competition_codes/state/sunprarie_state_main.py

@@ -84,7 +84,7 @@ Run#1
 async def Run1():  
     
     # Fast approach to near-stall position
-    await left_arm.run_angle(2000, -210)  # Fast movement downward
+    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)
@@ -106,8 +106,7 @@ async def solve_whats_on_sale_v3():
 
     #Automated inconsistency
     #left_arm.run_angle(500,-119.5)
-    await left_arm.run_angle(500, 75,Stop.HOLD)
-    #await left_arm.run_target(500,90,Stop.HOLD)
+    left_arm.run_target(500,70, Stop.HOLD)
     print(f"Position left arm angle : {left_arm.angle()}")
     
     await drive_base.straight(180)
@@ -154,7 +153,7 @@ async def solve_whats_on_sale_v2():
 
 async def solve_silo():
     await drive_base.straight(-80)
-    await drive_base.turn(43)
+    await drive_base.turn(42)
     await drive_base.straight(95)
 
     SPEED = 10000 # speed in degree per second
@@ -407,12 +406,14 @@ async def Run11():  # experimental surface brushing attachment
     #left_arm.run_angle(300,218)
     
     set_default_speed()
-    await drive_base.straight(-100)
+    await drive_base.straight(-120)
     await drive_base.turn(30)
     #await drive_base.straight(400)
     #await left_arm.run_angle(50,120)
     #await drive_base.straight(-200)
-    await drive_base.straight(-600)
+    await drive_base.straight(-129)
+    await left_arm.run_angle(300, -75)
+    await drive_base.straight(-400)
     drive_base.stop()
 
 async def Run12():