From acc44dac2257966bf8706e77aea4c6e2a9d5e8b0 Mon Sep 17 00:00:00 2001
From: Johannes <31liwaj@elmbrookstudents.org>
Date: Thu, 6 Nov 2025 01:44:09 +0000
Subject: [PATCH] Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

---
 codes_for_scrimmage/hazmat/mainhazmatUPD.py | 83 ++++++++++++++-------
 1 file changed, 57 insertions(+), 26 deletions(-)

diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
index 6e785c7..3e1ead0 100644
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -45,35 +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)
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,-80)
+    await drive_base.straight(200)
 
-    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(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,80)
 
-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
+    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)
 
-    await drive_base.turn(-30)
-    right_arm.run_angle(70,500)
-    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(-150)
-    await left_arm.run_angle(1000,450)
-    await drive_base.straight(27.67)  #turns back to solve market place
-    await drive_base.turn(90)      #Will solve market place
-    await drive_base.straight(-450)
-    await drive_base.turn(70)
-    await drive_base.straight(600)
     
 async def Run2():  # From Heavy_lifting_final.py
     await drive_base.straight(200)
@@ -145,7 +155,28 @@ async def Run5():
 
 # Add - Adi's code here
 async def Run6():
+    await drive_base.stop
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
 
+
+async def main():
     while True:
         h, s, v = await color_sensor.hsv()
         reflected = await color_sensor.reflection()