async def on_start(vm, stack):
ms_hub.status_light.on("black")
rotate_hub_display_to_value("3")
blinking_frames = [hub.Image(frame) for frame in blinking_animation]
vm.system.display.show(blinking_frames,
clear=False,
delay=round(1000 / 8),
loop=True,
fade=1)
left_hand = Motor("B")
right_hand = Motor("F")
# Calibrate
left_hand.run_to_position(0)
right_hand.run_to_position(0)
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_hand.run_for_degrees(-100, 50)
right_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(-100, 50)
left_turn = MotorPair("B", "E")
right_turn = MotorPair("A", "F")
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_turn.move(100, "degrees", steering=100, speed=50)
right_turn.move(-100, "degrees", steering=100, speed=50)
left_turn.move(100, "degrees", steering=-100, speed=50)
left_turn.move(-100, "degrees", steering=-100, speed=50)
wheels = MotorPair("A", "E")
wheels.move(14 * math.pi, "cm", steering=100, speed=80)
wheels.move(14 * math.pi, "cm", steering=-100, speed=80)
right_hand.run_to_position(270, direction="counterclockwise")
wait_for_seconds(1)
right_hand.run_for_seconds(1, 50)
await vm.system.sound.play_async("/extra_files/Tadaa")
wait_for_seconds(1)
right_hand.run_to_position(0, direction="counterclockwise")
motors_wheels.move(3, unit='cm')
print("DONE!")
# %%
# Fire first drum blaster
print("Firing first drum blaster...")
motors_wheels.move(2.5, unit='cm', steering=-100)
for ii in range(0, 3):
motor_right_arm.start_at_power(40)
wait_for_seconds(0.12)
motor_right_arm.start_at_power(-40)
wait_for_seconds(0.12)
motor_right_arm.run_to_position(300, direction='shortest path')
motor_left_arm.run_for_seconds(0.5, speed=-100)
motor_left_arm.run_to_position(25, direction='shortest path')
print("DONE!")
# %%
# Fire second drum blaster
print("Firing second drum blaster...")
motors_wheels.move(5, unit='cm', steering=100)
for ii in range(0, 4):
motor_left_arm.start_at_power(-40)
wait_for_seconds(0.12)
motor_left_arm.start_at_power(40)
wait_for_seconds(0.12)
motor_left_arm.run_to_position(60, direction='shortest path')
print("DONE!")
# %% [markdown]
# # Make Charlie respond to color
# If red was detected, we get out of the while loop and execute the following code.
# In other words, this is Charlie's response to the color.
# %%
# Stop movement.
motors_wheels.stop()
# %%
hub.light_matrix.show_image('HAPPY')
app.play_sound('Doorbell 1')
# %%
# Open and close Charlie's hatch.
motor_right_arm.run_for_seconds(1)
wait_for_seconds(3)
app.play_sound('Tada')
motor_right_arm.run_to_position(0, direction='counterclockwise')
wait_for_seconds(3)
# %%
# Turn off everything.
distance_sensor.light_up_all(0)
color_sensor.light_up_all(0)
# %%
print("-" * 15 + " Execution ended " + "-" * 15 + "\n")
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_wheel = Motor('E') # Wheel (for turning around)
motor_left_arm = Motor('B') # Left arm
motor_left_arm.set_default_speed(-80)
print("DONE!")
# %%
print("Setting arm motor to initial position...")
motor_left_arm.run_for_seconds(1)
print("DONE!")
# %% [markdown]
# # Configure sensor
# %%
print("Configuring color sensor...")
color_sensor = ColorSensor('C')
print("DONE!")
# %% [markdown]
# # Hit ball
# %%
while (True):
motors_af.move(-100, unit='degrees', steering=-100)
motors_af.move(100, unit='degrees', steering=-100)
motors_be.move(100, unit='degrees', steering=-100)
motors_be.move(-100, unit='degrees', steering=-100)
print("DONE!")
# %%
print("Dancing steps 3...")
motors_motion = MotorPair('A', 'E')
motors_motion.move(40, unit='cm', steering=100)
motors_motion.move(40, unit='cm', steering=-100)
# Open hatch
motor_f.run_to_position(270, direction='counterclockwise')
wait_for_seconds(1)
motor_f.run_for_seconds(1)
app.play_sound('Tada')
motor_f.run_to_position(0, direction='counterclockwise')
print("DONE!")
# %%
print("-" * 15 + " Execution ended " + "-" * 15 + "\n")
