final/main4.py

@@ -128,38 +128,47 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
     hub.light.off()
 
 async def Run1():
+    # Brings both arms up while moving to first mission
     await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
     await drive_base.straight(320)
 
+    # Slaps down "Silo" 3 times
     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)
 
+    # Moves to the next mission, solving "Who lived here?"
     await drive_base.turn(-20)
-    await drive_base.straight(275)
+    await drive_base.straight(277)
     await drive_base.turn(20)
-    await drive_base.straight(63)
+    await drive_base.straight(65)
 
+    # Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
     await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
     await drive_base.turn(45)
     await drive_base.straight(-135)
     await drive_base.turn(-60)
+    # Solves "What's on Sale?"
     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)
+
+    # Moves the robot back to base
     await drive_base.turn(35)
-    await drive_base.straight(-500)
+    await drive_base.straight(-600)
 
 async def Run2():
+    # Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
     await drive_base.straight(200)
     await drive_base.turn(-20)
     await drive_base.straight(525)
     await drive_base.turn(60)
 
+    # Throws "Heavy Lifting" to the side
     await drive_base.straight(50)
     await right_arm.run_angle(2000,1000)
     await drive_base.straight(-50)
@@ -167,15 +176,22 @@ async def Run2():
     await drive_base.straight(50)
     await right_arm.run_angle(350,-1000)
 
+    # Moves the robot back to base
     await drive_base.turn(-100)
     await drive_base.straight(-600)
 
 
 async def Run3():
+
+    # Runs robot to "Angler Artifacts"
     await drive_base.straight(915)
     await drive_base.turn(-90)
+
+    # Solves "Angler Artifacts"
     await drive_base.straight(60)
     await left_arm.run_angle(10000,-15000)
+
+    # Moves to the Red home area
     await drive_base.straight(-60)
     await drive_base.turn(85)
     await drive_base.straight(2000)