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Update competition_codes/sectionals/sectional_main_experimental.py

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Johannes
2025-12-04 03:01:19 +00:00
parent f389ff7101
commit e8c25a4e90
1 changed files with 12 additions and 11 deletions
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21
competition_codes/sectionals/sectional_main_experimental.py
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@@ -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
@@ -342,7 +343,7 @@ 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)