From 9b04c18889b21db32c2f003b8a77572d201b0698 Mon Sep 17 00:00:00 2001
From: Atharv <30nagava@elmbrookstudents.org>
Date: Sat, 11 Oct 2025 18:22:21 +0000
Subject: [PATCH] Update for contest

---
 twist_scrimmage.py | 40 ++++++++++++++++++++--------------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/twist_scrimmage.py b/twist_scrimmage.py
index 2b0fcd6..1e2d7f1 100644
--- a/twist_scrimmage.py
+++ b/twist_scrimmage.py
@@ -149,23 +149,22 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
     hub.light.off()
 
 async def Run1():
-    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
+    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.straight(277)
     await drive_base.turn(20)
-    await drive_base.straight(63)
-
-    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
+    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(-135)
+    await drive_base.straight(-145)
     await drive_base.turn(-60)
     await drive_base.straight(90)
     await left_arm.run_angle(1000,-450)
@@ -173,7 +172,7 @@ async def Run1():
     await left_arm.run_angle(1000,450)
     await drive_base.straight(10)
     await drive_base.turn(35)
-    await drive_base.straight(-500)
+    await drive_base.straight(-600)
 
 async def Run2():
     await drive_base.straight(200)
@@ -187,18 +186,19 @@ async def Run2():
     await drive_base.turn(45)
     await drive_base.straight(50)
     await right_arm.run_angle(350,-1000)
-
+    await drive_base.straight(-100)
     await drive_base.turn(-100)
     await drive_base.straight(-600)
 
 
 async def Run3():
-    await drive_base.straight(915)
+    await drive_base.straight(920)
     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)
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
     await drive_base.straight(2000)
 
 async def Run4():
@@ -242,7 +242,7 @@ async def Run6():
 async def main():
     while True:
     
-        await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
         color_reflected_percent = await color_sensor.reflection()
         print(color_reflected_percent)
 
@@ -252,23 +252,23 @@ async def main():
             if color_detected == Color.GREEN:
                 print('Running Mission 1')
                 await Run1()
-                await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+                #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
             elif color_detected == Color.WHITE:
                 print('Running Mission 2')
                 await Run2()
-                await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+                #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
             elif color_detected == Color.YELLOW:
                 print('Running Mission 3')
                 await Run3()
-                await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
             elif color_detected == Color.BLUE:
                 print('Running Mission 4')
                 await Run4()
-                await celebrate_mission_complete(CelebrationSound.POWER_UP)
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
             elif color_detected == Color.RED:
                 print('Running Mission 5')
                 await Run5()
-                await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
             else:
                 hub.light.off()
                 left_motor.stop()