117 lines
3.2 KiB
Python
117 lines
3.2 KiB
Python
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from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor
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from pybricks.parameters import Port, Stop, Color, Direction
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch, multitask, run_task
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import asyncio
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hub = PrimeHub()
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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atarm1 = Motor(Port.E, Direction.COUNTERCLOCKWISE)
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atarm2 = Motor(Port.F)
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)
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color_sensor = ColorSensor(Port.C)
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drive_base.settings(300, 500, 300, 200)
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Color.ORANGE = Color(10, 100, 100)
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Color.MAGENTA = Color(321, 100, 86)
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async def Run1():
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left_arm.run_angle(1000, 300)
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right_arm.run_angle(1000,500)
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await drive_base.straight(320)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await right_arm.run_angle(5000,500, Stop.HOLD)
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await right_arm.run_angle(5000,-500, Stop.HOLD)
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await drive_base.turn(-20)
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await drive_base.straight(275)
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await drive_base.turn(20)
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await drive_base.straight(63)
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await drive_base.turn(-30)
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right_arm.run_angle(50,500)
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await drive_base.turn(45)
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await drive_base.straight(-135)
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await drive_base.turn(-60)
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await drive_base.straight(90)
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await left_arm.run_angle(1000,-450)
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await drive_base.straight(-145)
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await left_arm.run_angle(1000,450)
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await drive_base.straight(10)
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await drive_base.turn(35)
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await drive_base.straight(-500)
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async def Run2():
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await drive_base.straight(200)
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await drive_base.turn(-20)
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await drive_base.straight(525)
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await drive_base.turn(60)
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await drive_base.straight(50)
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await right_arm.run_angle(2000,1000)
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await drive_base.straight(-50)
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await drive_base.turn(45)
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await drive_base.straight(50)
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await right_arm.run_angle(350,-1000)
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await drive_base.turn(-100)
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await drive_base.straight(-600)
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async def Run3():
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await drive_base.straight(915)
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await drive_base.turn(-90)
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await drive_base.straight(60)
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await left_arm.run_angle(10000,-15000)
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await drive_base.straight(-60)
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await drive_base.turn(85)
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await drive_base.straight(2000)
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async def Run5():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def Run6():
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await drive_base.straight(420)
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await right_arm.run_angle(300,-100)
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await drive_base.straight(-100)
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await right_arm.run_angle(300, 100)
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await drive_base.straight(-350)
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async def main():
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if color_sensor.color() == Color.ORANGE:
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await Run1()
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if color_sensor.color() == Color.GREEN:
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await Run2()
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if color_sensor.color() == Color.WHITE:
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await Run3()
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if color_sensor.color() == Color.YELLOW:
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await Run5()
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if color_sensor.color() == Color.BLUE:
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await Run6()
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print(f'Detected color: {color_sensor.color()}')
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# Main execution loop
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while True:
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run_task(main())
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wait(100)
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