FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed
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Update competition_codes/state/sunprarie_state_main.py

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Johannes
2026-01-11 00:47:37 +00:00
parent e46897548b
commit 54dd1db320
1 changed files with 7 additions and 6 deletions
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competition_codes/state/sunprarie_state_main.py
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@@ -84,7 +84,7 @@ Run#1
async def Run1(): async def Run1():
# Fast approach to near-stall position # 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) # Gentle stall detection (shorter distance = faster)
await left_arm.run_until_stalled(-1500, duty_limit=15) await left_arm.run_until_stalled(-1500, duty_limit=15)
@@ -106,8 +106,7 @@ async def solve_whats_on_sale_v3():
#Automated inconsistency #Automated inconsistency
#left_arm.run_angle(500,-119.5) #left_arm.run_angle(500,-119.5)
await left_arm.run_angle(500, 75,Stop.HOLD) left_arm.run_target(500,70, Stop.HOLD)
#await left_arm.run_target(500,90,Stop.HOLD)
print(f"Position left arm angle : {left_arm.angle()}") print(f"Position left arm angle : {left_arm.angle()}")
await drive_base.straight(180) await drive_base.straight(180)
@@ -154,7 +153,7 @@ async def solve_whats_on_sale_v2():
async def solve_silo(): async def solve_silo():
await drive_base.straight(-80) await drive_base.straight(-80)
await drive_base.turn(43) await drive_base.turn(42)
await drive_base.straight(95) await drive_base.straight(95)
SPEED = 10000 # speed in degree per second SPEED = 10000 # speed in degree per second
@@ -407,12 +406,14 @@ async def Run11(): # experimental surface brushing attachment
#left_arm.run_angle(300,218) #left_arm.run_angle(300,218)
set_default_speed() set_default_speed()
await drive_base.straight(-100) await drive_base.straight(-120)
await drive_base.turn(30) await drive_base.turn(30)
#await drive_base.straight(400) #await drive_base.straight(400)
#await left_arm.run_angle(50,120) #await left_arm.run_angle(50,120)
#await drive_base.straight(-200) #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() drive_base.stop()
async def Run12(): async def Run12():