Merge pull request 'dev' (#51) from dev into main

Reviewed-on: #51

competition_codes/sectionals/sectional_main_dec_6.py

@@ -123,10 +123,10 @@ async def solve_forge():
     await drive_base.straight(-47)
 
 async def solve_heavy_lifting():
-    await right_arm.run_angle(500,-90) # arm down
+    await right_arm.run_angle(500,-160) # arm down
     await wait(100)
     await drive_base.turn(20) # turn right a little bit
-    await right_arm.run_angle(500,140) #arm up
+    await right_arm.run_angle(500,160) #arm up
     await drive_base.turn(-20) #reset position
 
 async def solve_who_lived_here():
@@ -176,9 +176,8 @@ async def Run3():
         monitor_distance()
     )
 
-
 async def solve_angler_artifacts():
-    await drive_base.straight(920)
+    await drive_base.straight(940)
     await drive_base.turn(-90,Stop.HOLD)
     await drive_base.straight(65)
     #Solve
@@ -187,20 +186,25 @@ async def solve_angler_artifacts():
     await drive_base.straight(-110)
     
     await drive_base.turn(90)
-    await drive_base.arc(-150,-100, None)
+    await drive_base.arc(-150,-103, None)
 
 async def solve_tip_the_scale():
-    await drive_base.straight(135)
+    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(320,Stop.COAST_SMART)
+    await drive_base.straight(300,Stop.COAST_SMART)
     await drive_base.arc(10,-47, None)
     #await drive_base.turn(-23, Stop.COAST_SMART)
 
 
+
+
+
+
 """
 Run #4 
 - Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
@@ -244,16 +248,20 @@ async def Run5():
     await drive_base.straight(300)
     await drive_base.straight(-200)
     await drive_base.turn(-15)
+    #solving statue
     await drive_base.straight(350)
-    await drive_base.turn(-103)
+    await drive_base.turn(-104)
     await drive_base.straight(-80)
     await left_arm.run_angle(500, -900)
-    await drive_base.straight(105)
-    await left_arm.run_angle(700, 285)
-    await drive_base.turn(30)
-    await drive_base.straight(-60)
-    await drive_base.turn(80)
-    await drive_base.straight(-900)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    await left_arm.run_angle(500, 290)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
 
 async def solve_salvage_operation():
     await drive_base.straight(500)