test_10_17_2025.py

@@ -207,29 +207,30 @@ async def Run3():
 
 async def Run4():
     await drive_base.straight(519)
-    await left_arm.run_angle(300, -200)
-    await left_arm.run_angle(800, 1000)
-    await drive_base.straight(180)
-    await drive_base.turn(-37)
-    await right_arm.run_angle(300, -50)
+    await drive_base.straight(519)
+    await arm_motor_left.run_angle(-10000, 300)
+    await arm_motor_left.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
     await drive_base.straight(50)
-    await right_arm.run_angle(300, -350)
+    await arm_motor.run_angle(3000, 3000)
     await drive_base.straight(-150)
-    await drive_base.turn(125)
+    await drive_base.turn(135)
     await drive_base.straight(50)
-    await right_arm.run_angle(300, 400)
-    await drive_base.straight(-75)
-    await right_arm.run_angle(300, -200)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-54)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(250)
+    await drive_base.turn(-5)
+    await arm_motor.run_angle(10000, 7000)
+    await drive_base.straight(-50)
+    await drive_base.turn(68)
+    await arm_motor.run_angle(10000, -6000)
+    await drive_base.straight(200)
+    await arm_motor.run_angle(10000, 4000)
     await drive_base.turn(-40)
-    await right_arm.run_angle(300, 250)
-    await drive_base.straight(260)
-    await right_arm.run_angle(100, -300)
-    await drive_base.straight(30)
-    await right_arm.run_angle(50,-250)
-    await drive_base.turn(30)
-    await drive_base.straight(-200)
-    await drive_base.turn(-67)
-    await drive_base.straight(-800)
+    await arm_motor.run_angle(10000, 7000)
 
 async def Run5():
     await drive_base.straight(420)