From d9dec685c3e266f1447fcefe18dd419426e07184 Mon Sep 17 00:00:00 2001 From: Johannes <31liwaj@elmbrookstudents.org> Date: Sun, 28 Dec 2025 01:55:38 +0000 Subject: [PATCH] Update competition_codes/state/sunprarie_state_main.py Slight updates to Send over and the first mission run. --- .../state/sunprarie_state_main.py | 32 ++++++++----------- 1 file changed, 14 insertions(+), 18 deletions(-) diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py index 29f4509..7fd5991 100644 --- a/competition_codes/state/sunprarie_state_main.py +++ b/competition_codes/state/sunprarie_state_main.py @@ -25,7 +25,7 @@ WALL_DISTANCE = 200 # mm async def drive_forward(): """Drive forward continuously using DriveBase.""" - drive_base.drive(400, 0) + drive_base.drive(1000,0) async def drive_backward(): """Drive forward continuously using DriveBase.""" @@ -80,7 +80,11 @@ async def Run1(): async def solve_whats_on_sale(): right_arm.run_angle(500,30) - left_arm.run_angle(500,-119.5) + + #Automated inconsistency + #left_arm.run_angle(500,-119.5) + left_arm.run_target(500,-121.5, Stop.HOLD) + await drive_base.straight(180) await drive_base.turn(-40) @@ -195,28 +199,20 @@ async def Run3(): ) async def solve_angler_artifacts(): - await drive_base.straight(940) + await drive_base.straight(890) await drive_base.turn(-90,Stop.HOLD) - await drive_base.straight(65) + await drive_base.straight(45) #Solve drive_base.turn(-10) - await left_arm.run_angle(10000,-3000) - await drive_base.straight(-110) + await left_arm.run_angle(10000,-750) + await drive_base.straight(-130) - await drive_base.turn(90) - await drive_base.arc(-150,-103, None) + await drive_base.turn(67) async def solve_tip_the_scale(): - await drive_base.turn(3) - await drive_base.straight(142.5) - await right_arm.run_angle(800,-150) - await right_arm.run_angle(900,150) - - await drive_base.straight(-100) - await drive_base.turn(-65) - await drive_base.straight(300,Stop.COAST_SMART) - await drive_base.arc(10,-47, None) - #await drive_base.turn(-23, Stop.COAST_SMART) + await drive_base.straight(-200) + await drive_base.straight(60) + await drive_base.turn(22)