49 lines
1.4 KiB
Python
49 lines
1.4 KiB
Python
from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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from pybricks.tools import run_task, multitask
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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(600,500,300,200)
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drive_base.use_gyro(True)
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async def main():
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left_arm.run_angle(600,200)
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right_arm.run_angle(500,200)
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await drive_base.straight(70)
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await drive_base.turn(-65)
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await drive_base.straight(900)
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await drive_base.turn(110)
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await drive_base.straight(75)
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await right_arm.run_angle(700,-250)
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await right_arm.run_angle(500,250)
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await drive_base.turn(54)
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await drive_base.straight(7)
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await left_arm.run_angle(560,-390) #going down
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print('turning now...')
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await drive_base.turn(40) # turning right
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await left_arm.run_angle(-410,-400) #lift a little bit
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await drive_base.turn(-46.5) #ma din din din dun
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await drive_base.turn(25)
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await drive_base.straight(900)
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run_task(main())
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