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fullmission.py
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fullmission.py
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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()
display = hub.display
yaw = hub.imu
def executionDisplay():
display.off()
display.pixel(0,1)
display.pixel(0,2)
display.pixel(0,3)
display.pixel(1,1)
display.pixel(2,1)
display.pixel(2,2)
display.pixel(2,3)
display.pixel(3,1)
display.pixel(4,1)
display.pixel(4,2)
display.pixel(4,3)
def calibrateLeftDisplay(brightness):
display.pixel(0,0,brightness)
display.pixel(0,1,brightness)
display.pixel(1,0,brightness)
display.pixel(1,1,brightness)
display.pixel(2,0,brightness)
display.pixel(2,1,brightness)
display.pixel(3,0,brightness)
display.pixel(3,1,brightness)
display.pixel(4,0,brightness)
display.pixel(4,1,brightness)
def calibrateRightDisplay(brightness):
display.pixel(0,3,brightness)
display.pixel(0,4,brightness)
display.pixel(1,3,brightness)
display.pixel(1,4,brightness)
display.pixel(2,3,brightness)
display.pixel(2,4,brightness)
display.pixel(3,3,brightness)
display.pixel(3,4,brightness)
display.pixel(4,3,brightness)
display.pixel(4,4,brightness)
def proportionalAlignDisplay():
display.off()
display.pixel(0,1)
display.pixel(0,2)
display.pixel(0,3)
display.pixel(1,1)
display.pixel(1,3)
display.pixel(2,1)
display.pixel(2,2)
display.pixel(2,3)
display.pixel(3,1)
display.pixel(4,1)
def axisCorrectionDisplay():
display.off()
display.pixel(0,2)
display.pixel(1,1)
display.pixel(1,3)
display.pixel(2,1)
display.pixel(2,2)
display.pixel(2,3)
display.pixel(3,1)
display.pixel(3,3)
display.pixel(4,1)
display.pixel(4,3)
def intersectionSolverDisplay():
display.off()
display.pixel(0,2)
display.pixel(2,2)
display.pixel(3,2)
display.pixel(4,2)
def recoveryTaskDisplay():
display.off()
display.pixel(0,1)
display.pixel(0,2)
display.pixel(0,3)
display.pixel(1,1)
display.pixel(1,3)
display.pixel(2,1)
display.pixel(2,2)
display.pixel(3,1)
display.pixel(3,3)
display.pixel(4,1)
display.pixel(4,3)
def desviarObsDisplay():
display.off()
display.pixel(0,1)
display.pixel(0,2)
display.pixel(1,1)
display.pixel(1,3)
display.pixel(2,1)
display.pixel(2,3)
display.pixel(3,1)
display.pixel(3,3)
display.pixel(4,1)
display.pixel(4,2)
class MotorPair:
def __init__(self, port1, port2):
self.motor1 = Motor(port1)
self.motor2 = Motor(port2)
self.timer = StopWatch()
def move_angle(self,amount,speed1,speed2, timeout = 1000):
self.motor1.reset_angle(0)
self.motor2.reset_angle(0)
self.timer.reset()
while abs(self.motor1.angle()) < amount or self.timer.time() < timeout:
while abs(self.motor2.angle()) < amount or self.timer.time() < timeout:
self.motor1.run(speed1)
self.motor2.run(-(speed2))
self.motor1.stop()
self.motor2.stop()
return "succeded"
def move_tank(self,amount, speed1, speed2):
self.motor1.run(speed1)
self.motor2.run(-(speed2))
wait(amount)
self.motor1.stop()
self.motor2.stop()
def start_tank(self, speed1, speed2):
self.motor1.run(speed1)
self.motor2.run(-(speed2))
def stop_tank(self):
self.motor1.hold()
self.motor2.hold()
def updateLog(log):
global logs
if len(log) != 3:
return False
if log != logs[-1]:
logs.append([name,move_side,log])
return True
def axis_correction(last_move, corner = 0, set_point_c = 40, set_point_s = 75):
axisCorrectionDisplay()
name = ''
move_side = ''
log = ''
if last_move != "axis correction **Corner**" or last_move != "axis correction **Suave**":
corner = 0
if corner > 3:
motors.stop_tank()
if sd.reflection() < set_point_s:
while sd.reflection() < set_point_s:
motors.start_tank(-150,0)
move_side = 'right'
if se.reflection() < set_point_s :
while se.reflection() < set_point_s:
motors.start_tank(0,-150)
move_side = 'left'
if corner == 5:
corner == 0
name = "axis correction **Suave**"
log = 'succeded'
else:
if sd.reflection() > se.reflection():
while sd.reflection() > set_point_c:
motors.start_tank(300,-50)
move_side = 'right'
corner += 1
else:
while se.reflection() > set_point_c:
motors.start_tank(-50,300)
move_side = 'left'
corner += 1
name = "axis correction **Corner**"
log = 'succeded'
return [name, move_side, log]
