codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -143,32 +143,31 @@ async def Run4():  # From Send_Over_Final.py
 async def Run5(): 
     await drive_base.straight(519)
     await left_arm.run_angle(-10000, 300)
-    await left_arm_left.run_angle(10000, 600)
+    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(135)
+    await drive_base.turn(120)
     await drive_base.straight(25)
     await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(-100)
-    await drive_base.turn(-52)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
     await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(245)
-    await drive_base.turn(-5)
-    await right_arm.run_angle(10000, 7000)
+    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(125)
+    await drive_base.straight(175)
     await drive_base.turn(26)
-    await right_arm.run_angle(10000, -8000)
-    await drive_base.straight(50)
-    await aright_arm.run_angle(10000, 3500)
-    await drive_base.turn(-40)
-    await drive_base.turn(5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -9000)
+    await drive_base.straight(100)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
     await drive_base.straight(-300)
-    await drive_base.turn(-78)
+    await drive_base.turn(-80)
     await drive_base.straight(-700)