From 9cdd9886e3b164658fa02e219cc84471a481d205 Mon Sep 17 00:00:00 2001
From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org>
Date: Tue, 4 Nov 2025 01:15:50 +0000
Subject: [PATCH] Update codes_for_scrimmage/hazmat/HazmatCodeChanges.py

---
 .../hazmat/HazmatCodeChanges.py               | 59 ++++++++++---------
 1 file changed, 30 insertions(+), 29 deletions(-)

diff --git a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
index c48de0b..36efc37 100644
--- a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
+++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
@@ -140,40 +140,41 @@ async def Run4():  # From Send_Over_Final.py
 
 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(519)
-    await left_arm.run_angle(-10000, 300)
-    await left_arm.run_angle(10000, 600)
-    await drive_base.straight(160)
-    await drive_base.turn(-30)
-    await drive_base.straight(50)
-    await right_arm.run_angle(3000, 3000)
-    await drive_base.straight(-150)
-    await drive_base.turn(120)
-    await drive_base.straight(25)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(-110)
-    await drive_base.turn(-43)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(295)
-    await right_arm.run_angle(10000, 9000)
-    await drive_base.straight(-65)
-    await drive_base.turn(45)
-    await drive_base.straight(175)
-    await drive_base.turn(24.5)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
     await drive_base.straight(100)
-    await right_arm.run_angle(10000, 3500)
-    await drive_base.turn(-30)
-    await drive_base.straight(-300)
-    await drive_base.turn(-80)
-    await drive_base.straight(-700)
+    await drive_base.straight(-205)
+    await drive_base.turn(63)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
 
 
 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
 
 
 # Function to classify color based on HSV