def proportionalAlign(errorE,errorD, kP):
proportionalAlignDisplay()
name ='proportional align'
move_side = ''
log='failed'
leftMotorSpd = 50 + errorE * kP * 4.7
rightMotorSpd = 50 + errorD * kP * 4.7
motors.start_tank(leftMotorSpd,rightMotorSpd)
diff_l_r = leftMotorSpd - rightMotorSpd
if diff_l_r > 0:
move_side = 'right'
else:
move_side = 'left'
log = 'succeded'
return [name, move_side, log]
class Intersection:
def __init__(self, se, sd):
self.se = se
self.sd = sd
def intersectionSolver(self, valores):
se = self.se
sd = self.sd
last_values = valores
intersectionSolverDisplay()
name = 'intersectionSolver'
move_side = ''
while valores[0] != False or valores[1] != False:
if valores[0] == True and valores[1] == True:
last_values = valores
break
motors.start_tank(100,100)
wait(200)
last_values = valores
valores = self.checkGreen(green_values)
valores = last_values
motors.stop_tank()
if valores[0] == True and valores[1] == True:
print('dar voltinha')
if se.reflection() > 50 or sd.reflection() > 50 :
print('fake double')
return [name,'','Failed']
motors.move_tank(1000, 350, 350)
while se.reflection() > 80 and sd.reflection() > 80 :
motors.start_tank(350, -350)
motors.stop_tank()
wait(1000)
else:
if valores[0] == True:
if se.reflection() > 50:
print('fake left')
return [name,'','Failed']
print('esquerdinha')
motors.stop_tank()
wait(1000)
motors.start_tank(300,0)
wait(1000)
motors.stop_tank()
move_side = 'left'
else:
if sd.reflection() > 50 :
print('fake right')
return [name,'','Failed']
print('direitinha')
motors.stop_tank()
motors.start_tank(0,300)
wait(1000)
while se.reflection() > 80 and sd.reflection() > 80 :
motors.start_tank(0,300)
motors.stop_tank()
wait(1000)
move_side = 'right'
name = 'intersectionSolver'
log = 'succeded'
return [name,move_side,log]
def getGreenValues(self,side):
hsv_min = [0,0,0]
hsv_max = [0,0,0]
hsv_med = [0,0,0]
if side == 'left':
sensor = se
elif side == "right":
sensor = sd
for x in range(200):
wait(10)
if side == "right":
calibrateRightDisplay(int((x+1)/2))
if side == "left":
calibrateLeftDisplay(int((x+1)/2))
hsv_obj = sensor.hsv()
hsv_med[0] += hsv_obj.h
hsv_med[1] += hsv_obj.s
hsv_med[2] += hsv_obj.v
print(hsv_med)
for i in range(3):
hsv_med[i] = hsv_med[i]/200
hsv_min[i] = hsv_med[i] - 20
hsv_max[i] = hsv_med[i] + 20
# if hsv_obj.h < hsv_min[0] or hsv_min[0] == 0 :
# hsv_min[0] = hsv_obj.h
# if hsv_obj.s < hsv_min[1] or hsv_min[1] == 0 :
# hsv_min[1] = hsv_obj.s
# if hsv_obj.v < hsv_min[2] or hsv_min[2] == 0 :
# hsv_min[2] = hsv_obj.v
# if hsv_obj.h > hsv_max[0]:
# hsv_max[0] = hsv_obj.h
# if hsv_obj.s > hsv_max[1]:
# hsv_max[1] = hsv_obj.s
# if hsv_obj.v > hsv_max[2]:
# hsv_max[2] = hsv_obj.v
wait(50)
hsv_values = [hsv_min, hsv_max]
print(hsv_values)
return hsv_values
def checkGreen(self, valores):
valuesE = valores[0]
valuesD = valores[1]
sensor_d = self.sd.hsv()
sensor_e = self.se.hsv()
direita = False
esquerda = False
# print(sensor)
# if sensor.h < values[0][0] or sensor.h > values[1][0]:
# return False
# if sensor.s < values[0][1] or sensor.s > values[1][1]:
# return False
# if sensor.v < values[0][2] or sensor.v > values[1][2]:
# return False
if sensor_d.h > valuesD[0][0] and sensor_d.h < valuesD[1][0]:
if sensor_d.s > valuesD[0][1] and sensor_d.s < valuesD[1][1]:
if sensor_d.v > valuesD[0][2] and sensor_d.v < valuesD[1][2]:
direita = True
if sensor_e.h > valuesE[0][0] and sensor_e.h < valuesE[1][0]:
if sensor_e.s > valuesE[0][1] and sensor_e.s < valuesE[1][1]:
if sensor_e.v > valuesE[0][2] and sensor_e.v < valuesE[1][2]:
esquerda = True
return [esquerda, direita]
def recoveryTask():
recoveryTaskDisplay()
# global logs
# global name
# global move_side
# global log
# if logs[0] == "proportionalAlign":
# timeout = 0
# while se.reflection() > 20 and sc.reflection() > 20 and sd.reflection() > 20 and timeout < 3000 :
# motors.start_tank(-200,-200)
# wait(10)
# timeout += 10
# motors.stop_tank()
# if se.reflection() < 20 or sc.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = move_side
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# name = "recovery task"
