competition_codes/state/sunprarie_state_main.py

@@ -257,21 +257,24 @@ Run#5
 - Orange Key
 """
 async def Run5():
+    # Getting the sand down
     await drive_base.straight(550)
     await right_arm.run_angle(300,100)
     await drive_base.straight(-75)
     await right_arm.run_angle(300, -100)
+    # Shoving the boat into place
     await drive_base.straight(300)
     await drive_base.straight(-200)
     await drive_base.turn(-15)
-    #solving statue
+    # Solving statue
     await drive_base.straight(350)
     await drive_base.turn(-104)
     await drive_base.straight(-80)
     await left_arm.run_angle(500, -300)
     await drive_base.straight(120)
     await drive_base.turn(5)
-    await left_arm.run_angle(500, 120)
+    # Lift up statue
+    await left_arm.run_angle(500, 100, Stop.HOLD)
     await drive_base.turn(18)
     await drive_base.straight(-100)
     await drive_base.turn(-90)
@@ -297,7 +300,7 @@ async def solve_statue_rebuild():
     await left_arm.run_angle(500, -900)
     await drive_base.straight(50)
     await drive_base.straight(50)
-    await left_arm.run_angle(700, 250)
+    await left_arm.run_angle(700,200)
     await drive_base.turn(30)
 
 """
@@ -391,7 +394,6 @@ async def Run12():  # experimental careful recovery attachment
     await drive_base.straight(180) # Slowly move straight to mineshaft 180 mm
 
     await right_arm.run_angle(100,95,Stop.HOLD) # Raise mineshaft
-    await wait(50)
     await left_arm.run_angle(100,60) # recover artifact by lifting arm 60 degrees
 
     # Moving back