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Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

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Johannes
2025-11-06 01:12:19 +00:00
parent 21e8bd68c2
commit 9061eef311
1 changed files with 40 additions and 25 deletions
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65
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."""
@@ -45,30 +45,45 @@ async def monitor_distance():
# New Section
async def Run1(): # From M8_5.py
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(277)
await drive_base.turn(20)
await drive_base.straight(65)
await drive_base.turn(-30)
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)
right_arm.run_angle(1000,450)
left_arm.run_angle(500,-80)
await drive_base.straight(200)
await drive_base.turn(-40)
await drive_base.straight(325)
await left_arm.run_angle(500,80)
await drive_base.straight(-100)
await drive_base.straight(50)
await left_arm.run_angle(500,-170)
await drive_base.straight(-270)
await drive_base.turn(40)
await drive_base.straight(135)
left_arm.run_angle(1000,-670)
await right_arm.run_angle(5000,-450, Stop.HOLD)
await right_arm.run_angle(5000,450, Stop.HOLD)
await right_arm.run_angle(5000,-450, Stop.HOLD)
await right_arm.run_angle(5000,450, Stop.HOLD)
await right_arm.run_angle(5000,-450, Stop.HOLD)
right_arm.run_angle(5000,450, Stop.HOLD)
await drive_base.turn(-35)
await drive_base.straight(300)
await drive_base.turn(63)
await drive_base.straight(170)
await drive_base.turn(-80)
await drive_base.straight(87)
await drive_base.turn(-15)
await drive_base.straight(-120)
await drive_base.turn(-100)
await drive_base.straight(300)
await drive_base.turn(-45)
await drive_base.straight(500)
async def Run2(): # From Heavy_lifting_final.py
await drive_base.straight(200)