Merge pull request 'dev' (#32) from dev into atharv-dev

Reviewed-on: #32

codes_for_scrimmage/hazmat/mainhazmatUPD.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 = 200  # mm
+WALL_DISTANCE = 300  # mm
 
 async def drive_forward():
     """Drive forward continuously using DriveBase."""
@@ -45,45 +45,30 @@ async def monitor_distance():
 
 # New Section
 async def Run1():  # From M8_5.py
-    right_arm.run_angle(1000,450)
-    left_arm.run_angle(500,-80)
-    await drive_base.straight(200)
-
-    await drive_base.turn(-40)
-    await drive_base.straight(325)
-    await left_arm.run_angle(500,80)
-
-    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)
-
+    left_arm.run_angle(1000, -300)
+    right_arm.run_angle(1000, 500)
+    await drive_base.straight(320)
+    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(-20)
+    await drive_base.straight(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50, 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(-145)
+    await left_arm.run_angle(1000, -450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-600)
 
 async def Run2():  # From Heavy_lifting_final.py
     await drive_base.straight(200)