AgroBot for AgroBum olympiad Drone section task. Moves on snake like trajectory so drone should follow the same, but flying right above this robot.

agrobum_field_bot.py

# Python-проект для VEX IQ
import sys
import vexiq

#region config
motor_1     = vexiq.Motor(1)
distance_2  = vexiq.DistanceSensor(2, vexiq.UNIT_CM)
bumper_5    = vexiq.Bumper(5)
motor_6     = vexiq.Motor(6, True) # реверс
touch_led_7 = vexiq.TouchLed(7)

import drivetrain
dt          = drivetrain.Drivetrain(motor_1, motor_6, 194, 165)
#endregion config
pts = 0
distance_per_row = 1000
row_width = 250
job_is_over = False

def check_pos():
    global pts
    global job_is_over
    
    while not job_is_over:
        if distance_2.distance() < 80:
            pts+=1
            vexiq.lcd_write(pts, 1)
        if pts > 1000 and pts < 2000:
            touch_led_7.color(100, 0, 0)
        elif pts >= 2000 and pts < 3000:
            touch_led_7.color(0, 0, 100)
        elif pts >= 3000:
            touch_led_7.color(0, 100, 0)
            
    
while True:
    while not bumper_5.is_pressed():
        pass
    
    sys.sleep(3)
    sys.run_in_thread(check_pos)
    
    dt.drive_until(30, distance_per_row)
    dt.turn_until(60, 94)
    dt.drive_until(30, row_width)
    dt.turn_until(60, 94)
    dt.drive_until(30, distance_per_row)
    dt.turn_until(60, -96)
    dt.drive_until(30, row_width)
    dt.turn_until(60, -96)
    dt.drive_until(30, distance_per_row)
    
    job_is_over = True
    sys.sleep(5)
    
    dt.drive_until(-80, distance_per_row)
    dt.turn_until(60, 94)
    dt.drive_until(-80, row_width * 1.7)
    dt.turn_until(60, -96)