From fa28fbb0864a841e40c7d2939ef1ce5a5f8e4e87 Mon Sep 17 00:00:00 2001
From: Johannes <31liwaj@elmbrookstudents.org>
Date: Thu, 8 Jan 2026 23:21:51 +0000
Subject: [PATCH] Update competition_codes/state/sunprarie_state_main.py

---
 .../state/sunprarie_state_main.py             | 51 +++++--------------
 1 file changed, 14 insertions(+), 37 deletions(-)

diff --git a/competition_codes/state/sunprarie_state_main.py b/competition_codes/state/sunprarie_state_main.py
index 4f79446..4b0cebb 100644
--- a/competition_codes/state/sunprarie_state_main.py
+++ b/competition_codes/state/sunprarie_state_main.py
@@ -406,9 +406,9 @@ async def Run11():  # experimental surface brushing attachment
     #left_arm.run_angle(300,218)
     
     set_default_speed()
-    await drive_base.straight(-80)
+    await drive_base.straight(-100)
     await drive_base.turn(30)
-    await drive_base.straight(-180)
+    await drive_base.straight(-190)
     #await drive_base.straight(400)
     #await left_arm.run_angle(50,120)
     #await drive_base.straight(-200)
@@ -416,44 +416,21 @@ async def Run11():  # experimental surface brushing attachment
     await drive_base.straight(-600)
     drive_base.stop()
 
-async def Run12():  # experimental careful recovery attachment
-    
-    right_arm.reset_angle(0)
-    # This raises the left arm to avoid entanglement when turning
-    await left_arm.run_angle(2000, 180)  # Fast movement upward
-    # Gentle stall detection (shorter distance = faster)
-    await left_arm.run_until_stalled(1500, duty_limit=15)
-    left_arm.reset_angle(0)
-    
-    # Drive the robot to the wall 
+async def Run12():
     await drive_base.straight(900)
-    await drive_base.turn(83) # Align robot to Mineshaft entrance
-
-    # This change robot movement to slow
-    drive_base.settings(100, 100, 50, 500)
-
-    # Bring down left arm to position
-    await left_arm.run_angle(2000, -180)
-    await left_arm.run_until_stalled(-1500,duty_limit=15)
+    await drive_base.turn(83)
+    await left_arm.run_angle(3000, -300)
+    await right_arm.run_angle(1100, -180)
+    drive_base.settings(150, 50, 50, 50)
+    await drive_base.straight(120)
     left_arm.reset_angle(0)
+    await left_arm.run_angle(50, 50)
+    await right_arm.run_angle(50, 90)
+    await drive_base.straight(-100)
+    drive_base.settings(950, 750, 750, 750)
+    await drive_base.turn(110)
+    await drive_base.straight(1000)
 
-    # Bring down right arm to position
-    await right_arm.run_target(2000,-120)
-    right_arm.reset_angle(0)
-    
-    await drive_base.straight(180) # Slowly move straight to mineshaft 180 mm
-
-    await right_arm.run_angle(100,95,Stop.HOLD) # Raise mineshaft
-    await left_arm.run_angle(100,60) # recover artifact by lifting arm 60 degrees
-
-    # Moving back
-    await drive_base.straight(-190)
-    
-    # Return home
-    set_default_speed()   # change movement robot movement to fast
-    await drive_base.turn(100)
-    await drive_base.straight(700)
-    drive_base.stop()
 
 # Function to classify color based on HSV
 def detect_color(h, s, v, reflected):