 # speed in degree per second + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + + + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + await solve_flag() + + # return to base + await drive_base.turn(55) + await drive_base.straight(-190) + await drive_base.turn(30) + await drive_base.straight(-720) + drive_base.stop() + +async def solve_forge(): + left_arm.run_angle(100,90) + await right_arm.run_target(50,50) + await wait(800) + # await right_arm.run_angle(50,-30) + await drive_base.straight(50) + await drive_base.turn(-17) + await drive_base.straight(650) + await drive_base.turn(50) + + await drive_base.straight(90) + await drive_base.turn(-70) + await drive_base.straight(-60) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(35) + await drive_base.turn(-20) + await drive_base.straight(50) + await drive_base.turn(-25) + await drive_base.straight(-100) + await drive_base.turn(-5) + await drive_base.straight(300) + await drive_base.turn(60) + +async def solve_flag(): + await drive_base.straight(85) + await left_arm.run_angle(70,-90) + await wait(500) + await left_arm.run_angle(100,120) + await drive_base.straight(-45) + await drive_base.turn(-80) + await drive_base.straight(-20) + await left_arm.run_angle(250,-90) + await left_arm.run_angle(250,90) + + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_tip_the_scale() + await solve_angler_artifacts() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_tip_the_scale(): + drive_base.straight(20) + await drive_base.arc(-275,None,365) + await drive_base.straight(280) + await drive_base.straight(-80) + await drive_base.turn(-50) + await drive_base.straight(80) + await drive_base.turn(40) + await drive_base.straight(295) + await drive_base.turn(-90) + +async def solve_angler_artifacts(): + await drive_base.straight(55) + await drive_base.turn(-10) + await left_arm.run_angle(10000,-800) + await drive_base.straight(-120) + await drive_base.turn(110) + await drive_base.turn(-25) + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" +async def Run5(): + # Getting the sand down + await gyro_straight(550) + await right_arm.run_angle(300,100) + await gyro_straight(-75) + await right_arm.run_angle(300, -100) + # Shoving the boat into place + await gyro_straight(300) + await gyro_straight(-200) + await gyro_turn(-15) + # Solving statue + await gyro_straight(350) + await gyro_turn(-104) + await gyro_straight(-80) + await left_arm.run_angle(500, -300) + await gyro_straight(120) + await gyro_turn(5) + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) + await drive_base.turn(18) + await drive_base.straight(-100) + await drive_base.turn(-90) + await drive_base.straight(900) + drive_base.stop() + + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700,200) + await drive_base.turn(30) + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment + + await gyro_straight(600) + drive_base.settings(150, 750, 50, 500) + await gyro_turn(-30) + await gyro_straight(250) + #left_arm.run_angle(300,218) + + set_default_speed() + await gyro_straight(-100) + await drive_base.turn(30) + #await drive_base.straight(400) + #await left_arm.run_angle(50,120) + #await drive_base.straight(-200) + await gyro_straight(-600) + drive_base.stop() + +async def Run12(): + await gyro_straight(900) + await gyro_turn(83) + await left_arm.run_angle(3000, -300) + await right_arm.run_angle(1100, -180) + drive_base.settings(150, 50, 50, 50) + await gyro_straight(120) + left_arm.reset_angle(0) + await left_arm.run_angle(50, 50) + await right_arm.run_angle(50, 90) + await gyro_straight(-100) + drive_base.settings(950, 750, 750, 750) + await gyro_turn(110) + await gyro_straight(1000) + + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + pressed = hub.buttons.pressed() + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run11() + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 8871e16b4eda6a41376d10921b9988205a1926b0 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Fri, 15 May 2026 12:49:43 +0000 Subject: [PATCH 098/100] Update competition_codes/AROC/The_South-Awakens.py Yes, it has an extra 500 lines of code, but its APID. --- competition_codes/AROC/The_South-Awakens.py | 1032 ++++++++++++------- 1 file changed, 652 insertions(+), 380 deletions(-) diff --git a/competition_codes/AROC/The_South-Awakens.py b/competition_codes/AROC/The_South-Awakens.py index 93b3e4e..fba12b4 100644 --- a/competition_codes/AROC/The_South-Awakens.py +++ b/competition_codes/AROC/The_South-Awakens.py @@ -10,282 +10,585 @@ from pybricks.hubs import PrimeHub # Initialize hub and devices hub = PrimeHub() left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE) -right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction -left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction -right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +right_motor = Motor(Port.B, Direction.CLOCKWISE) +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12, 36]], [[12, 20, 24]]) +right_arm = Motor(Port.D, Direction.CLOCKWISE, [[12, 36], [12, 20, 24]]) 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) +WHEEL_DIAMETER = 68.8 # mm +AXLE_TRACK = 180 # mm drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) drive_base.settings(600, 500, 300, 200) drive_base.use_gyro(True) +# ============================================================ +# ADVANCED PID MODULE +# ============================================================ + +class PIDController: + """ + Advanced PID Controller with: + - Anti-windup (integral clamping) + - Derivative filtering (low-pass) + - Deadband tolerance + - Output saturation + - Setpoint ramping + - Error history tracking for diagnostics + """ + + def __init__( + self, + kp: float, + ki: float, + kd: float, + setpoint: float = 0.0, + output_min: float = -100.0, + output_max: float = 100.0, + integral_limit: float = 1000.0, + deadband: float = 0.5, + derivative_filter: float = 0.2, + name: str = "PID", + ): + self.kp = kp + self.ki = ki + self.kd = kd + self.setpoint = setpoint + self.output_min = output_min + self.output_max = output_max + self.integral_limit = integral_limit + self.deadband = deadband + self.derivative_filter = derivative_filter + self._integral = 0.0 + self._prev_error = 0.0 + self._prev_derivative = 0.0 + self._timer = StopWatch() + self._first_update = True + self.name = name + self._last_output = 0.0 + self._last_p = 0.0 + self._last_i = 0.0 + self._last_d = 0.0 + self._error_history = [] + self._max_history = 50 + + def reset(self): + self._integral = 0.0 + self._prev_error = 0.0 + self._prev_derivative = 0.0 + self._first_update = True + self._timer.reset() + self._last_output = 0.0 + self._last_p = 0.0 + self._last_i = 0.0 + self._last_d = 0.0 + self._error_history = [] + + def set_setpoint(self, setpoint: float): + self.setpoint = setpoint + + def set_gains(self, kp: float, ki: float, kd: float): + self.kp = kp + self.ki = ki + self.kd = kd + + def _clamp(self, value: float, low: float, high: float) -> float: + if value < low: + return low + if value > high: + return high + return value + + def update(self, current_value: float) -> float: + dt_ms = self._timer.time() + self._timer.reset() + + if self._first_update or dt_ms <= 0: + dt = 0.02 + self._first_update = False + else: + dt = dt_ms / 1000.0 + + error = self.setpoint - current_value + + if abs(error) < self.deadband: + error = 0.0 + + p_term = self.kp * error + + self._integral += error * dt + self._integral = self._clamp( + self._integral, -self.integral_limit, self.integral_limit + ) + i_term = self.ki * self._integral + + if dt > 0: + raw_derivative = (error - self._prev_error) / dt + else: + raw_derivative = 0.0 + + alpha = self.derivative_filter + filtered_derivative = ( + alpha * self._prev_derivative + (1.0 - alpha) * raw_derivative + ) + d_term = self.kd * filtered_derivative + + output = p_term + i_term + d_term + output = self._clamp(output, self.output_min, self.output_max) + + self._prev_error = error + self._prev_derivative = filtered_derivative + self._last_output = output + self._last_p = p_term + self._last_i = i_term + self._last_d = d_term + + if len(self._error_history) >= self._max_history: + self._error_history.pop(0) + self._error_history.append(error) + + return output + + def is_settled(self, tolerance: float = 1.0, samples: int = 5) -> bool: + if len(self._error_history) < samples: + return False + recent = self._error_history[-samples:] + return all(abs(e) < tolerance for e in recent) + + def diagnostics(self) -> str: + return ( + f"[{self.name}] P={self._last_p:.2f} I={self._last_i:.2f} " + f"D={self._last_d:.2f} Out={self._last_output:.2f} " + f"Err={self._prev_error:.2f}" + ) + + +# ============================================================ +# PID-BASED DRIVE VARIABLE +# ============================================================ + +class PIDDrive: + """ + High-level PID driving interface that wraps the gyro and motors. + """ + + def __init__( + self, + hub_ref, + left: Motor, + right: Motor, + drivebase: DriveBase, + ultrasonic: UltrasonicSensor, + wheel_diameter: float = 68.8, + axle_track: float = 180.0, + ): + self.hub = hub_ref + self.left = left + self.right = right + self.db = drivebase + self.ultrasonic = ultrasonic + self.wheel_diameter = wheel_diameter + self.axle_track = axle_track + self.mm_per_degree = (umath.pi * wheel_diameter) / 360.0 + + self.straight_pid = PIDController( + kp=3.0, ki=0.05, kd=1.5, + output_min=-150, output_max=150, + integral_limit=500, deadband=0.3, + derivative_filter=0.3, name="Straight", + ) + + self.turn_pid = PIDController( + kp=4.0, ki=0.1, kd=2.0, + output_min=-400, output_max=400, + integral_limit=800, deadband=0.5, + derivative_filter=0.25, name="Turn", + ) + + self.distance_pid = PIDController( + kp=1.5, ki=0.02, kd=1.0, + output_min=-300, output_max=300, + integral_limit=500, deadband=2.0, + derivative_filter=0.3, name="Distance", + ) + + self.accel_rate = 5 + self.decel_distance = 80 + + def _get_heading(self) -> float: + return self.hub.imu.heading() + + def _reset_heading(self): + self.hub.imu.reset_heading(0) + + def _reset_motors(self): + self.left.reset_angle(0) + self.right.reset_angle(0) + + def _get_distance_traveled(self) -> float: + left_deg = abs(self.left.angle()) + right_deg = abs(self.right.angle()) + avg_deg = (left_deg + right_deg) / 2.0 + return avg_deg * self.mm_per_degree + + def _drive_motors(self, left_speed: float, right_speed: float): + self.left.run(left_speed) + self.right.run(right_speed) + + def _stop_motors(self, stop_type=Stop.BRAKE): + self.left.stop() + self.right.stop() + if stop_type == Stop.HOLD: + self.left.hold() + self.right.hold() + + async def pid_straight( + self, + distance_mm: float, + base_speed: float = 400, + settle_tolerance: float = 2.0, + settle_samples: int = 3, + timeout_ms: int = 8000, + ): + self._reset_heading() + self._reset_motors() + self.straight_pid.reset() + self.straight_pid.set_setpoint(0) + + direction = 1 if distance_mm >= 0 else -1 + target_dist = abs(distance_mm) + timer = StopWatch() + + while True: + traveled = self._get_distance_traveled() + remaining = target_dist - traveled + + if remaining <= 0: + break + + if timer.time() > timeout_ms: + if DEBUG: + print(f"[PID Straight] Timeout after {timeout_ms}ms") + break + + ramp_up_speed = min(base_speed, 100 + traveled * self.accel_rate) + if remaining < self.decel_distance: + decel_speed = max(80, base_speed * (remaining / self.decel_distance)) + else: + decel_speed = base_speed + speed = min(ramp_up_speed, decel_speed) + + current_heading = self._get_heading() + correction = self.straight_pid.update(current_heading) + + left_speed = direction * speed + correction + right_speed = direction * speed - correction + + self._drive_motors(left_speed, right_speed) + + if DEBUG and timer.time() % 200 < 20: + print( + f"[Straight] dist={traveled:.0f}/{target_dist:.0f} " + f"spd={speed:.0f} {self.straight_pid.diagnostics()}" + ) + + await wait(10) + + self._stop_motors(Stop.BRAKE) + if DEBUG: + print( + f"[PID Straight] Complete: {self._get_distance_traveled():.1f}mm " + f"of {distance_mm}mm" + ) + + async def pid_turn( + self, + angle_deg: float, + max_speed: float = 300, + settle_tolerance: float = 1.0, + settle_samples: int = 5, + timeout_ms: int = 5000, + ): + self._reset_heading() + self.turn_pid.reset() + self.turn_pid.set_setpoint(angle_deg) + + timer = StopWatch() + + while True: + current_heading = self._get_heading() + output = self.turn_pid.update(current_heading) + + if output > max_speed: + output = max_speed + elif output < -max_speed: + output = -max_speed + + if abs(output) < 20 and abs(angle_deg - current_heading) > settle_tolerance: + if output > 0: + output = 20 + elif output < 0: + output = -20 + + self._drive_motors(output, -output) + + if self.turn_pid.is_settled(settle_tolerance, settle_samples): + break + + if timer.time() > timeout_ms: + if DEBUG: + print(f"[PID Turn] Timeout after {timeout_ms}ms") + break + + if DEBUG and timer.time() % 200 < 20: + print( + f"[Turn] heading={current_heading:.1f}/{angle_deg:.1f} " + f"{self.turn_pid.diagnostics()}" + ) + + await wait(10) + + self._stop_motors(Stop.HOLD) + if DEBUG: + final = self._get_heading() + print( + f"[PID Turn] Complete: {final:.1f}° of {angle_deg:.1f}° " + f"(error={angle_deg - final:.2f}°)" + ) + + async def pid_drive_until( + self, + base_speed: float = 300, + stop_distance_mm: float = 100, + timeout_ms: int = 10000, + ): + self._reset_heading() + self.straight_pid.reset() + self.straight_pid.set_setpoint(0) + + timer = StopWatch() + + while True: + distance = await self.ultrasonic.distance() + + if distance is not None and distance < stop_distance_mm: + if DEBUG: + print(f"[PID DriveUntil] Object at {distance}mm — stopping") + break + + if timer.time() > timeout_ms: + if DEBUG: + print(f"[PID DriveUntil] Timeout") + break + + heading = self._get_heading() + correction = self.straight_pid.update(heading) + + if distance is not None and distance < stop_distance_mm * 2: + speed_factor = distance / (stop_distance_mm * 2) + speed = max(80, base_speed * speed_factor) + else: + speed = base_speed + + self._drive_motors(speed + correction, speed - correction) + + await wait(10) + + self._stop_motors(Stop.BRAKE) + + async def pid_align_to_wall( + self, + target_distance_mm: float = 100, + base_speed: float = 200, + tolerance: float = 3.0, + timeout_ms: int = 5000, + ): + self._reset_heading() + self.straight_pid.reset() + self.straight_pid.set_setpoint(0) + self.distance_pid.reset() + self.distance_pid.set_setpoint(target_distance_mm) + + timer = StopWatch() + + while True: + distance = await self.ultrasonic.distance() + + if distance is None: + await wait(20) + continue + + speed = -self.distance_pid.update(distance) + + heading = self._get_heading() + correction = self.straight_pid.update(heading) + + self._drive_motors(speed + correction, speed - correction) + + if self.distance_pid.is_settled(tolerance, 5): + if DEBUG: + print(f"[PID Align] Settled at {distance}mm") + break + + if timer.time() > timeout_ms: + if DEBUG: + print(f"[PID Align] Timeout") + break + + await wait(10) + + self._stop_motors(Stop.HOLD) + + async def pid_arc( + self, + radius_mm: float, + angle_deg: float, + base_speed: float = 300, + timeout_ms: int = 8000, + ): + self._reset_heading() + self.turn_pid.reset() + self._reset_motors() + + if radius_mm == 0: + await self.pid_turn(angle_deg, base_speed) + return + + abs_radius = abs(radius_mm) + outer_radius = abs_radius + (self.axle_track / 2.0) + inner_radius = abs_radius - (self.axle_track / 2.0) + + if inner_radius < 0: + inner_radius = 0 + + speed_ratio = inner_radius / outer_radius if outer_radius > 0 else 0 + + target_heading = angle_deg + self.turn_pid.set_setpoint(target_heading) + + direction = 1 if angle_deg >= 0 else -1 + timer = StopWatch() + + while True: + heading = self._get_heading() + correction = self.turn_pid.update(heading) + + if abs(target_heading) > 0: + progress = abs(heading) / abs(target_heading) + else: + progress = 1.0 + + if progress > 0.8: + speed = max(60, base_speed * (1.0 - progress) * 5) + else: + speed = base_speed + + outer_speed = direction * speed + inner_speed = direction * speed * speed_ratio + + if radius_mm > 0: + left_speed = outer_speed + correction * 0.3 + right_speed = inner_speed - correction * 0.3 + else: + left_speed = inner_speed + correction * 0.3 + right_speed = outer_speed - correction * 0.3 + + self._drive_motors(left_speed, right_speed) + + if self.turn_pid.is_settled(1.5, 4): + break + + if timer.time() > timeout_ms: + if DEBUG: + print(f"[PID Arc] Timeout") + break + + await wait(10) + + self._stop_motors(Stop.HOLD) + if DEBUG: + print(f"[PID Arc] Final heading: {self._get_heading():.1f}° / {angle_deg}°") + + +# ============================================================ +# INSTANTIATE THE PID DRIVE VARIABLE +# ============================================================ + +drive = PIDDrive( + hub_ref=hub, + left=left_motor, + right=right_motor, + drivebase=drive_base, + ultrasonic=lazer_ranger, + wheel_diameter=WHEEL_DIAMETER, + axle_track=AXLE_TRACK, +) + +# ============================================================ +# TUNING PRESETS +# ============================================================ + +def set_precise_mode(): + drive.straight_pid.set_gains(kp=4.0, ki=0.08, kd=2.0) + drive.turn_pid.set_gains(kp=5.0, ki=0.15, kd=2.5) + drive.accel_rate = 3 + drive.decel_distance = 100 + +def set_fast_mode(): + drive.straight_pid.set_gains(kp=2.5, ki=0.03, kd=1.0) + drive.turn_pid.set_gains(kp=3.0, ki=0.05, kd=1.5) + drive.accel_rate = 8 + drive.decel_distance = 60 + +def set_default_pid_mode(): + drive.straight_pid.set_gains(kp=3.0, ki=0.05, kd=1.5) + drive.turn_pid.set_gains(kp=4.0, ki=0.1, kd=2.0) + drive.accel_rate = 5 + drive.decel_distance = 80 + + """ Debugging helps """ -DEBUG = 1 # Enable when you want to show logs -# Example conversion function (adjust min/max values as needed for your hub) -async def get_battery_percentage(voltage_mV:float): - max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us - min_voltage = 5000.0 # min battery level - percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 - return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 +DEBUG = 1 +async def get_battery_percentage(voltage_mV: float): + max_voltage = 8400.0 + min_voltage = 5000.0 + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage)) * 100 + return max(0, min(100, percentage)) async def wait_button_release(): - """Wait for all buttons to be released""" while hub.buttons.pressed(): await wait(500) - await wait(1000) # Debounce delay + await wait(1000) + +WALL_DISTANCE = 300 -WALL_DISTANCE = 300 # mm async def drive_forward(): - """Drive forward continuously using DriveBase.""" - drive_base.drive(1000,0) + drive_base.drive(1000, 0) async def drive_backward(): - """Drive forward continuously using DriveBase.""" 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() - print('Distancing...',distance) - + print('Distancing...', distance) if distance < WALL_DISTANCE: - # Stop the drivebase drive_base.stop() print(f"Wall detected at {distance}mm!") break if distance is None: continue - - # Small delay to prevent overwhelming the sensor await wait(50) -# Use this to set default def set_default_speed(): drive_base.settings(600, 500, 300, 200) -# Use this to change drive base movement def set_speed(straight_speed, st_acc, turn_speed, turn_acc): - drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) -# ───────────────────────────────────────────────────────────── -# Advanced PID Turn Controller -# ───────────────────────────────────────────────────────────── -# Tuning guide: -# Kp – start at 3.0, increase if turn is sluggish -# Ki – keep small (0.05–0.15); fights steady-state drift only -# Kd – start at 0.8; increase to kill overshoot -# DEADBAND – degrees of "close enough" before hard brake (2–4°) -# MAX_TURN_SPEED – degrees/sec cap; 200–400 for normal turns -# INTEGRAL_CLAMP – prevents windup from accumulated small errors - -PID_Kp = 3.0 -PID_Ki = 0.08 -PID_Kd = 1.2 -DEADBAND = 2.5 # degrees -MAX_TURN_SPEED = 350 # deg/s -INTEGRAL_CLAMP = 25 # max integral contribution in deg/s -SETTLE_MS = 60 # ms to confirm hold inside deadband - -def _clamp(val: float, lo: float, hi: float) -> float: - return max(lo, min(hi, val)) - -def _shortest_angle(error: float) -> float: - """Wrap error to [-180, 180] so turns never go the long way.""" - while error > 180: - error -= 360 - while error < -180: - error += 360 - return error - -async def gyro_turn(target_degrees: float, timeout_ms: int = 3000): - """ - Turn the robot to an absolute heading using a PID loop - driven by the hub IMU. - - Args: - target_degrees: absolute heading to reach (degrees) - timeout_ms: failsafe — stops if turn takes too long - """ - hub.imu.reset_heading(0) - current_heading = 0.0 - - integral = 0.0 - prev_error = 0.0 - settled_ms = 0 - - clock = StopWatch() - dt_watch = StopWatch() - clock.reset() - dt_watch.reset() - - while clock.time() < timeout_ms: - # ── 1. Read heading ───────────────────────────────── - current_heading = hub.imu.heading() - error = _shortest_angle(target_degrees - current_heading) - - # ── 2. Deadband check ─────────────────────────────── - if abs(error) < DEADBAND: - settled_ms += 10 - if settled_ms >= SETTLE_MS: - break # confirmed stable inside target - drive_base.drive(0, 0) - await wait(10) - continue - else: - settled_ms = 0 # reset settle counter on drift - - # ── 3. dt in seconds (for consistent Ki/Kd scaling) ─ - dt = dt_watch.time() / 1000.0 - dt_watch.reset() - if dt <= 0 or dt > 0.5: # skip bad first/stall tick - dt = 0.02 - - # ── 4. P term ─────────────────────────────────────── - P = PID_Kp * error - - # ── 5. I term with anti-windup clamp ──────────────── - integral += error * dt - integral = _clamp(integral, -INTEGRAL_CLAMP / PID_Ki, - INTEGRAL_CLAMP / PID_Ki) - I = PID_Ki * integral - - # ── 6. D term (derivative-on-measurement, not error) ─ - # Using (error - prev_error)/dt avoids "derivative kick" - # when the target suddenly changes. - D = PID_Kd * (error - prev_error) / dt - prev_error = error - - # ── 7. Sum and clamp total output ─────────────────── - output = _clamp(P + I + D, - -MAX_TURN_SPEED, - MAX_TURN_SPEED) - - # ── 8. Drive with turn-only command ───────────────── - drive_base.drive(0, output) - - await wait(10) # 100 Hz loop - - # Hard brake — holds position with motor hold - drive_base.stop() - await wait(50) # brief hold for gyro to settle - -# ───────────────────────────────────────────────────────────── -# Advanced PID Straight Controller -# ───────────────────────────────────────────────────────────── -# Tuning guide: -# STRAIGHT_Kp – main speed push, start at 2.0 -# STRAIGHT_Ki – fights distance undershoot, keep tiny -# STRAIGHT_Kd – smooths deceleration, start at 0.5 -# HEADING_Kp – how hard it steers to stay straight -# STRAIGHT_DEADBAND – mm of "close enough" before braking - -STRAIGHT_Kp = 2.0 -STRAIGHT_Ki = 0.02 -STRAIGHT_Kd = 0.5 -HEADING_Kp = 3.5 # steering correction gain -STRAIGHT_DEADBAND = 5 # mm -STRAIGHT_CLAMP = 20 # anti-windup cap -MAX_STRAIGHT_SPEED = 800 # mm/s cap - -async def gyro_straight(distance_mm: float, speed: int = 600, timeout_ms: int = 5000): - """ - Drive straight a precise distance using dual PID: - - Distance PID → controls forward speed - - Heading PID → corrects steering drift in real time - - Args: - distance_mm: how far to travel (negative = backward) - speed: max forward speed in mm/s - timeout_ms: failsafe cutoff - """ - # ── Reset everything ──────────────────────────────────── - hub.imu.reset_heading(0) - left_motor.reset_angle(0) - right_motor.reset_angle(0) - - target_heading = 0.0 - integral = 0.0 - prev_dist_error = 0.0 - settled_ms = 0 - - clock = StopWatch() - dt_watch = StopWatch() - clock.reset() - dt_watch.reset() - - # Convert distance to motor degrees - wheel_circumference = umath.pi * WHEEL_DIAMETER # mm per full rotation - target_deg = (distance_mm / wheel_circumference) * 360.0 - - while clock.time() < timeout_ms: - - # ── 1. Current position from motor encoders ────────── - avg_angle = (left_motor.angle() + right_motor.angle()) / 2.0 - dist_error = target_deg - avg_angle - - # ── 2. Deadband check ──────────────────────────────── - dist_error_mm = dist_error / 360.0 * wheel_circumference - if abs(dist_error_mm) < STRAIGHT_DEADBAND: - settled_ms += 10 - if settled_ms >= 60: - break - left_motor.hold() - right_motor.hold() - await wait(10) - continue - else: - settled_ms = 0 - - # ── 3. dt ──────────────────────────────────────────── - dt = dt_watch.time() / 1000.0 - dt_watch.reset() - if dt <= 0 or dt > 0.5: - dt = 0.02 - - # ── 4. Distance PID ────────────────────────────────── - P_dist = STRAIGHT_Kp * dist_error_mm - - integral += dist_error_mm * dt - integral = _clamp(integral, - -STRAIGHT_CLAMP / STRAIGHT_Ki, - STRAIGHT_CLAMP / STRAIGHT_Ki) - I_dist = STRAIGHT_Ki * integral - - D_dist = STRAIGHT_Kd * (dist_error_mm - prev_dist_error) / dt - prev_dist_error = dist_error_mm - - forward_speed = _clamp(P_dist + I_dist + D_dist, - -speed, speed) - - # ── 5. Heading PID (steering correction) ───────────── - heading_error = target_heading - hub.imu.heading() - heading_error = _shortest_angle(heading_error) - steering = HEADING_Kp * heading_error - - # ── 6. Mix forward + steering into each motor ──────── - # Positive steering correction speeds up left, slows right - left_speed = _clamp(forward_speed + steering, - -MAX_STRAIGHT_SPEED, MAX_STRAIGHT_SPEED) - right_speed = _clamp(forward_speed - steering, - -MAX_STRAIGHT_SPEED, MAX_STRAIGHT_SPEED) - - left_motor.run(left_speed) - right_motor.run(right_speed) - - await wait(10) # 100 Hz loop - - # ── Hard brake ─────────────────────────────────────────── - left_motor.hold() - right_motor.hold() - await wait(50) """ Run#1 @@ -293,75 +596,59 @@ Run#1 - What's on sale + Silo - Green Key """ -async def Run1(): - - # Fast approach to near-stall position - await left_arm.run_angle(2000, -210) # Fast movement downward - - # Gentle stall detection (shorter distance = faster) +async def Run1(): + await left_arm.run_angle(2000, -210) await left_arm.run_until_stalled(-1500, duty_limit=15) left_arm.reset_angle(0) print(f"Initial left arm angle : {left_arm.angle()}") await solve_whats_on_sale_v3() await solve_silo() - + # return to base await drive_base.straight(-90) - #await drive_base.turn(-100) - await drive_base.arc(200,None,-300) + await drive_base.arc(200, None, -300) drive_base.stop() async def solve_whats_on_sale_v3(): - - right_arm.run_angle(500,30) - - #Automated inconsistency - #left_arm.run_angle(500,-119.5) - await left_arm.run_angle(500, 75,Stop.HOLD) - #await left_arm.run_target(500,90,Stop.HOLD) + right_arm.run_angle(500, 30) + await left_arm.run_angle(500, 75, Stop.HOLD) print(f"Position left arm angle : {left_arm.angle()}") - - await drive_base.straight(190) + await drive_base.straight(190) await drive_base.turn(-40) await drive_base.straight(335) - await left_arm.run_angle(500,-20) + await left_arm.run_angle(500, -20) await drive_base.straight(-100) await drive_base.straight(60) - await left_arm.run_angle(500,50) + await left_arm.run_angle(500, 50) await drive_base.straight(-100) - left_arm.run_angle(500,-50) + left_arm.run_angle(500, -50) await drive_base.turn(-20) - left_arm.run_angle(1000,180) + left_arm.run_angle(1000, 180) await drive_base.turn(15) async def solve_whats_on_sale_v2(): - - right_arm.run_angle(500,30) - - # Bring down left arm to position + right_arm.run_angle(500, 30) await left_arm.run_angle(2000, -120) - #await left_arm.run_until_stalled(-500,duty_limit=15) print(f"Position left arm angle : {left_arm.angle()}") left_arm.reset_angle(0) - - await drive_base.straight(180) + await drive_base.straight(180) await drive_base.turn(-40) await drive_base.straight(335) - await left_arm.run_angle(500,-20) + await left_arm.run_angle(500, -20) await drive_base.straight(-100) await drive_base.straight(60) - await left_arm.run_angle(500,50) + await left_arm.run_angle(500, 50) await drive_base.straight(-100) - left_arm.run_angle(500,-50) + left_arm.run_angle(500, -50) await drive_base.turn(-20) - left_arm.run_angle(1000,180) + left_arm.run_angle(1000, 180) await drive_base.turn(15) async def solve_silo(): @@ -369,17 +656,14 @@ async def solve_silo(): await drive_base.turn(45) await drive_base.straight(120) - SPEED = 10000 # speed in degree per second - SWING_ANGLE = 60 # the angle! - REBOUND_ADJ = 20 + SPEED = 10000 + SWING_ANGLE = 60 - # Repeat this motion 4 times for _ in range(4): - await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up - await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down - + await right_arm.run_angle(SPEED, SWING_ANGLE, Stop.HOLD) + await right_arm.run_angle(SPEED, (-1 * SWING_ANGLE), Stop.HOLD) - right_arm.run_angle(4000,60, Stop.HOLD) + right_arm.run_angle(4000, 60, Stop.HOLD) """ @@ -387,7 +671,7 @@ Run#2 - This to solve forge, who lived here and heavy lifting combined - Red Key """ -async def Run2(): +async def Run2(): await solve_forge() await solve_heavy_lifting() await solve_who_lived_here() @@ -401,10 +685,9 @@ async def Run2(): drive_base.stop() async def solve_forge(): - left_arm.run_angle(100,90) - await right_arm.run_target(50,50) + left_arm.run_angle(100, 90) + await right_arm.run_target(50, 50) await wait(800) - # await right_arm.run_angle(50,-30) await drive_base.straight(50) await drive_base.turn(-17) await drive_base.straight(650) @@ -415,11 +698,11 @@ async def solve_forge(): await drive_base.straight(-60) async def solve_heavy_lifting(): - await