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Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

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Johannes
2025-11-04 01:10:02 +00:00
parent a65ad1470c
commit 3a45721812
1 changed files with 25 additions and 33 deletions
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54
codes_for_scrimmage/hazmat/mainhazmatUPD.py
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@@ -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."""
@@ -61,14 +61,8 @@ 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)
@@ -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)