Sumobot Jack

#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
                                 InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
import time

#define the main ev3 brick used
ev3 = EV3Brick()

#define each of the things attached to the ev3 brick and their respective ports

leftMotor = Motor(Port.B)
rightMotor = Motor(Port.D)
weapon = Motor(Port.A)
colourSensor = ColorSensor(Port.S1)
distanceSensor = UltrasonicSensor(Port.S3)
button1 = TouchSensor(Port.S2)
button2 = TouchSensor(Port.S4)

#define the drivebase to control all the motors efficiently with their own functions (turn(), drive(), ect)
robot = DriveBase(leftMotor, rightMotor, 55.5, 195)

#beep when ready
ev3.speaker.beep()
ev3.speaker.beep()
#press to start
while (button1.pressed() == False) and (button2.pressed() == False):
    pass

#define distance for ultrasonic sensor to trigger, and delay for the wait time between moving back and turning
distance = 200
delay = 100
weapon_speed = 300
#create a dictionary for the different if functions for each sensor
sensor_types = {
    "colour": colourSensor.color() != Color.BLACK,
    "distance": distanceSensor.distance() > distance,
    "bumper1": button1.pressed() == False,
    "bumper2": button2.pressed() == False
}

#define functions, then access them multiple times throughout the code with different variables being assigned to "type"
def sensor(Type):
    #define dictionary locally, 
    #because when the code looks for the dict, it first checks the function it is in, then the rest of the code, 
    #resulting in a more efficient response
    types = {
        "colour": colourSensor.color() != Color.BLACK,
        "distance": distanceSensor.distance() > distance,
        "bumper1": button1.pressed() == False,
        "bumper2": button2.pressed() == False
    }
    
    #if all need to be checked,
    if Type == "all":
        #check if each 
        return (all([types["colour"], types["distance"], types["bumper1"], types["bumper2"]]))
        print("all")
    #if the type is not all, the if function will be passed and will return the result of the function (true or false)
    else: 
        if types[Type]:
            return True
        else: 
            return False

def spin():    
    #spin and swing weapon until you see something
    print("spin")
    while sensor("all"):
        robot.drive(0, 300)
    #when something is detected, return the sensor that detected it
    if sensor_types["colour"] == False:
        return sensor_types["colour"]
    if sensor_types["bumper1"] == False:
        return sensor_types["bumper1"]
    if sensor_types["bumper2"] == False:
        return sensor_types["bumper2"]
    if sensor_types["distance"] == False:
        return sensor_types["distance"]
    #if nothing is detected, return as none (should not happen)
    print("failed")
    return "none"

def backitup():
    #swing weapon while going backwards for a second
    print("backup")
    robot.straight(-150)
    wait(delay)

def charge():
    print("charge")
    while sensor("all"):
        if sensor("bumper1") and not sensor("bumper2"):
            weapon.run(weapon_speed)
            robot.drive(500, -10)
        elif sensor("bumper2") and not sensor("bumper1"):
            weapon.run(weapon_speed)
            robot.drive(500, 10)
        else:
            weapon.run(weapon_speed)
            robot.drive(500, 0)
    return


#keep spinning until you see something, if its the black line then go back a bit, else charge at opponent
while True:
    x = spin()
    if x == "colour":
        backitup()
    else:
        charge()