From e8c25a4e906daf5dbbf6ae291cd6d2f7430f458a Mon Sep 17 00:00:00 2001
From: Johannes <31liwaj@elmbrookstudents.org>
Date: Thu, 4 Dec 2025 03:01:19 +0000
Subject: [PATCH] Update
 competition_codes/sectionals/sectional_main_experimental.py

---
 .../sectionals/sectional_main_experimental.py | 23 ++++++++++---------
 1 file changed, 12 insertions(+), 11 deletions(-)

diff --git a/competition_codes/sectionals/sectional_main_experimental.py b/competition_codes/sectionals/sectional_main_experimental.py
index d6accad..715d7ba 100644
--- a/competition_codes/sectionals/sectional_main_experimental.py
+++ b/competition_codes/sectionals/sectional_main_experimental.py
@@ -21,7 +21,7 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
 drive_base.settings(600, 500, 300, 200)
 drive_base.use_gyro(True)
 
-WALL_DISTANCE = 300  # mm
+WALL_DISTANCE = 200  # mm
 
 async def drive_forward():
     """Drive forward continuously using DriveBase."""
@@ -113,14 +113,15 @@ async def Run2_1():
     await right_arm.run_angle(50,-30)
     await drive_base.arc(350,113, None)
     #)
+    await drive_base.straight(20)
     await drive_base.turn(-60)
-    await drive_base.straight(-40)
+    await drive_base.straight(-47)
 
     await right_arm.run_angle(500,-90) # arm down
     await wait(100)
     await drive_base.turn(20) # turn right a little bit
     #await wait(100)
-    await right_arm.run_angle(500,90) #arm up
+    await right_arm.run_angle(500,140) #arm up
     await drive_base.turn(-20) #reset position
 
     await drive_base.straight(50)
@@ -175,14 +176,14 @@ async def Run_3_4(): #combined angler artifacts and tip the scale - experimental
     await drive_base.turn(90)
     await drive_base.arc(-150,-100, None)
 
-    await drive_base.straight(100)
+    await drive_base.straight(135)
     await right_arm.run_angle(800,-150)
     await right_arm.run_angle(900,150)
     
-    await drive_base.straight(-80)
-    await drive_base.turn(-67)
-    await drive_base.straight(450,Stop.COAST_SMART)
-    await drive_base.arc(10,-25, None)
+    await drive_base.straight(-100)
+    await drive_base.turn(-65)
+    await drive_base.straight(320,Stop.COAST_SMART)
+    await drive_base.arc(10,-47, None)
     #await drive_base.turn(-23, Stop.COAST_SMART)
 
     await multitask(
@@ -324,7 +325,7 @@ async def main():
 
         if color == "Red":
             print('Running Mission 3')
-            await Run3() #red
+            await Run2_1() #red
         elif color == "Orange":
             print('Running Mission 6')
             await Run6_1() #orange
@@ -342,9 +343,9 @@ async def main():
             await Run6_7()  #purple - vertically
         elif color == "Light_Blue":
             print("Running Mission 2_1")
-            await Run2_1()
+            await Run3()
         else:
             print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
         await wait(10)
 # Run the main function
-run_task(main())
\ No newline at end of file
+run_task(main())