codes_for_scrimmage/hazmat/hazmat_main.py

@@ -189,6 +189,7 @@ async def monitor_distance():
     """Monitor ultrasonic sensor and stop when wall is detected."""
     while True:
         distance = await lazer_ranger.distance()
+        print('distancing...',distance)
         
         if distance < WALL_DISTANCE:
             # Stop the drivebase
@@ -246,30 +247,29 @@ async def Run2(): #From Heavy_lifting_final.py
 
 
 async def Run3(): #tip the scale.py
-    drive_base.settings(300,1000,300,200) #Custom drive_base setting based on Ayaan's code
-    
-    left_arm.run_angle(500,200)   
+    left_arm.run_angle(600,200)   
     right_arm.run_angle(500,200)
     await drive_base.straight(70)
     
-    await drive_base.turn(-55)
+    await drive_base.turn(-70)
     await drive_base.straight(900)
-    await drive_base.turn(92.5)
+    await drive_base.turn(115)
     
     await drive_base.straight(75)
-    await drive_base.straight(21)
+    await drive_base.straight(33)
     await right_arm.run_angle(500,-250)
     await right_arm.run_angle(500,250)
-    await drive_base.turn(55)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
     
-    await left_arm.run_angle(300,-400)
+    await left_arm.run_angle(560,-390) #going down 
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(-410,-400) #lift a little bit
     
-    await drive_base.turn(46.5)
+    await drive_base.turn(-46.5) #ma din din din dun
     await drive_base.turn(-40)
     await drive_base.straight(900)
 
-    drive_base.settings(600,500,300,200) #Reset it to the initial values
-
 async def Run4(): #From Send_Over_Final.py
 
         #Get to mission