From 3a457218125534f324bd6e62bd203513fb3cf608 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Tue, 4 Nov 2025 01:10:02 +0000 Subject: [PATCH] Update codes_for_scrimmage/hazmat/mainhazmatUPD.py --- codes_for_scrimmage/hazmat/mainhazmatUPD.py | 58 +++++++++------------ 1 file changed, 25 insertions(+), 33 deletions(-) diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py index c48de0b..ac36537 100644 --- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py +++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py @@ -21,7 +21,7 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK) drive_base.settings(600, 500, 300, 200) drive_base.use_gyro(True) -WALL_DISTANCE = 300 # mm +WALL_DISTANCE = 200 # mm async def drive_forward(): """Drive forward continuously using DriveBase.""" @@ -61,15 +61,9 @@ async def Run1(): # From M8_5.py right_arm.run_angle(50, 500) await drive_base.turn(45) await drive_base.straight(-145) - await drive_base.turn(-60) - await drive_base.straight(90) - await left_arm.run_angle(1000, 450) - await drive_base.straight(-145) - await left_arm.run_angle(1000, -450) - await drive_base.straight(10) - await drive_base.turn(35) - await drive_base.straight(-600) - + await drive_base.turn(-30) + await drive_base.straight(-700) + async def Run2(): # From Heavy_lifting_final.py await drive_base.straight(200) await drive_base.turn(-20) @@ -105,39 +99,37 @@ async def Run3(): # tip the scale.py await drive_base.turn(40) # turning right await left_arm.run_angle(410,-400) #lift a little bit await drive_base.straight(80) - await drive_base.turn(-41) #ma din din din dun 67 41 21 69 + await drive_base.turn(-41) #ma din din din dun 67 41 21 await drive_base.straight(900) async def Run4(): # From Send_Over_Final.py - #Get to mission - await drive_base.straight(920) - await drive_base.turn(-90,Stop.HOLD) - await drive_base.straight(65) - #Solve mission + right_arm.run_angle(800,800) + await drive_base.straight(170) + await drive_base.turn(-90) + + await drive_base.straight(270) + await drive_base.turn(59) + await drive_base.straight(202) + await drive_base.turn(2) + await right_arm.run_angle(350,-800) + await right_arm.run_angle(800,800) + await drive_base.straight(-20) + await drive_base.straight(-35) + await drive_base.turn(-60) + await drive_base.straight(342) + await drive_base.turn(-89) + await drive_base.straight(75) # Tralelo Tralala shark with blue shoes drive_base.turn(-10) - await left_arm.run_angle(10000, 4000) - #Get to Red Start + await left_arm.run_angle(1000,-4000) await drive_base.straight(-110) await drive_base.turn(90) - # while True: - # distance_mm = await lazer_ranger.distance() - # print('distancing...',distance_mm) - - # if distance_mm < 300: - # drive_base.stop - # break - # else: - # drive_base.straight(300) - # print('running...') - # await wait(10) + await multitask( drive_forward(), monitor_distance() ) - - # Add Rishi's code here async def Run5(): await drive_base.straight(519) @@ -159,9 +151,9 @@ async def Run5(): await drive_base.straight(-65) await drive_base.turn(45) await drive_base.straight(175) - await drive_base.turn(24.5) + await drive_base.turn(26) await drive_base.straight(-100) - await right_arm.run_angle(10000, -8500) + await right_arm.run_angle(10000, -9000) await drive_base.straight(100) await right_arm.run_angle(10000, 3500) await drive_base.turn(-30)