From 57844e8b1af789d680ba83cf1e6fdec80b8d70f2 Mon Sep 17 00:00:00 2001
From: Rishabh <32mathur@elmbrookstudents.org>
Date: Sun, 27 Sep 2026 23:29:13 +0000
Subject: [PATCH] Add discovery-phase/missions/Mission 3, 4, 5 - Rishabh

---
 .../missions/Mission 3, 4, 5 - Rishabh        | 46 +++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 discovery-phase/missions/Mission 3, 4, 5 - Rishabh

diff --git a/discovery-phase/missions/Mission 3, 4, 5 - Rishabh b/discovery-phase/missions/Mission 3, 4, 5 - Rishabh
new file mode 100644
index 0000000..b201b37
--- /dev/null
+++ b/discovery-phase/missions/Mission 3, 4, 5 - Rishabh	
@@ -0,0 +1,46 @@
+#SETTING UP 
+import umath
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 450, 300, 200)
+drive_base.use_gyro(True)
+
+#Run
+drive_base.straight(600)#Works (600(Previous))
+drive_base.straight(-200)
+drive_base.turn(45)
+drive_base.straight(575)
+drive_base.turn(-90)#-90 for cisco table
+left_arm.run_angle(200,270)
+drive_base.straight(300)
+left_arm.run_angle(200,-265)
+right_arm.run_angle(200, -200)
+drive_base.straight(-105)#Use -105 for Cisco table(-105 for school)
+drive_base.turn(32)#was 24-Use 24 for Cisco's table(32 for school)
+#drive_base.straight(20)#Sometimes there
+right_arm.run_angle(1500, 180)
+drive_base.turn(30)
+drive_base.straight(-1000)
+#right_arm.run_angle(400, 150)
+#drive_base.straight(-20)
+#right_arm.run_angle(400, 150)
+#drive_base.turn(-45)
+