50 lines
1.9 KiB
Python
50 lines
1.9 KiB
Python
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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, run_task, multitask
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hub = PrimeHub()
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# Initialize both motors. In this example, the motor on the
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# left must turn counterclockwise to make the robot go forward.
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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arm_motor = Motor(Port.D, Direction.CLOCKWISE)
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arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
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# Initialize the drive base. In this example, the wheel diameter is 56mm.
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# The distance between the two wheel-ground contact points is 112mm.
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
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print('The default settings are: ' + str(drive_base.settings()))
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drive_base.settings(300,1000,300,750)
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# Optionally, uncomment the line below to use the gyro for improved accuracy.
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drive_base.use_gyro(True)
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async def main():
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await drive_base.straight(519)
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await arm_motor_left.run_angle(-10000, 300)
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await arm_motor_left.run_angle(10000, 600)
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await drive_base.straight(160)
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await drive_base.turn(-30)
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await drive_base.straight(50)
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await arm_motor.run_angle(3000, 3000)
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await drive_base.straight(-150)
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await drive_base.turn(135)
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await drive_base.straight(50)
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await arm_motor.run_angle(10000, -3000)
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await drive_base.straight(-100)
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await drive_base.turn(-54)
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await arm_motor.run_angle(10000, -3000)
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await drive_base.straight(250)
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await drive_base.turn(-5)
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await arm_motor.run_angle(10000, 7000)
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await drive_base.straight(-50)
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await drive_base.turn(68)
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await arm_motor.run_angle(10000, -6000)
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await drive_base.straight(200)
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await arm_motor.run_angle(10000, 4000)
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await drive_base.turn(-40)
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await arm_motor.run_angle(10000, 7000)
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run_task(main())
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