Update codes_for_scrimmage/hazmat/mainhazmatUPD.py

Reviewed-on: #33

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 = 300  # mm
+WALL_DISTANCE = 200  # mm
 
 async def drive_forward():
     """Drive forward continuously using DriveBase."""
@@ -45,30 +45,45 @@ async def monitor_distance():
 
 # New Section
 async def Run1():  # From M8_5.py
-    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)
+    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)
+
 
 async def Run2():  # From Heavy_lifting_final.py
     await drive_base.straight(200)
@@ -140,16 +155,35 @@ async def Run4():  # From Send_Over_Final.py
 
 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(600)
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(120)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(295)
+    await right_arm.run_angle(10000, 9000)
+    await drive_base.straight(-65)
+    await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
     await drive_base.straight(-100)
-    await drive_base.straight(150)
-    await drive_base.turn(60)
+    await right_arm.run_angle(10000, -8500)
     await drive_base.straight(100)
-    await drive_base.turn(-86)
-    await drive_base.straight(120)
-    await drive_base.turn(-45)
-    await drive_base.straight(-200)
-    await drive_base.turn(75)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
+    await drive_base.straight(-300)
+    await drive_base.turn(-80)
+    await drive_base.straight(-700)
+
 
 # Add - Adi's code here
 async def Run6():

missions/New_MapReveal/New_MapReveal_Mineshaft.py

@@ -1,38 +0,0 @@
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
-from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
-from pybricks.tools import run_task, multitask
-from pybricks.tools import wait, StopWatch
-from pybricks.robotics import DriveBase
-from pybricks.hubs import PrimeHub
-
-# Initialize hub and devices
-hub = PrimeHub()
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-left_arm = Motor(Port.C)
-right_arm = Motor(Port.D)
-lazer_ranger = UltrasonicSensor(Port.E)
-color_sensor = ColorSensor(Port.F)
-
-# DriveBase configuration
-WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
-AXLE_TRACK = 180  # mm (distance between wheels)
-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
-
-async def main():
-    await drive_base.straight(700)
-    await drive_base.turn(-20)
-    await drive_base.straight(110)
-    await drive_base.straight(-220)
-    await drive_base.turn(63)
-    await drive_base.straight(130)
-    await right_arm.run_angle(1000, -1200)
-    await drive_base.straight(84)
-    await right_arm.run_angle(300, 1200)
-    await drive_base.straight(-875)
-
-run_task(main())