notes.txt

10-15-2023
- Crane B
- Height of pickup blocks
- Changed white scooch but haven't tested it

10-22-2023
- Blue block on small boat (move pos to middle)
- Angle approching white block
- Turn and Sweep before Crane B

10-28-2023
- Made change to go forward more before small boat (maybe more work grabbing small boat)
- Work on white block pickup

10-29-2023
- Possible durn change for turn before the special container into Crane B (replace 1 sweep with 2 sweep)
- Fix sweep on return to small boat pickup
- Further calibrate white pickup (possibly with color A)

11-7-2023
- Adjust RGB to color
- Adjust the black threshold and white threshold for straight, line following to black
- Change target values in both line follwoing and sweep (499, 575, 660)

  # ** SMALL BOAT OUT TO SEA **
  position += straight(265 - position, deceleration=True)
  durn(turn=-170, fb="backward", type="pivot", speed=400)
  straight(-25, deceleration=True)
  boatGrab(movement="close")
  straight(-300)
  straightUntilBlack(direction=-1, colorSensor=RightColor)
  durn(turn=180, type="pivot", speed=400)
  boatGrab(movement="open")
  sweep(sensor=LeftColor, direction="right", whiteFirst=True, speed=100, threshold=(12, 15), reverse=True)
  lineFollowingDistance(distance=500, sensor=LeftColor, sideofsensor='in', speed=400, proportion=1.2)
  durn(turn=310, type="tank", speed=400)
  straight(-300)
  boatGrab(movement="close")
  straight(300)
  durn(turn=20, type="tank", speed=400)
  sweep(sensor=LeftColor, direction="left", whiteFirst=True, speed=100, threshold=(12, 20), reverse=True)
  lineFollowingDistance(distance=100, sensor=LeftColor, sideofsensor='in', speed=400, proportion=1.2)
  lineFollowingBlack(sensor=LeftColor, sideofsensor='in', blackthreshold=14, whitethreshold=45, speed=400, blacks=3)
  durn(turn=310, type="tank", speed=400)
  straight(-300)
  boatGrab(movement="open")
  durn(turn=-165, type="tank", speed=400)
  straight(300, speed="dc")