From 54dd1db320f93c5c859b5b4644c0c1b875575b08 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 11 Jan 2026 00:47:37 +0000 Subject: [PATCH] Update competition_codes/state/sunprarie_state_main.py --- competition_codes/state/sunprarie_state_main.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 981a6e9..a085862 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -84,7 +84,7 @@ Run#1 async def Run1(): # Fast approach to near-stall position - await left_arm.run_angle(2000, -210) # Fast movement downward + await left_arm.run_angle(2000, -190) # Fast movement downward # Gentle stall detection (shorter distance = faster) await left_arm.run_until_stalled(-1500, duty_limit=15) @@ -106,8 +106,7 @@ async def solve_whats_on_sale_v3(): #Automated inconsistency #left_arm.run_angle(500,-119.5) - await left_arm.run_angle(500, 75,Stop.HOLD) - #await left_arm.run_target(500,90,Stop.HOLD) + left_arm.run_target(500,70, Stop.HOLD) print(f"Position left arm angle : {left_arm.angle()}") await drive_base.straight(180) @@ -154,7 +153,7 @@ async def solve_whats_on_sale_v2(): async def solve_silo(): await drive_base.straight(-80) - await drive_base.turn(43) + await drive_base.turn(42) await drive_base.straight(95) SPEED = 10000 # speed in degree per second @@ -407,12 +406,14 @@ async def Run11(): # experimental surface brushing attachment #left_arm.run_angle(300,218) set_default_speed() - await drive_base.straight(-100) + await drive_base.straight(-120) await drive_base.turn(30) #await drive_base.straight(400) #await left_arm.run_angle(50,120) #await drive_base.straight(-200) - await drive_base.straight(-600) + await drive_base.straight(-129) + await left_arm.run_angle(300, -75) + await drive_base.straight(-400) drive_base.stop() async def Run12():