multitask() does not work.

[kubotafamily]

I tried using multitask() with pybricks, but it does not execute at the same time.
Why is this?
I ran the sample code and it worked,
My program, which is written the same way, does not run at the same time.

async def main():
    # Program up to this point
    while await left_color.reflection() >= 10:
        tank.drive(-100, 58)
    tank.hold()
    await multitask(arm.command(arm.FAST_DOWN), main2())

async def main2():
    await linetrace.shift_trace(0.4, 1, 0, 80, 1.5)
    # Program from here

The last multitask() of main().
I want to lower the arm with arm.command(arm.FAST_DOWN) and run the main2() program at the same time, but after the arm is fully lowered, it will start...

[laurensvalk]

Can you share the rest of the code? I think we'd need to see what the arm command does to see what's going on.

[kubotafamily]

Ok, here is the code for the Arm class and instance.
What should I do?

class Arm:
    DOWN = 0
    UP = 1
    FAST_DOWN = 2
    ONE_UP = 3
    FAST_UP = 4
    CARRY = 5

    def __init__(self, port: Port) -> None:
        self.motor = Motor(port)
        self.motor.reset_angle()

    def _stov(self, speed: float) -> float:
        return speed / 100 * 1050

    def deg(self) -> int:
        return self.motor.angle() % 360

    async def run_target(self, speed: float, deg: float) -> None:
        """
        Runs the motor at a constant speed towards a given target angle.

        The direction of rotation is automatically selected based on the target angle.
        It does not matter if speed is positive or negative.
        """
        if abs(speed) > 100:
            raise ValueError("-100 <= speed <= 100")
        if speed >= 0:
            while self.deg() <= deg:
                self.motor.run(self._stov(speed))
        else:
            while self.deg() >= deg:
                self.motor.run(self._stov(speed))
        self.hold()
    
    async def command(self, command: Arm) -> None:
        if command == self.DOWN:
            await self.run_target(-20, 50)
        elif command == self.UP:
            await self.run_target(50, 320)
        elif command == self.FAST_DOWN:
            await self.run_target(-70, 50)
        elif command == self.ONE_UP:
            await self.run_target(100, 245)
        elif command == self.FAST_UP:
            await self.run_target(70, 320)
        elif command == self.CARRY:
            await self.run_target(100, 250)

    def hold(self) -> None:
        self.motor.hold()

    async def hold_forever(self) -> None:
        while True:
            self.hold()
            
arm = Arm(Port.F)

[laurensvalk]

Have a look at the other thread just now about having at least one awaitable statement in your loops.

If in doubt, add the following to any loop inside async def functions:

await wait(1)

Let me know how that goes :)

[kubotafamily]

I added await wait(1) to the loop and it was successful.
Thank you so much!

I won the regional qualifying tournament for WRO 2024 and will be competing in the Japanese final. Thanks to you, I feel like I can also compete in the world tournament. I look forward to your continued support. I hope to meet you someday!

[laurensvalk]

Thank you, and best of luck in the Japanese final!