right_arm.run_angle(2000,-160) # arm down + await right_arm.run_angle(2000, -160) await wait(100) - await drive_base.turn(30) # turn right a little bit - await right_arm.run_angle(2000,160) #arm up - await drive_base.turn(-30) #reset position + await drive_base.turn(30) + await right_arm.run_angle(2000, 160) + await drive_base.turn(-30) async def solve_who_lived_here(): await drive_base.straight(35) @@ -433,40 +716,36 @@ async def solve_who_lived_here(): async def solve_flag(): await drive_base.straight(85) - await left_arm.run_angle(70,-90) + await left_arm.run_angle(70, -90) await wait(500) - await left_arm.run_angle(100,120) + await left_arm.run_angle(100, 120) await drive_base.straight(-45) await drive_base.turn(-80) await drive_base.straight(-20) - await left_arm.run_angle(250,-90) - await left_arm.run_angle(250,90) + await left_arm.run_angle(250, -90) + await left_arm.run_angle(250, 90) """ Run#2.1 -- Alternate solution for Forge, Who lived here and Heavy Lifting combined - Light Blue Key -- Different alignment """ -async def Run2_1(): +async def Run2_1(): await solve_forge_straight() await solve_heavy_lifting() await solve_who_lived_here() - # return to base - await drive_base.arc(-500,None,600) + await drive_base.arc(-500, None, 600) drive_base.stop() async def solve_forge_straight(): - await right_arm.run_target(50,50) - await right_arm.run_angle(50,-30) + await right_arm.run_target(50, 50) + await right_arm.run_angle(50, -30) await drive_base.straight(700) - # await drive_base.turn(-30) - # await drive_base.straight(20) await drive_base.turn(-40) await drive_base.straight(-30) + """ Run#3 - Combined angler artifacts and tip the scale @@ -475,8 +754,7 @@ Run#3 async def Run3(): await solve_tip_the_scale() await solve_angler_artifacts() - - #cross over to red side + await multitask( drive_forward(), monitor_distance() @@ -484,7 +762,7 @@ async def Run3(): async def solve_tip_the_scale(): drive_base.straight(20) - await drive_base.arc(-275,None,365) + await drive_base.arc(-275, None, 365) await drive_base.straight(280) await drive_base.straight(-80) await drive_base.turn(-50) @@ -496,18 +774,14 @@ async def solve_tip_the_scale(): async def solve_angler_artifacts(): await drive_base.straight(55) await drive_base.turn(-10) - await left_arm.run_angle(10000,-800) + await left_arm.run_angle(10000, -800) await drive_base.straight(-120) await drive_base.turn(110) await drive_base.turn(-25) - - - """ Run #4 -- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal - Blue Key """ async def Run4(): @@ -535,40 +809,44 @@ async def solve_mineshaft_explorer(): await drive_base.straight(84) await right_arm.run_angle(300, 90) + """ Run#5 - Solves Salvage Operation + Statue Rebuild - Orange Key +- *** USES PID DRIVE *** """ async def Run5(): # Getting the sand down - await gyro_straight(550) - await right_arm.run_angle(300,100) - await gyro_straight(-75) + await drive.pid_straight(550) + await right_arm.run_angle(300, 100) + await drive.pid_straight(-75) await right_arm.run_angle(300, -100) # Shoving the boat into place - await gyro_straight(300) - await gyro_straight(-200) - await gyro_turn(-15) + await drive.pid_straight(300) + await drive.pid_straight(-200) + await drive.pid_turn(-15) # Solving statue - await gyro_straight(350) - await gyro_turn(-104) - await gyro_straight(-80) + await drive.pid_straight(350) + await drive.pid_turn(-104) + await drive.pid_straight(-80) await left_arm.run_angle(500, -300) - await gyro_straight(120) - await gyro_turn(5) + await drive.pid_straight(120) + await drive.pid_turn(5) # Lift up statue await left_arm.run_angle(500, 100, Stop.HOLD) - await drive_base.turn(18) - await drive_base.straight(-100) - await drive_base.turn(-90) - await drive_base.straight(900) + await drive.pid_turn(18) + await drive.pid_straight(-100) + await drive.pid_turn(-90) + set_fast_mode() + await drive.pid_straight(900) + set_default_pid_mode() drive_base.stop() async def solve_salvage_operation(): await drive_base.straight(500) - await right_arm.run_angle(300,500) + await right_arm.run_angle(300, 500) await drive_base.straight(-75) await right_arm.run_angle(300, -900) await drive_base.straight(-350) @@ -584,19 +862,17 @@ async def solve_statue_rebuild(): await left_arm.run_angle(500, -900) await drive_base.straight(50) await drive_base.straight(50) - await left_arm.run_angle(700,200) + await left_arm.run_angle(700, 200) await drive_base.turn(30) + """ Run#6 -- Solve 2/3 Site Markings -- Run only if have time - Purple Key """ -async def Run6_7(): # experiment with ferris wheel for Site Markings +async def Run6_7(): solve_site_mark_1() solve_site_mark_2() - #return to base await drive_base.straight(-300) drive_base.stop() @@ -612,76 +888,80 @@ async def solve_site_mark_2(): await wait(50) await right_arm.run_angle(50, 50) -async def Run10(): # experimental map reveal attachment - +async def Run10(): await drive_base.straight(600) drive_base.settings(150, 750, 50, 500) await drive_base.turn(-30) await drive_base.straight(260) - left_arm.run_angle(300,218) - + left_arm.run_angle(300, 218) + set_default_speed() await drive_base.straight(-80) await drive_base.turn(30) await drive_base.straight(-300) await drive_base.straight(400) - #await left_arm.run_angle(50,120) await drive_base.straight(-200) - await left_arm.run_angle(300,-215) + await left_arm.run_angle(300, -215) await drive_base.straight(-600) drive_base.stop() -async def Run11(): # experimental surface brushing attachment - - await gyro_straight(600) - drive_base.settings(150, 750, 50, 500) - await gyro_turn(-30) - await gyro_straight(250) - #left_arm.run_angle(300,218) - - set_default_speed() - await gyro_straight(-100) - await drive_base.turn(30) - #await drive_base.straight(400) - #await left_arm.run_angle(50,120) - #await drive_base.straight(-200) - await gyro_straight(-600) + +""" +Run#11 +- *** USES PID DRIVE *** +""" +async def Run11(): + await drive.pid_straight(600) + set_precise_mode() + await drive.pid_turn(-30) + await drive.pid_straight(250) + + set_default_pid_mode() + await drive.pid_straight(-100) + await drive.pid_turn(30) + await drive.pid_straight(-600) drive_base.stop() + +""" +Run#12 +- *** USES PID DRIVE *** +""" async def Run12(): - await gyro_straight(900) - await gyro_turn(83) + set_fast_mode() + await drive.pid_straight(900) + await drive.pid_turn(83) await left_arm.run_angle(3000, -300) await right_arm.run_angle(1100, -180) - drive_base.settings(150, 50, 50, 50) - await gyro_straight(120) + set_precise_mode() + await drive.pid_straight(120) left_arm.reset_angle(0) await left_arm.run_angle(50, 50) await right_arm.run_angle(50, 90) - await gyro_straight(-100) - drive_base.settings(950, 750, 750, 750) - await gyro_turn(110) - await gyro_straight(1000) + await drive.pid_straight(-100) + set_fast_mode() + await drive.pid_turn(110) + await drive.pid_straight(1000) + set_default_pid_mode() # Function to classify color based on HSV def detect_color(h, s, v, reflected): if reflected > 4: - if h < 4 or h > 350: # red + if h < 4 or h > 350: return "Red" - elif 3 < h < 40 and s > 70: # orange + elif 3 < h < 40 and s > 70: return "Orange" - elif 47 < h < 56: # yellow + elif 47 < h < 56: return "Yellow" - elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + elif 70 < h < 160: return "Green" - elif 195 < h < 198: # light blue + elif 195 < h < 198: return "Light_Blue" - elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + