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Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

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Johannes
2025-11-04 02:57:00 +00:00
parent 401033b185
commit 3b81a3ff2b
1 changed files with 27 additions and 27 deletions
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54
codes_for_scrimmage/hazmat/mainhazmatUPD.py
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@@ -45,24 +45,35 @@ async def monitor_distance():
# New Section # New Section
async def Run1(): # From M8_5.py async def Run1(): # From M8_5.py
left_arm.run_angle(1000, -300) left_arm.run_angle(1000, 300)
right_arm.run_angle(1000, 500) right_arm.run_angle(1000,500)
await drive_base.straight(320) await drive_base.straight(320)
await right_arm.run_angle(5000, -500, Stop.HOLD)
await right_arm.run_angle(5000, 500, Stop.HOLD) await right_arm.run_angle(5000,-500, Stop.HOLD)
await right_arm.run_angle(5000, -500, Stop.HOLD) await right_arm.run_angle(5000,500, Stop.HOLD)
await right_arm.run_angle(5000, 500, Stop.HOLD) await right_arm.run_angle(5000,-500, Stop.HOLD)
await right_arm.run_angle(5000, -500, Stop.HOLD) await right_arm.run_angle(5000,500, Stop.HOLD)
await right_arm.run_angle(5000,-500, Stop.HOLD)
await drive_base.turn(-20) await drive_base.turn(-20)
await drive_base.straight(277) await drive_base.straight(277)
await drive_base.turn(20) await drive_base.turn(20)
await drive_base.straight(65) await drive_base.straight(65)
await drive_base.turn(-30) await drive_base.turn(-30)
right_arm.run_angle(50, 500) right_arm.run_angle(70,500)
await drive_base.turn(45) await drive_base.turn(45)
await drive_base.straight(-145) await drive_base.straight(-145)
await drive_base.turn(-30) await drive_base.turn(-60)
await drive_base.straight(-700) await drive_base.straight(90)
await left_arm.run_angle(1000,-450)
await drive_base.straight(-150)
await left_arm.run_angle(1000,450)
await drive_base.straight(27.67) #turns back to solve market place
await drive_base.turn(90) #Will solve market place
await drive_base.straight(-450)
await drive_base.turn(70)
await drive_base.straight(600)
async def Run2(): # From Heavy_lifting_final.py async def Run2(): # From Heavy_lifting_final.py
await drive_base.straight(200) await drive_base.straight(200)
@@ -104,27 +115,16 @@ async def Run3(): # tip the scale.py
async def Run4(): # From Send_Over_Final.py async def Run4(): # From Send_Over_Final.py
right_arm.run_angle(800,800)
await drive_base.straight(170)
await drive_base.turn(-90)
await drive_base.straight(270) await drive_base.straight(920)
await drive_base.turn(59) await drive_base.turn(-90,Stop.HOLD)
await drive_base.straight(202) await drive_base.straight(65)
await drive_base.turn(2) #Solve
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) drive_base.turn(-10)
await left_arm.run_angle(1000,-4000) await left_arm.run_angle(10000,-4000)
await drive_base.straight(-110) await drive_base.straight(-110)
await drive_base.turn(90) await drive_base.turn(90)
await multitask( await multitask(
drive_forward(), drive_forward(),
monitor_distance() monitor_distance()