From d8bf319fdf39b5d60d6b6b9bff714657bb38c2f5 Mon Sep 17 00:00:00 2001
From: Johannes <31liwaj@elmbrookstudents.org>
Date: Mon, 21 Sep 2026 04:18:59 +0000
Subject: [PATCH] Add discovery-phase/missions/mission_experimental_johannes.py

---
 .../missions/mission_experimental_johannes.py | 49 +++++++++++++++++++
 1 file changed, 49 insertions(+)
 create mode 100644 discovery-phase/missions/mission_experimental_johannes.py

diff --git a/discovery-phase/missions/mission_experimental_johannes.py b/discovery-phase/missions/mission_experimental_johannes.py
new file mode 100644
index 0000000..eeb48be
--- /dev/null
+++ b/discovery-phase/missions/mission_experimental_johannes.py
@@ -0,0 +1,49 @@
+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 = 62.4  # mm (adjust for your wheels)
+AXLE_TRACK = 150  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
+
+async def multilift_up(rotation_angle):
+    await multitask(
+        right_arm.run_angle(400,rotation_angle),
+        left_arm.run_angle(400,-1*rotation_angle)
+    )
+
+async def multilift_down(rotation_angle):
+    await multitask(
+        right_arm.run_angle(1000,-1*rotation_angle),
+        left_arm.run_angle(1000,rotation_angle)
+    )
+
+async def main():
+    
+    await multilift_up(1200)
+    await multilift_down(300)
+    await drive_base.straight(50)
+
+run_task(main())
\ No newline at end of file