competition_codes/state/sunprarie_state_main.py

@@ -84,14 +84,14 @@ Run#1
 async def Run1():  
     
     # Fast approach to near-stall position
-    await left_arm.run_angle(2000, 180)  # Fast movement upward
+    await left_arm.run_angle(2000, -190)  # Fast movement downward
 
     # Gentle stall detection (shorter distance = faster)
-    await left_arm.run_until_stalled(1500, duty_limit=15)
+    await left_arm.run_until_stalled(-1500, duty_limit=15)
     left_arm.reset_angle(0)
     print(f"Initial left arm angle : {left_arm.angle()}")
 
-    await solve_whats_on_sale_v2()
+    await solve_whats_on_sale_v3()
     await solve_silo()
  
     # return to base
@@ -100,13 +100,13 @@ async def Run1():
     await drive_base.arc(200,None,-300)
     drive_base.stop()
 
-async def solve_whats_on_sale():
+async def solve_whats_on_sale_v3():
 
     right_arm.run_angle(500,30)
 
     #Automated inconsistency
     #left_arm.run_angle(500,-119.5)
-    left_arm.run_target(500,-121.5, Stop.HOLD)
+    left_arm.run_target(500,70, Stop.HOLD)
     print(f"Position left arm angle : {left_arm.angle()}")
     
     await drive_base.straight(180)
@@ -412,6 +412,7 @@ async def Run11():  # experimental surface brushing attachment
     #await drive_base.straight(400)
     #await left_arm.run_angle(50,120)
     #await drive_base.straight(-200)
+    await wait(67)
     await left_arm.run_angle(300,-300)
     await drive_base.straight(-600)
     drive_base.stop()