elif 210 < h < 225: return "Blue" - elif 260 < h < 350: # purple + elif 260 < h < 350: return "Purple" - else: return "Unknown" return "Unknown" @@ -689,16 +969,12 @@ def detect_color(h, s, v, reflected): async def main(): while True: - pressed = hub.buttons.pressed() + pressed = hub.buttons.pressed() h, s, v = await color_sensor.hsv() reflected = await color_sensor.reflection() color = detect_color(h, s, v, reflected) - if DEBUG : - #print(color_sensor.color()) - #print(h,s,v) - #print(color) + if DEBUG: print(f"button pressed: {pressed}") - if color == "Green": print('Running Mission 1') @@ -717,19 +993,15 @@ async def main(): await Run5() elif color == "Purple": print('Running Mission 6') - await Run11() + await Run11() elif color == "Light_Blue": print("Running Mission 2_1") await Run12() else: print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") - #pass - # Show battery % for debugging - if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor - # Get the battery voltage in millivolts (mV) + if Button.BLUETOOTH in pressed: battery_voltage_mV = hub.battery.voltage() - # Use the function with your voltage reading percentage = await get_battery_percentage(float(battery_voltage_mV)) if DEBUG: print(f"Battery voltage: {battery_voltage_mV} mV") @@ -741,5 +1013,5 @@ async def main(): continue await wait(10) -# Run the main function + run_task(main()) \ No newline at end of file -- 2.49.1 From 4102f776f67838f1ba9e98c6aea7a1ceba932712 Mon Sep 17 00:00:00 2001 From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org> Date: Fri, 15 May 2026 22:13:00 +0000 Subject: [PATCH 099/100] Add competition_codes/AROC/Tisimal.py --- competition_codes/AROC/Tisimal.py | 655 ++++++++++++++++++++++++++++++ 1 file changed, 655 insertions(+) create mode 100644 competition_codes/AROC/Tisimal.py diff --git a/competition_codes/AROC/Tisimal.py b/competition_codes/AROC/Tisimal.py new file mode 100644 index 0000000..bb40dd2 --- /dev/null +++ b/competition_codes/AROC/Tisimal.py @@ -0,0 +1,655 @@ +#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge. +import umath +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,Direction.CLOCKWISE) # Specify default direction +left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction +right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration +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) + +""" +Debugging helps +""" +DEBUG = 1 # Enable when you want to show logs +# Example conversion function (adjust min/max values as needed for your hub) +async def get_battery_percentage(voltage_mV:float): + max_voltage = 8400.0 # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us + min_voltage = 5000.0 # min battery level + percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100 + return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100 + +async def wait_button_release(): + """Wait for all buttons to be released""" + while hub.buttons.pressed(): + await wait(500) + await wait(1000) # Debounce delay + +WALL_DISTANCE = 300 # mm +async def drive_forward(): + """Drive forward continuously using DriveBase.""" + drive_base.drive(1000,0) + +async def drive_backward(): + """Drive forward continuously using DriveBase.""" + 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() + print('Distancing...',distance) + + if distance < WALL_DISTANCE: + # Stop the drivebase + drive_base.stop() + print(f"Wall detected at {distance}mm!") + break + if distance is None: + continue + + # Small delay to prevent overwhelming the sensor + await wait(50) + +# Use this to set default +def set_default_speed(): + drive_base.settings(600, 500, 300, 200) + +# Use this to change drive base movement +def set_speed(straight_speed, st_acc, turn_speed, turn_acc): + drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) + +# PID Controller Module +class PIDController: + def __init__(self, kp, ki, kd): + self.kp = kp # Proportional gain + self.ki = ki # Integral gain + self.kd = kd # Derivative gain + self.previous_error = 0 + self.integral = 0 + + def calculate(self, desired_value, actual_value, dt): + """ + Calculate PID output + + Args: + desired_value: Target value + actual_value: Current measured value + dt: Time delta in seconds + + Returns: + PID output value + """ + error = desired_value - actual_value + + # Proportional term + proportional = error * self.kp + + # Integral term + self.integral += error * dt + integral = self.integral * self.ki + + # Derivative term + derivative = (error - self.previous_error) / dt * self.kd if dt > 0 else 0 + + # Store current error for next iteration + self.previous_error = error + + # Calculate total output + output = proportional + integral + derivative + + return output + + def reset(self): + """Reset the PID controller""" + self.previous_error = 0 + self.integral = 0 + +# Create PID controllers for Missions 5, 11, and 12 +straight_pid = PIDController(kp=1.2, ki=0.0, kd=0.1) +turn_pid = PIDController(kp=2.0, ki=0.0, kd=0.2) + +""" +Run#1 +- Removed forge and who lived here part +- What's on sale + Silo +- Green Key +""" +async def Run1(): + + # Fast approach to near-stall position + await left_arm.run_angle(2000, -210) # Fast movement downward + + # Gentle stall detection (shorter distance = faster) + await left_arm.run_until_stalled(-1500, duty_limit=15) + left_arm.reset_angle(0) + print(f"Initial left arm angle : {left_arm.angle()}") + + await solve_whats_on_sale_v3() + await solve_silo() + + # return to base + await drive_base.straight(-90) + #await drive_base.turn(-100) + await drive_base.arc(200,None,-300) + drive_base.stop() + +async def solve_whats_on_sale_v3(): + + right_arm.run_angle(500,30) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + await left_arm.run_angle(500, 75,Stop.HOLD) + #await left_arm.run_target(500,90,Stop.HOLD) + print(f"Position left arm angle : {left_arm.angle()}") + + await drive_base.straight(190) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_whats_on_sale_v2(): + + right_arm.run_angle(500,30) + + # Bring down left arm to position + await left_arm.run_angle(2000, -120) + #await left_arm.run_until_stalled(-500,duty_limit=15) + print(f"Position left arm angle : {left_arm.angle()}") + left_arm.reset_angle(0) + + await drive_base.straight(180) + + await drive_base.turn(-40) + await drive_base.straight(335) + await left_arm.run_angle(500,-20) + + await drive_base.straight(-100) + await drive_base.straight(60) + await left_arm.run_angle(500,50) + + await drive_base.straight(-100) + left_arm.run_angle(500,-50) + await drive_base.turn(-20) + left_arm.run_angle(1000,180) + await drive_base.turn(15) + +async def solve_silo(): + await drive_base.straight(-80) + await drive_base.turn(45) + await drive_base.straight(120) + + SPEED = 10000 # speed in degree per second + SWING_ANGLE = 60 # the angle! + REBOUND_ADJ = 20 + + # Repeat this motion 4 times + for _ in range(4): + await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up + await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down + + + right_arm.run_angle(4000,60, Stop.HOLD) + + +""" +Run#2 +- This to solve forge, who lived here and heavy lifting combined +- Red Key +""" +async def Run2(): + await solve_forge() + await solve_heavy_lifting() + await solve_who_lived_here() + await solve_flag() + + # return to base + await drive_base.turn(55) + await drive_base.straight(-190) + await drive_base.turn(30) + await