Update final/main4.py

final/main4.py

@@ -15,6 +15,64 @@ drive_base.use_gyro(True)
 color_sensor = ColorSensor(Port.F) 
 hub.speaker.volume(50) # Set the volume of the speaker
 
+async def Run1():
+    left_arm.run_angle(1000, 300)
+    right_arm.run_angle(1000,500)
+    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 drive_base.turn(-20)
+    await drive_base.straight(275)
+    await drive_base.turn(20)
+    await drive_base.straight(63)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50,500)
+    await drive_base.turn(45)
+    await drive_base.straight(-135)
+    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(-500)
+async def Run2():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+async def Run3():
+    await drive_base.straight(915)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    await left_arm.run_angle(10000,-15000)
+    await drive_base.straight(-60)
+    await drive_base.turn(85)
+    await drive_base.straight(2000)
+async def Run5():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
+async def Run6():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
 # Celebration sound types
 class CelebrationSound:
     VICTORY_FANFARE = 0
@@ -127,91 +185,7 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
     
     hub.light.off()
     
-async def Run1():
+async def main():    
-    # Brings both arms up while moving to first mission
-    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
-    await drive_base.straight(320)
-
-    # Slaps down "Silo" 3 times
-    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)
-
-    # Moves to the next mission, solving "Who lived here?"
-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
-
-    # Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
-    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
-    await drive_base.turn(45)
-    await drive_base.straight(-135)
-    await drive_base.turn(-60)
-    # Solves "What's on Sale?"
-    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)
-
-    # Moves the robot back to base
-    await drive_base.turn(35)
-    await drive_base.straight(-600)
-
-async def Run2():
-    # Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-
-    # Throws "Heavy Lifting" to the side
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-
-    # Moves the robot back to base
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-
-
-async def Run3():
-
-    # Runs robot to "Angler Artifacts"
-    await drive_base.straight(915)
-    await drive_base.turn(-90)
-
-    # Solves "Angler Artifacts"
-    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-15000)
-
-    # Moves to the Red home area
-    await drive_base.straight(-60)
-    await drive_base.turn(85)
-    await drive_base.straight(2000)
-
-
-async def Run5():
-    await drive_base.straight(420)
-    await right_arm.run_angle(300,-100)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(300, 100)
-    await drive_base.straight(-350)
-
-
-async def Run6():
-    await drive_base.straight(420)
-    await right_arm.run_angle(300,-100)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(300, 100)
-    await drive_base.straight(-350)
-
     while True:
     
         await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
@@ -246,5 +220,6 @@ async def Run6():
             left_motor.stop()
             right_motor.stop()
         await wait(100) #prevent loop from iterating fast
+            
 # Main execution loop
 run_task(main())