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."""
@@ -32,11 +32,11 @@ async def monitor_distance():
     """Monitor ultrasonic sensor and stop when wall is detected."""
     while True:
         distance = lazer_ranger.distance()
+        print('Distancing...',distance)
         
         if distance < WALL_DISTANCE:
             # Stop the drivebase
-            await drive_base.turn(-180)
-            drive_base.brake()
+            await drive_base.stop
             print(f"Wall detected at {distance}mm!")
             break
         
@@ -117,7 +117,7 @@ async def Run4():  # From Send_Over_Final.py
     await drive_base.straight(65)
     #Solve mission
     drive_base.turn(-10)
-    await left_arm.run_angle(10000,-4000)
+    await left_arm.run_angle(10000, 4000)
     #Get to Red Start
     await drive_base.straight(-110)
     await drive_base.turn(90)