279 lines
8.6 KiB
Python
279 lines
8.6 KiB
Python
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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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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left_arm = Motor(Port.C)#, Direction.COUNTERCLOCKWISE)
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right_arm = Motor(Port.D)
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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drive_base.settings(550,700,100,100)
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drive_base.use_gyro(True)
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color_sensor = ColorSensor(Port.F)
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Color.ORANGE = Color(37, 85, 95)
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Color.BLUE = Color(230,100,100)
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color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW])
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hub.speaker.volume(50) # Set the volume of the speaker
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color_sensor.detectable_colors()
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# Celebration sound types
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class CelebrationSound:
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VICTORY_FANFARE = 0
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LEVEL_UP = 1
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SUCCESS_CHIME = 2
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TA_DA = 3
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POWER_UP = 4
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RICKROLL_INSPIRED = 5
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async def play_victory_fanfare():
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"""Classic victory fanfare"""
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notes = [
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(262, 200), # C4
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(262, 200), # C4
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(262, 200), # C4
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(349, 600), # F4
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_level_up():
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"""Upward scale for level completion"""
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notesold = [
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(262, 100), # C4
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(294, 100), # D4
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(330, 100), # E4
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(349, 100), # F4
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(392, 100), # G4
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(440, 100), # A4
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(494, 100), # B4
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(523, 300), # C5
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]
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notes = [
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(277, 100),
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(330, 100),
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(277, 100),
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(554, 100),
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(277, 100),
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(413, 100),
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(330, 100),
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(277, 100),
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(413, 100),
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(277, 100),
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(554, 100),
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(413, 100),
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(277, 100),
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(413, 100),
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(554, 100),
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(413, 100)
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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#await wait(20)
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async def play_success_chime():
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"""Simple success notification"""
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notes = [
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(523, 150), # C5
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(659, 150), # E5
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(784, 300), # G5
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def play_ta_da():
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"""Classic "ta-da!" sound"""
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notes = [
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(392, 200), # G4
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(523, 400), # C5
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]
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for freq, duration in notes:
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await hub.speaker.beep(freq, duration)
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await wait(100)
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async def play_power_up():
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"""Rising power-up sound"""
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for freq in range(200, 800, 50):
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await hub.speaker.beep(freq, 50)
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await wait(10)
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await hub.speaker.beep(1000, 200)
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async def play_rickroll_inspired():
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"""Fun 80s-style dance beat inspired sound"""
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# Upbeat bouncy rhythm
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pattern = [
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(392, 200), (440, 200), (494, 200), (523, 200),
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(440, 200), (392, 200), (349, 200), (392, 300),
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(440, 200), (392, 200), (349, 200), (330, 400),
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]
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for freq, duration in pattern:
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await hub.speaker.beep(freq, duration)
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await wait(50)
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async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
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"""
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Main celebration function to call after completing a mission.
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Plays a sound and shows light animation.
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Args:
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sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
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"""
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# Light show
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hub.light.on(Color.GREEN)
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# Play the selected celebration sound
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if sound_type == CelebrationSound.VICTORY_FANFARE:
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await play_victory_fanfare()
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elif sound_type == CelebrationSound.LEVEL_UP:
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await play_level_up()
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elif sound_type == CelebrationSound.SUCCESS_CHIME:
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await play_success_chime()
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elif sound_type == CelebrationSound.TA_DA:
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await play_ta_da()
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elif sound_type == CelebrationSound.POWER_UP:
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await play_power_up()
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elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
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await play_rickroll_inspired()
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else:
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await play_success_chime() # Default fallback
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# Blink the light
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for _ in range(3):
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hub.light.off()
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await wait(100)
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hub.light.on(Color.GREEN)
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await wait(100)
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hub.light.off()
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async def Run1():
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await multitask(left_arm.run_angle(1000, 300), 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 multitask(drive_base.turn(-30), 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 Run4():
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await drive_base.straight(519)
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await left_arm.run_angle(300, -100)
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await left_arm.run_angle(300, 500)
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await drive_base.straight(180)
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await drive_base.turn(-37)
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await drive_base.straight(50)
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await right_arm.run_angle(300, -400)
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await drive_base.straight(-150)
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await drive_base.turn(125)
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await drive_base.straight(50)
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await right_arm.run_angle(300, 400)
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await drive_base.straight(-75)
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await right_arm.run_angle(300, 300)
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await drive_base.turn(-40)
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await drive_base.straight(250)
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await right_arm.run_angle(100, -300)
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await drive_base.straight(30)
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await right_arm.run_angle(50,-250)
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await drive_base.turn(30)
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await drive_base.straight(-200)
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await drive_base.turn(-50)
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await drive_base.straight(-800)
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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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while True:
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await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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color_reflected_percent = await color_sensor.reflection()
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print(color_reflected_percent)
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color_detected = await color_sensor.color()
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print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
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if color_reflected_percent > 0:
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if color_detected == Color.GREEN:
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print('Running Mission 1')
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await Run1()
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await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
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elif color_detected == Color.WHITE:
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print('Running Mission 2')
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await Run2()
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await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
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elif color_detected == Color.YELLOW:
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print('Running Mission 3')
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await Run3()
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await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
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elif color_detected == Color.BLUE:
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print('Running Mission 4')
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await Run4()
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await celebrate_mission_complete(CelebrationSound.POWER_UP)
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elif color_detected == Color.RED:
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print('Running Mission 5')
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await Run5()
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await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
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else:
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hub.light.off()
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left_motor.stop()
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right_motor.stop()
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await wait(1000) #prevent loop from iterating fast
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# Main execution loop
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run_task(main())
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