From 9771118d3906482277c9cd33d1c9f453eb3155ca Mon Sep 17 00:00:00 2001
From: Johannes <31liwaj@elmbrookstudents.org>
Date: Fri, 15 May 2026 23:09:21 +0000
Subject: [PATCH] Update competition_codes/AROC/Nationals_Main.py

---
 competition_codes/AROC/Nationals_Main.py | 41 ++++++++++++------------
 1 file changed, 21 insertions(+), 20 deletions(-)

diff --git a/competition_codes/AROC/Nationals_Main.py b/competition_codes/AROC/Nationals_Main.py
index 7e7cad1..000d55b 100644
--- a/competition_codes/AROC/Nationals_Main.py
+++ b/competition_codes/AROC/Nationals_Main.py
@@ -20,7 +20,7 @@ color_sensor = ColorSensor(Port.F)
 WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
 AXLE_TRACK = 180  # mm (distance between wheels)
 drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
-drive_base.settings(600, 500, 300, 200)
+drive_base.settings(1000, 600, 500, 300)
 drive_base.use_gyro(True)
 
 """
@@ -110,20 +110,21 @@ async def solve_whats_on_sale_v3():
     #await left_arm.run_target(500,90,Stop.HOLD)
     print(f"Position left arm angle : {left_arm.angle()}")
     
-    await drive_base.straight(190)
+    await drive_base.straight(210)
 
     await drive_base.turn(-40)
-    await drive_base.straight(335)
-    await left_arm.run_angle(500,-20)
+    await drive_base.straight(320)
+    await left_arm.run_angle(490,-30)
 
     await drive_base.straight(-100)
     await drive_base.straight(60)
-    await left_arm.run_angle(500,50)
+    await left_arm.run_angle(600,50)
 
     await drive_base.straight(-100)
     left_arm.run_angle(500,-50)
-    await drive_base.turn(-20)
-    left_arm.run_angle(1000,180)
+    await drive_base.turn(5)
+    await drive_base.turn(-25)
+    left_arm.run_angle(5000,180)
     await drive_base.turn(15)
 
 async def solve_whats_on_sale_v2():
@@ -136,7 +137,7 @@ async def solve_whats_on_sale_v2():
     print(f"Position left arm angle : {left_arm.angle()}")
     left_arm.reset_angle(0)
     
-    await drive_base.straight(180)
+    await drive_base.straight(175)
 
     await drive_base.turn(-40)
     await drive_base.straight(335)
@@ -146,22 +147,22 @@ async def solve_whats_on_sale_v2():
     await drive_base.straight(60)
     await left_arm.run_angle(500,50)
 
-    await drive_base.straight(-100)
+    await drive_base.straight(-90)
     left_arm.run_angle(500,-50)
+    left_arm.run_angle(1000,6)
     await drive_base.turn(-20)
-    left_arm.run_angle(1000,180)
     await drive_base.turn(15)
 
 async def solve_silo():
-    await drive_base.straight(-80)
+    await drive_base.straight(-75)
     await drive_base.turn(45)
-    await drive_base.straight(120)
+    await drive_base.straight(110)
 
     SPEED = 10000 # speed in degree per second
     SWING_ANGLE = 60 # the angle!
     REBOUND_ADJ = 20
 
-    # Repeat this motion 4 times
+    # Repeat this motion 3 times
     for _ in range(4):
         await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
         await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
@@ -182,8 +183,8 @@ async def Run2():
     await solve_flag()
 
     # return to base
-    await drive_base.turn(55)
-    await drive_base.straight(-190)
+    await drive_base.turn(50)
+    await drive_base.straight(-220)
     await drive_base.turn(30)
     await drive_base.straight(-720)
     drive_base.stop()
@@ -198,7 +199,7 @@ async def solve_forge():
     await drive_base.straight(650)
     await drive_base.turn(50)
 
-    await drive_base.straight(90)
+    await drive_base.straight(95)
     await drive_base.turn(-70)
     await drive_base.straight(-60)
 
@@ -213,9 +214,9 @@ async def solve_who_lived_here():
     await drive_base.straight(35)
     await drive_base.turn(-20)
     await drive_base.straight(50)
-    await drive_base.turn(-25)
+    await drive_base.turn(-23  )
     await drive_base.straight(-100)
-    await drive_base.turn(-5)
+    await drive_base.turn(-3)
     await drive_base.straight(300)
     await drive_base.turn(60)
 
@@ -272,7 +273,7 @@ async def Run3():
 
 async def solve_tip_the_scale():
     drive_base.straight(20)
-    await drive_base.arc(-275,None,365)
+    await drive_base.arc(-270,None,365)
     await drive_base.straight(280)
     await drive_base.straight(-80)
     await drive_base.turn(-50)
@@ -285,7 +286,7 @@ async def solve_angler_artifacts():
     await drive_base.straight(55)
     await drive_base.turn(-10)
     await left_arm.run_angle(10000,-800)
-    await drive_base.straight(-120)
+    await drive_base.straight(-130)
     await drive_base.turn(110)
     await drive_base.turn(-25)