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Update codes_for_scrimmage/hazmat/hazmat_main.py

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Johannes
2025-10-24 00:38:26 +00:00
parent 2d2863726b
commit 32a695e9ca
1 changed files with 11 additions and 11 deletions
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codes_for_scrimmage/hazmat/hazmat_main.py
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@@ -189,6 +189,7 @@ async def monitor_distance():
"""Monitor ultrasonic sensor and stop when wall is detected.""" """Monitor ultrasonic sensor and stop when wall is detected."""
while True: while True:
distance = await lazer_ranger.distance() distance = await lazer_ranger.distance()
print('distancing...',distance)
if distance < WALL_DISTANCE: if distance < WALL_DISTANCE:
# Stop the drivebase # Stop the drivebase
@@ -246,30 +247,29 @@ async def Run2(): #From Heavy_lifting_final.py
async def Run3(): #tip the scale.py async def Run3(): #tip the scale.py
drive_base.settings(300,1000,300,200) #Custom drive_base setting based on Ayaan's code left_arm.run_angle(600,200)
left_arm.run_angle(500,200)
right_arm.run_angle(500,200) right_arm.run_angle(500,200)
await drive_base.straight(70) await drive_base.straight(70)
await drive_base.turn(-55) await drive_base.turn(-70)
await drive_base.straight(900) await drive_base.straight(900)
await drive_base.turn(92.5) await drive_base.turn(115)
await drive_base.straight(75) await drive_base.straight(75)
await drive_base.straight(21) await drive_base.straight(33)
await right_arm.run_angle(500,-250) await right_arm.run_angle(500,-250)
await right_arm.run_angle(500,250) await right_arm.run_angle(500,250)
await drive_base.turn(55) await drive_base.turn(66)
await drive_base.straight(7)
await left_arm.run_angle(300,-400) await left_arm.run_angle(560,-390) #going down
await drive_base.turn(40) # turning right
await left_arm.run_angle(-410,-400) #lift a little bit
await drive_base.turn(46.5) await drive_base.turn(-46.5) #ma din din din dun
await drive_base.turn(-40) await drive_base.turn(-40)
await drive_base.straight(900) await drive_base.straight(900)
drive_base.settings(600,500,300,200) #Reset it to the initial values
async def Run4(): #From Send_Over_Final.py async def Run4(): #From Send_Over_Final.py
#Get to mission #Get to mission