# move_side = move_side
# log = "failed"
# updateLog()
# return "succeded"
# if logs[0] == "axis correction" or logs[0] == "intersection solver":
# if logs[0] == "intersection solver":
# if logs[1] == "right":
# logs[1] = "left"
# if logs[1] == "left":
# logs[1] = "right"
# yaw.reset_heading()
# if logs[1] == "right":
# motors.start_tank(-200,200)
# while yaw.heading() >= -90:
# if se.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = "left"
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# timeout = 0
# while se.reflection() > 20 and sc.reflection() > 20 and sd.reflection() > 20 and timeout < 3000 :
# motors.start_tank(-200,-200)
# wait(10)
# timeout += 10
# motors.stop_tank()
# if se.reflection() < 20 or sc.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = move_side
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# name = "recovery task"
# move_side = move_side
# log = "failed"
# updateLog()
# return "succeded"
# yaw.reset_heading()
# motors.start_tank(200,-200)
# while yaw.heading() <= 90:
# if se.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = "right"
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# timeout = 0
# while se.reflection() > 20 and sc.reflection() > 20 and sd.reflection() > 20 and timeout < 3000 :
# motors.start_tank(-200,-200)
# wait(10)
# timeout += 10
# motors.stop_tank()
# if se.reflection() < 20 or sc.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = move_side
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# name = "recovery task"
# move_side = move_side
# log = "failed"
# updateLog()
# return "succeded"
# if logs[1] == "left":
# motors.start_tank(200,-200)
# while yaw.heading() <= 90:
# if se.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = "right"
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# timeout = 0
# while se.reflection() > 20 and sc.reflection() > 20 and sd.reflection() > 20 and timeout < 3000 :
# motors.start_tank(-200,-200)
# wait(10)
# timeout += 10
# motors.stop_tank()
# if se.reflection() < 20 or sc.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = move_side
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# name = "recovery task"
# move_side = move_side
# log = "failed"
# updateLog()
# return "succeded"
# yaw.reset_heading()
# motors.start_tank(-200,200)
# while yaw.heading() >= -90:
# if se.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = "left"
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# timeout = 0
# while se.reflection() > 20 and sc.reflection() > 20 and sd.reflection() > 20 and timeout < 3000 :
# motors.start_tank(-200,-200)
# wait(10)
# timeout += 10
# motors.stop_tank()
# if se.reflection() < 20 or sc.reflection() < 20 or sd.reflection() < 20:
# name = "recovery task"
# move_side = move_side
# log = "succeded"
# updateLog()
# return "succeded"
# else:
# name = "recovery task"
# move_side = move_side
# log = "failed"
# updateLog()
# return "succeded"
def desviarObs(lado = 'right'):
desviarObsDisplay()
if lado == 'right':
if name == 'axis correction **Corner**':
motors.move_tank(800, -400, 400)
motors.stop_tank()
motors.move_tank(1400, 500, 200)
motors.move_tank(700, 200, 200)
motors.move_tank(1400, 500, 130)
motors.move_tank(300, 100, 100)
elif name == 'proportional align':
motors.move_tank(800, -400, 400)
motors.stop_tank()
motors.move_tank(1850, 500, 200)
motors.move_tank(700, 200, 200)
motors.move_tank(1850, 500, 180)
while se.reflection() > 80 and sd.reflection() > 80 :
motors.start_tank(350, 150)
motors.stop_tank()
wait(1000)
return [name, lado, 'succeded']
elif lado == 'left':
motors.move_tank(1300, 400, -400)
motors.stop_tank()
while se.reflection() > 80 or sd.reflection() > 80 :
motors.start_tank(150, 350)
motors.stop_tank()
wait(1000)
return [name, lado, 'succeded']
return [name, lado, 'failed']
def checarResgate(u_value):
if u_value > 900 and u_value < 930:
motors.stop_tank()
hub.speaker.beep()
motors.move_tank(3000,250,250)
motors.move_tank(1500,-250,250)
motors.move_tank(1000,250,250)
wait(2000)
u_value = u2.distance()
print(u_value)
#Mover motor esquerdo para frente fazendo com q o robo gire 90 graus
if u_value > 500 and u_value < 800:
hub.speaker.beep()
hub.display.pixel(4,4)
print("resgate!!!!")