drive_base.straight(-720) + drive_base.stop() + +async def solve_forge(): + left_arm.run_angle(100,90) + await right_arm.run_target(50,50) + await wait(800) + # await right_arm.run_angle(50,-30) + await drive_base.straight(50) + await drive_base.turn(-17) + await drive_base.straight(650) + await drive_base.turn(50) + + await drive_base.straight(90) + await drive_base.turn(-70) + await drive_base.straight(-60) + +async def solve_heavy_lifting(): + await right_arm.run_angle(2000,-160) # arm down + await wait(100) + await drive_base.turn(30) # turn right a little bit + await right_arm.run_angle(2000,160) #arm up + await drive_base.turn(-30) #reset position + +async def solve_who_lived_here(): + await drive_base.straight(35) + await drive_base.turn(-20) + await drive_base.straight(50) + await drive_base.turn(-25) + await drive_base.straight(-100) + await drive_base.turn(-5) + await drive_base.straight(300) + await drive_base.turn(60) + +async def solve_flag(): + await drive_base.straight(85) + await left_arm.run_angle(70,-90) + await wait(500) + await left_arm.run_angle(100,120) + await drive_base.straight(-45) + await drive_base.turn(-80) + await drive_base.straight(-20) + await left_arm.run_angle(250,-90) + await left_arm.run_angle(250,90) + + +""" +Run#2.1 +- Alternate solution for Forge, Who lived here and Heavy Lifting combined +- Light Blue Key +- Different alignment +""" +async def Run2_1(): + await solve_forge_straight() + await solve_heavy_lifting() + await solve_who_lived_here() + + # return to base + await drive_base.arc(-500,None,600) + drive_base.stop() + +async def solve_forge_straight(): + await right_arm.run_target(50,50) + await right_arm.run_angle(50,-30) + await drive_base.straight(700) + # await drive_base.turn(-30) + # await drive_base.straight(20) + await drive_base.turn(-40) + await drive_base.straight(-30) + +""" +Run#3 +- Combined angler artifacts and tip the scale +- Yellow key +""" +async def Run3(): + await solve_tip_the_scale() + await solve_angler_artifacts() + + #cross over to red side + await multitask( + drive_forward(), + monitor_distance() + ) + +async def solve_tip_the_scale(): + drive_base.straight(20) + await drive_base.arc(-275,None,365) + await drive_base.straight(280) + await drive_base.straight(-80) + await drive_base.turn(-50) + await drive_base.straight(80) + await drive_base.turn(40) + await drive_base.straight(295) + await drive_base.turn(-90) + +async def solve_angler_artifacts(): + await drive_base.straight(55) + await drive_base.turn(-10) + await left_arm.run_angle(10000,-800) + await drive_base.straight(-120) + await drive_base.turn(110) + await drive_base.turn(-25) + + + + + +""" +Run #4 +- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal +- Blue Key +""" +async def Run4(): + await drive_base.straight(700) + await drive_base.turn(-18) + await drive_base.straight(120) + await drive_base.straight(-210) + await drive_base.turn(61) + await drive_base.straight(133) + await right_arm.run_angle(400, -200) + await drive_base.straight(90) + await right_arm.run_angle(100, 95) + await drive_base.straight(-875) + +async def solve_brush_reveal(): + await drive_base.straight(700) + await drive_base.turn(-20) + await drive_base.straight(110) + await drive_base.straight(-210) + +async def solve_mineshaft_explorer(): + await drive_base.turn(63) + await drive_base.straight(130) + await right_arm.run_angle(1000, -90) + await drive_base.straight(84) + await right_arm.run_angle(300, 90) + +""" +Run#5 +- Solves Salvage Operation + Statue Rebuild +- Orange Key +""" +async def Run5(): + # Reset PID controller for this mission + straight_pid.reset() + + # Getting the sand down with PID control + await drive_straight_pid(550) + await right_arm.run_angle(300,100) + await drive_straight_pid(-75) + await right_arm.run_angle(300, -100) + + # Shoving the boat into place + await drive_straight_pid(300) + await drive_straight_pid(-200) + await drive_turn_pid(-15) + + # Solving statue + await drive_straight_pid(350) + await drive_turn_pid(-104) + await drive_straight_pid(-80) + await left_arm.run_angle(500, -300) + await drive_straight_pid(120) + await drive_turn_pid(5) + + # Lift up statue + await left_arm.run_angle(500, 100, Stop.HOLD) + await drive_turn_pid(18) + await drive_straight_pid(-100) + await drive_turn_pid(-90) + await drive_straight_pid(900) + drive_base.stop() + +async def solve_salvage_operation(): + await drive_base.straight(500) + await right_arm.run_angle(300,500) + await drive_base.straight(-75) + await right_arm.run_angle(300, -900) + await drive_base.straight(-350) + await wait(1000) + await drive_base.straight(800) + await drive_base.straight(-200) + await drive_base.turn(-15) + await drive_base.straight(350) + +async def solve_statue_rebuild(): + await drive_base.turn(-100) + await drive_base.straight(-80) + await left_arm.run_angle(500, -900) + await drive_base.straight(50) + await drive_base.straight(50) + await left_arm.run_angle(700,200) + await drive_base.turn(30) + +# PID-enhanced drive functions for Mission 5 +async def drive_straight_pid(distance_mm): + """Drive straight using PID control""" + start_distance = drive_base.distance() + target_distance = start_distance + distance_mm + straight_pid.reset() + + stopwatch = StopWatch() + stopwatch.reset() + + # Drive with PID correction + while abs(drive_base.distance() - target_distance) > 5: # 5mm tolerance + elapsed_time = stopwatch.time() / 1000.0 # Convert to seconds + stopwatch.reset() + + # Calculate PID correction + correction = straight_pid.calculate(target_distance, drive_base.distance(), elapsed_time) + + # Apply correction (limit to reasonable values) + correction = max(min(correction, 100), -100) + + # Drive with correction + drive_base.drive(200, correction) # Base speed 200 mm/s + await wait(10) + + drive_base.stop() + +async def drive_turn_pid(angle_degrees): + """Turn using PID control""" + start_angle = drive_base.angle() + target_angle = start_angle + angle_degrees + turn_pid.reset() + + stopwatch = StopWatch() + stopwatch.reset() + + # Turn with PID correction + while abs(drive_base.angle() - target_angle) > 2: # 2 degree tolerance + elapsed_time = stopwatch.time() / 1000.0 # Convert to seconds + stopwatch.reset() + + # Calculate PID correction + correction = turn_pid.calculate(target_angle, drive_base.angle(), elapsed_time) + + # Apply correction (limit to reasonable values) + correction = max(min(correction, 100), -100) + + # Turn with correction + drive_base.drive(0, correction) # No forward movement, just turning + await wait(10) + + drive_base.stop() + +""" +Run#6 +- Solve 2/3 Site Markings +- Run only if have time +- Purple Key +""" +async def Run6_7(): # experiment with ferris wheel for Site Markings + solve_site_mark_1() + solve_site_mark_2() + #return to base + await drive_base.straight(-300) + drive_base.stop() + +async def solve_site_mark_1(): + await drive_base.straight(500) + await right_arm.run_angle(100, -10) + await wait(50) + await drive_base.straight(-300) + await drive_base.arc(-150, -140, None) + +async def solve_site_mark_2(): + await drive_base.straight(-300) + await wait(50) + await right_arm.run_angle(50, 50) + +async def Run10(): # experimental map reveal attachment + + await drive_base.straight(600) + drive_base.settings(150, 750, 50, 500) + await drive_base.turn(-30) + await drive_base.straight(260) + left_arm.run_angle(300,218) + + set_default_speed() + await