FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
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Update competition_codes/state/sunprarie_state_main.py

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Johannes
2026-01-09 14:33:43 +00:00
parent e306b7dce1
commit 0e009d2da4
1 changed files with 6 additions and 5 deletions
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competition_codes/state/sunprarie_state_main.py
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@@ -84,14 +84,14 @@ Run#1
async def Run1(): async def Run1():
# Fast approach to near-stall position # Fast approach to near-stall position
await left_arm.run_angle(2000, 180) # Fast movement upward await left_arm.run_angle(2000, -190) # Fast movement downward
# Gentle stall detection (shorter distance = faster) # Gentle stall detection (shorter distance = faster)
await left_arm.run_until_stalled(1500, duty_limit=15) await left_arm.run_until_stalled(-1500, duty_limit=15)
left_arm.reset_angle(0) left_arm.reset_angle(0)
print(f"Initial left arm angle : {left_arm.angle()}") print(f"Initial left arm angle : {left_arm.angle()}")
await solve_whats_on_sale_v2() await solve_whats_on_sale_v3()
await solve_silo() await solve_silo()
# return to base # return to base
@@ -100,13 +100,13 @@ async def Run1():
await drive_base.arc(200,None,-300) await drive_base.arc(200,None,-300)
drive_base.stop() drive_base.stop()
async def solve_whats_on_sale(): async def solve_whats_on_sale_v3():
right_arm.run_angle(500,30) right_arm.run_angle(500,30)
#Automated inconsistency #Automated inconsistency
#left_arm.run_angle(500,-119.5) #left_arm.run_angle(500,-119.5)
left_arm.run_target(500,-121.5, Stop.HOLD) left_arm.run_target(500,70, Stop.HOLD)
print(f"Position left arm angle : {left_arm.angle()}") print(f"Position left arm angle : {left_arm.angle()}")
await drive_base.straight(180) await drive_base.straight(180)
@@ -412,6 +412,7 @@ async def Run11(): # experimental surface brushing attachment
#await drive_base.straight(400) #await drive_base.straight(400)
#await left_arm.run_angle(50,120) #await left_arm.run_angle(50,120)
#await drive_base.straight(-200) #await drive_base.straight(-200)
await wait(67)
await left_arm.run_angle(300,-300) await left_arm.run_angle(300,-300)
await drive_base.straight(-600) await drive_base.straight(-600)
drive_base.stop() drive_base.stop()