return True
else:
motors.move_tank(1000,-250,-250)
motors.move_tank(1500,250,-250)
motors.move_tank(2250,-250,-250)
elif u_value < 100:
hub.speaker.beep()
motors.stop_tank()
move_side = 'right'
desviarObs()
return False
hub = PrimeHub()
setPoint = 50
darkest = ""
# defining motors
motors = MotorPair(Port.A,Port.B)
# defining sensors
green_values = [[[144.18, 59.945, 52.26], [184.18, 99.945, 92.26]], [[146.77, 56.265, 53.105], [186.77, 96.265, 93.105]]]
u2 = UltrasonicSensor(Port.E)
sc = ColorSensor(Port.D)
sd = ColorSensor(Port.C)
se = ColorSensor(Port.F)
i = Intersection(se, sd, green_values)
# defining the log list
name = 'Beginning run'
move_side = 'None'
log = 'succeded'
logs = [[name,move_side,log]]
corner = 0
mode = ""
if __name__ == "__main__":
while True:
if hub.buttons.pressed() == {Button.LEFT}:
mode = "execution"
if hub.buttons.pressed() == {Button.RIGHT}:
mode = "calibrate"
if mode == "calibrate":
print("------calibrando------")
leftValues = i.getGreenValues("esquerda")
rightValues = i.getGreenValues("direita")
# minMedian = [(leftValues[0][0] + rightValues[0][0]) / 2, (leftValues[0][1] + rightValues[0][1]) / 2, (leftValues[0][2] + rightValues[0][2]) / 2]
# maxMedian = [(leftValues[1][0] + rightValues[1][0]) / 2, (leftValues[1][1] + rightValues[1][1]) / 2, (leftValues[1][2] + rightValues[1][2]) / 2]
# green_values = [minMedian,maxMedian]
green_values = [leftValues, rightValues]
print(green_values)
display.off()
mode = ""
if mode == "execution":
executionDisplay()
u_value = u2.distance()
while checarResgate(u_value) == False:
print(logs,corner)
u_value = u2.distance()
se_value = se.reflection()
sd_value = sd.reflection()
sc_value = sc.reflection()
errord = se_value - setPoint
errore = sd_value - setPoint
if se_value > 50 and sd_value > 50 and sc_value < 55:
updateLog(proportionalAlign(errore,errord,1.2))
else:
valores_verdes = i.checkGreen(green_values)
if valores_verdes[0] != False or valores_verdes[1] != False:
updateLog(i.intersectionSolver(valores_verdes))
if se_value > 80 and sd_value > 80 and sc_value > 80:
if logs[0] == 'proportional align':
updateLog(["gap", None, "succeded"])
else:
recoveryTask()
else:
motors.stop_tank()
if se_value > sd_value:
darkest = "direita"
if sd_value > se_value:
darkest = "esquerda"
if se_value < 30 and sd_value < 30:
motors.move_tank(300, 200, 200)
# valores_verdes = checkGreen(green_values)
# if valores_verdes[0] != False or valores_verdes[1] != False:
# print('-------- Green founded --------')
# intersectionSolver(valores_verdes)
motors.move_tank(2000, 200, 200)
se_value = se.reflection()
sd_value = sd.reflection()
sc_value = sc.reflection()
errord = se_value - setPoint
errore = sd_value - setPoint
if se_value > 60 and sd_value > 60 and sc_value < 45:
updateLog(proportionalAlign(errore,errord,0.8))
else:
print('back until see black')
motors.move_tank(2200, -200, -200)
updateLog(axis_correction())
else:
if darkest == "esquerda":
updateLog(axis_correction())
if darkest == "direita":
updateLog(axis_correction())
msg = str(se.reflection()) + ',' + str(sc.reflection()) + ',' + str(sd.reflection())
print(msg)