Update discovery-phase/missions/Mission 11, 6+More-Rishabh

discovery-phase/missions/Mission 11, 6+More-Rishabh

@@ -0,0 +1,60 @@
+#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)
+
+def set_default_speed():
+    drive_base.settings(600,450,300,200)
+
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
+
+#Run code
+drive_base.straight(50)#Was 50
+drive_base.turn(-43.75)#42 Mostly works
+drive_base.straight(735)#Was 750
+#left_arm.run_angle(1500,-100)#Was 1000,And was -30
+#wait(1000)
+#drive_base.straight(330)
+drive_base.turn(80)#Was 80
+set_speed(100,300,300,200)
+drive_base.straight(350)#Was 400
+drive_base.straight(-110)#Was -125
+set_default_speed
+drive_base.turn(87)#Was 90
+#right_arm.run_angle(1000, -30)#Was -47
+drive_base.straight(100)
+drive_base.turn(-70)
+left_arm.run_angle(1000,180)
+drive_base.straight(55)
+drive_base.turn(-30)#Was Positive 30
+#left_arm.run_angle(2000,-180)
+drive_base.straight(-20)
+drive_base.straight(-200)
+drive_base.turn(120)
+#Going back
+drive_base.straight(700)
+
+
+
+