From 117c170d2786b229c0008fa25e219157e94f6db3 Mon Sep 17 00:00:00 2001
From: elisa <elisa@latentspace.cloud>
Date: Mon, 17 Nov 2025 08:12:25 +0100
Subject: [PATCH] run 2 aggiornata 16/11/25

---
 run_02.py | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/run_02.py b/run_02.py
index 1c43c60..af4d9b5 100644
--- a/run_02.py
+++ b/run_02.py
@@ -2,6 +2,7 @@ from pybricks.hubs import PrimeHub
 from pybricks.parameters import Axis, Direction, Port, Stop
 from pybricks.pupdevices import Motor
 from pybricks.robotics import DriveBase
+from pybricks.tools import wait
 
 from assi import A
 from robot_class import LazyRobot, Robot
@@ -16,16 +17,23 @@ def main(robot: LazyRobot):
 
     db.settings(864, 300, 100, 50)
 
-    db.straight(610)  # mission 1
+    db.straight(608)  # mission 1
     msu_L.run_angle(1000, -570, Stop.HOLD, wait=True)  # abbassamento dell'asscenzore
-    db.straight(50)  # primo abbassamento del paletto rosso
-    db.straight(-100)  # secondo abbassamento
-    db.straight(50)
-    msu_L.run_angle(1000, 420, Stop.HOLD, wait=False)  # inalzamento ascensore
+    db.settings(864, 1000, 100, 50)
+    db.straight(40)  # primo abbassamento del paletto rosso
+    db.straight(-80)  # secondo abbassamento
+    db.straight(40)
 
-    db.straight(50)  # missione 2
-    db.arc(500, 20, then=Stop.HOLD, wait=True)
-    msu_L.run_angle(1000, 180, Stop.HOLD, wait=True)
+    msu_L.run_angle(1000, 420, Stop.HOLD, wait=False)  # inalzamento ascensore
+    # db.settings(864, 300, 100, 50)
+
+    db.straight(20)  # missione 2
+    wait(2000)
+    msu_L.run_angle(1000, -300, Stop.HOLD, wait=False)  # abbassamento dell'asscenzore
+    db.arc(250, angle=30, then=Stop.HOLD, wait=True)
+
+    msu_L.run_angle(1000, 90, Stop.HOLD, wait=True)
+    db.straight(10)
 
     # db.straight(-150)  # mission 3      #Return Point start arc
     # msu_L.run_angle(1000, -1440, Stop.COAST_SMART, wait=True)