competition_codes/sectionals/mukwonago_sectionals_final.py

@@ -220,7 +220,11 @@ async def Run4():
     await right_arm.run_angle(400, -200)
     await drive_base.straight(90)
     await right_arm.run_angle(100, 95)
-    await drive_base.straight(-875)
+    #await drive_base.straight(-875)
+    #return with arc
+    await drive_base.straight(-600)
+    await drive_base.arc(10,-47, None)
+    await drive_base.straight(-400,Stop.COAST_SMART)
 
 async def solve_brush_reveal():
     await drive_base.straight(700)
@@ -291,8 +295,15 @@ Run#6
 - Purple Key
 """
 async def Run6_7():  # experiment with ferris wheel for Site Markings
-    solve_site_mark_1()
-    solve_site_mark_2()
+    #solve_site_mark_1()
+    #solve_site_mark_2()
+    await drive_base.straight(640)
+    await drive_base.straight(-150)
+    await drive_base.turn(-8)
+    await left_arm.run_angle(500, -520)
+    await drive_base.straight(300)
+    await wait(50)
+    await left_arm.run_angle(500, 700)
     #return to base
     await drive_base.straight(-300)
     drive_base.stop()
@@ -360,7 +371,7 @@ async def main():
             print('Running Mission 5')
             await Run5() 
         elif color == "Purple":
-            print('Running Mission 6')
+            print('Running Mission 6_7')
             await Run6_7()  
         elif color == "Light_Blue":
             print("Running Mission 2_1")