From 249071f5c306dbc7421a5160dc52175649a06a00 Mon Sep 17 00:00:00 2001
From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org>
Date: Fri, 24 Oct 2025 00:42:21 +0000
Subject: [PATCH] Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

---
 codes_for_scrimmage/hazmat/mainhazmatUPD.py | 22 ++++++++++++---------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
index a243e83..38c1a00 100644
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -132,7 +132,7 @@ async def Run4():  # From Send_Over_Final.py
 async def Run5(): 
     await drive_base.straight(519)
     await left_arm.run_angle(-10000, 300)
-    await left_arm.run_angle(10000, 600)
+    await left_arm_left.run_angle(10000, 600)
     await drive_base.straight(160)
     await drive_base.turn(-30)
     await drive_base.straight(50)
@@ -142,19 +142,23 @@ async def Run5():
     await drive_base.straight(25)
     await right_arm.run_angle(10000, -3000)
     await drive_base.straight(-100)
-    await drive_base.turn(-55)
+    await drive_base.turn(-52)
     await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(250)
+    await drive_base.straight(245)
     await drive_base.turn(-5)
     await right_arm.run_angle(10000, 7000)
-    await drive_base.straight(-50)
+    await drive_base.straight(-65)
     await drive_base.turn(45)
-    await drive_base.straight(100)
-    await drive_base.turn(37)
-    await right_arm.run_angle(10000, -6000)
-    await drive_base.straight(90)
-    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(125)
+    await drive_base.turn(26)
+    await right_arm.run_angle(10000, -8000)
+    await drive_base.straight(50)
+    await aright_arm.run_angle(10000, 3500)
     await drive_base.turn(-40)
+    await drive_base.turn(5)
+    await drive_base.straight(-300)
+    await drive_base.turn(-78)
+    await drive_base.straight(-700)
 
 
 # Add - Adi's code here