drive_base.straight(-80) + await drive_base.turn(30) + await drive_base.straight(-300) + await drive_base.straight(400) + #await left_arm.run_angle(50,120) + await drive_base.straight(-200) + await left_arm.run_angle(300,-215) + await drive_base.straight(-600) + drive_base.stop() + +async def Run11(): # experimental surface brushing attachment with PID + # Reset PID controllers + straight_pid.reset() + turn_pid.reset() + + # Drive forward with PID + await drive_straight_pid(600) + + # Turn with PID + await drive_turn_pid(-30) + + # Drive forward with PID + await drive_straight_pid(250) + + # Return with PID control + await drive_straight_pid(-100) + await drive_turn_pid(30) + await drive_straight_pid(-600) + drive_base.stop() + +async def Run12(): + # Reset PID controllers for this mission + straight_pid.reset() + turn_pid.reset() + + # Drive forward with PID + await drive_straight_pid(900) + + # Turn with PID + await drive_turn_pid(83) + + await left_arm.run_angle(3000, -300) + await right_arm.run_angle(1100, -180) + drive_base.settings(150, 50, 50, 50) + await drive_straight_pid(120) + left_arm.reset_angle(0) + await left_arm.run_angle(50, 50) + await right_arm.run_angle(50, 90) + await drive_straight_pid(-100) + drive_base.settings(950, 750, 750, 750) + + # Turn with PID + await drive_turn_pid(110) + + # Drive forward with PID + await drive_straight_pid(1000) + +# Function to classify color based on HSV +def detect_color(h, s, v, reflected): + if reflected > 4: + if h < 4 or h > 350: # red + return "Red" + elif 3 < h < 40 and s > 70: # orange + return "Orange" + elif 47 < h < 56: # yellow + return "Yellow" + elif 70 < h < 160: # green - do it vertically not horizontally for accuracy + return "Green" + elif 195 < h < 198: # light blue + return "Light_Blue" + elif 210 < h < 225: # blue - do it vertically not horizontally for accuracy + return "Blue" + elif 260 < h < 350: # purple + return "Purple" + + else: + return "Unknown" + return "Unknown" + + +async def main(): + while True: + pressed = hub.buttons.pressed() + h, s, v = await color_sensor.hsv() + reflected = await color_sensor.reflection() + color = detect_color(h, s, v, reflected) + if DEBUG : + #print(color_sensor.color()) + #print(h,s,v) + #print(color) + print(f"button pressed: {pressed}") + + + if color == "Green": + print('Running Mission 1') + await Run1() + elif color == "Red": + print('Running Mission 2') + await Run2() + elif color == "Yellow": + print('Running Mission 3') + await Run3() + elif color == "Blue": + print('Running Mission 4') + await Run4() + elif color == "Orange": + print('Running Mission 5') + await Run5() + elif color == "Purple": + print('Running Mission 6') + await Run11() + elif color == "Light_Blue": + print("Running Mission 2_1") + await Run12() + else: + print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})") + #pass + + # Show battery % for debugging + if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor + # Get the battery voltage in millivolts (mV) + battery_voltage_mV = hub.battery.voltage() + # Use the function with your voltage reading + percentage = await get_battery_percentage(float(battery_voltage_mV)) + if DEBUG: + print(f"Battery voltage: {battery_voltage_mV} mV") + print(f"Battery level: {percentage:.3f}%") + print("FLL Robot System Ready!") + await hub.display.text(f"{percentage:.0f}") + break + elif pressed == None: + continue + + await wait(10) +# Run the main function +run_task(main()) \ No newline at end of file -- 2.49.1 From 9771118d3906482277c9cd33d1c9f453eb3155ca Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Fri, 15 May 2026 23:09:21 +0000 Subject: [PATCH 100/100] Update competition_codes/AROC/Nationals_Main.py --- competition_codes/AROC/Nationals_Main.py | 41 ++++++++++++------------ 1 file changed, 21 insertions(+), 20 deletions(-) diff --git a/competition_codes/AROC/Nationals_Main.py b/competition_codes/AROC/Nationals_Main.py index 7e7cad1..000d55b 100644 --- a/competition_codes/AROC/Nationals_Main.py +++ b/competition_codes/AROC/Nationals_Main.py @@ -20,7 +20,7 @@ color_sensor = ColorSensor(Port.F) 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.settings(1000, 600, 500, 300) drive_base.use_gyro(True) """ @@ -110,20 +110,21 @@ async def solve_whats_on_sale_v3(): #await left_arm.run_target(500,90,Stop.HOLD) print(f"Position left arm angle : {left_arm.angle()}") - await drive_base.straight(190) + await drive_base.straight(210) await drive_base.turn(-40) - await drive_base.straight(335) - await left_arm.run_angle(500,-20) + await drive_base.straight(320) + await left_arm.run_angle(490,-30) await drive_base.straight(-100) await drive_base.straight(60) - await left_arm.run_angle(500,50) + await left_arm.run_angle(600,50) await drive_base.straight(-100) left_arm.run_angle(500,-50) - await drive_base.turn(-20) - left_arm.run_angle(1000,180) + await drive_base.turn(5) + await drive_base.turn(-25) + left_arm.run_angle(5000,180) await drive_base.turn(15) async def solve_whats_on_sale_v2(): @@ -136,7 +137,7 @@ async def solve_whats_on_sale_v2(): print(f"Position left arm angle : {left_arm.angle()}") left_arm.reset_angle(0) - await drive_base.straight(180) + await drive_base.straight(175) await drive_base.turn(-40) await drive_base.straight(335) @@ -146,22 +147,22 @@ async def solve_whats_on_sale_v2(): await drive_base.straight(60) await left_arm.run_angle(500,50) - await drive_base.straight(-100) + await drive_base.straight(-90) left_arm.run_angle(500,-50) + left_arm.run_angle(1000,6) await drive_base.turn(-20) - left_arm.run_angle(1000,180) await drive_base.turn(15) async def solve_silo(): - await drive_base.straight(-80) + await drive_base.straight(-75) await drive_base.turn(45) - await drive_base.straight(120) + await drive_base.straight(110) SPEED = 10000 # speed in degree per second SWING_ANGLE = 60 # the angle! REBOUND_ADJ = 20 - # Repeat this motion 4 times + # Repeat this motion 3 times for _ in range(4): await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down @@ -182,8 +183,8 @@ async def Run2(): await solve_flag() # return to base - await drive_base.turn(55) - await drive_base.straight(-190) + await drive_base.turn(50) + await drive_base.straight(-220) await drive_base.turn(30) await drive_base.straight(-720) drive_base.stop() @@ -198,7 +199,7 @@ async def solve_forge(): await drive_base.straight(650) await drive_base.turn(50) - await drive_base.straight(90) + await drive_base.straight(95) await drive_base.turn(-70) await drive_base.straight(-60) @@ -213,9 +214,9 @@ async def solve_who_lived_here(): await drive_base.straight(35) await drive_base.turn(-20) await drive_base.straight(50) - await drive_base.turn(-25) + await drive_base.turn(-23 ) await drive_base.straight(-100) - await drive_base.turn(-5) + await drive_base.turn(-3) await drive_base.straight(300) await drive_base.turn(60) @@ -272,7 +273,7 @@ async def Run3(): async def solve_tip_the_scale(): drive_base.straight(20) - await drive_base.arc(-275,None,365) + await drive_base.arc(-270,None,365) await drive_base.straight(280) await drive_base.straight(-80) await drive_base.turn(-50) @@ -285,7 +286,7 @@ async def solve_angler_artifacts(): await drive_base.straight(55) await drive_base.turn(-10) await left_arm.run_angle(10000,-800) - await drive_base.straight(-120) + await drive_base.straight(-130) await drive_base.turn(110) await drive_base.turn(-25) -- 2.49.1