From e9b42189b0375679dff3ced49301f37bfa04e18c Mon Sep 17 00:00:00 2001
From: Rishabh <32mathur@elmbrookstudents.org>
Date: Sun, 27 Sep 2026 23:30:23 +0000
Subject: [PATCH] Add discovery-phase/missions/Mission 1-Rishabh

---
 discovery-phase/missions/Mission 1-Rishabh | 39 ++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 discovery-phase/missions/Mission 1-Rishabh

diff --git a/discovery-phase/missions/Mission 1-Rishabh b/discovery-phase/missions/Mission 1-Rishabh
new file mode 100644
index 0000000..69d789f
--- /dev/null
+++ b/discovery-phase/missions/Mission 1-Rishabh	
@@ -0,0 +1,39 @@
+import umath
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor
+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(700, 500, 300, 200)
+drive_base.use_gyro(True)
+
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
+
+set_speed(400,500,300,200)
+drive_base.straight(950)#Was 950
+drive_base.turn(-35)
+drive_base.straight(70)#Was 40
+drive_base.turn(-30)
+set_speed(800,500,300,200)
+drive_base.turn(30)
+drive_base.straight(-60)
+drive_base.turn(30)#Test Code-detelte if not working
+drive_base.straight(-900)
\ No newline at end of file