Add discovery-phase/missions/Mission 1-Rishabh

discovery-phase/main.py

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+'''
+
+This is where you write the main code to start all mission codes
+Combine all call here
+
+'''

discovery-phase/missions 3, 4, 5/Mission 3, 4, & 5.py

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+#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(550)#Works (600(Previous))
+drive_base.straight(-200)
+drive_base.turn(45)
+drive_base.straight(575)
+drive_base.turn(-90)#-90 for Coach 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 Coach Cisco table(-105 for school)
+drive_base.turn(32)#was 24-Use 24 for Coach Cisco's table(32 for school)
+right_arm.run_angle(1500, 180)
+drive_base.turn(30)
+drive_base.straight(-1000)
+
+

discovery-phase/missions/Mission 1-Rishabh

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+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)

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

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+#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)
+
+
+
+

discovery-phase/missions/Mission 3, 4, 5 - Rishabh

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+#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)
+

discovery-phase/missions/Showcase_codes.py

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+"""
+PID Straight Drive  —  heading-corrected forward / backward movement.
+
+Improvements over baseline:
+  • Derivative on measurement (not error) — no derivative kick on setpoint change
+  • Fixed-interval dt — loop sleeps a constant 20 ms, so /dt is dropped from the
+    derivative term (dividing by 0.02 was silently multiplying KD by 50)
+  • prev_error seeded from first real heading — eliminates first-tick spike
+  • Per-motor speed clamping — prevents one side pivoting at low speeds
+  • Deceleration ramp — smooth stop in the last RAMP_MM millimetres
+  • Dual-motor exit + timeout — survives stall on either wheel
+  • Integral freeze near target — stops windup right where it matters most
+"""
+
+from pybricks.tools import StopWatch, wait
+import umath
+
+WHEEL_DIAMETER   = 68.8      # mm  — adjust to your wheel (Done)
+AXLE_TRACK       = 180       # mm  — used only if you add turning later (Done)
+LOOP_MS          = 20        # fixed control loop period
+RAMP_MM          = 50      # begin decelerating this far from target
+MIN_SPEED        = 80        # floor speed during ramp (avoid stall)
+TIMEOUT_MS       = 8_000     # safety abort
+# Tuning sequence
+
+KP = 4.8    # Wide chassis = stable platform, can afford higher P gain
+            # without oscillation. Pushes harder through corrections.
+
+KI = 0.012 # Slightly lower than default — large wheels cover distance
+            # fast so the integrator has less time to build up per run.
+            # Raise to 0.012 if you see consistent sideways drift at end.
+
+KD = 7.5    # Higher than default. Big wheels = more rotational momentum,
+            # needs stronger damping to prevent overshoot on corrections.
+
+def _mm_to_deg(mm: float) -> float:
+    return (abs(mm) / (umath.pi * WHEEL_DIAMETER)) * 360.0
+
+
+def _motor_avg_angle(m1, m2) -> float:
+    return (abs(m1.angle()) + abs(m2.angle())) / 2.0
+
+
+async def pid_straight(distance_mm: float, speed: int = 600):
+    """
+    Drive straight for distance_mm at speed (deg/s).
+    Positive = forward, negative = reverse.
+    """
+    direction    = 1 if distance_mm >= 0 else -1
+    degrees_need = _mm_to_deg(distance_mm)
+    target_hdg   = hub.imu.heading()
+
+    left_motor.reset_angle(0)
+    right_motor.reset_angle(0)
+
+    # ── seed integral and prev_error from the real opening heading ──
+    first_error  = target_hdg - hub.imu.heading()   # 0.0 on a perfect start,
+    integral     = 0.0                               # non-zero if robot is tilted
+    prev_heading = hub.imu.heading()                 # for derivative-on-measurement
+
+    watchdog = StopWatch()
+
+    while True:
+        traveled = _motor_avg_angle(left_motor, right_motor)
+
+        # ── exit: distance reached or timeout ──
+        if traveled >= degrees_need:
+            break
+        if watchdog.time() > TIMEOUT_MS:
+            break
+
+        # ── heading error with wrap ──
+        heading = hub.imu.heading()
+        error   = target_hdg - heading
+        if error >  180: error -= 360
+        if error < -180: error += 360
+
+        # ── derivative on measurement — no kick when target changes ──
+        d_heading  = heading - prev_heading          # raw delta (deg / loop)
+        if d_heading >  180: d_heading -= 360
+        if d_heading < -180: d_heading += 360
+        prev_heading = heading
+
+        # ── integral with freeze near target ──
+        near_target = (degrees_need - traveled) < _mm_to_deg(RAMP_MM / 2)
+        if not near_target:
+            integral = max(-50.0, min(50.0, integral + error))  # dt=const → no *dt
+
+        # ── PID output ──
+        #   derivative term: -KD * d_heading  (measurement, not error difference)
+        correction = KP * error + KI * integral - KD * d_heading
+        correction = max(-200.0, min(200.0, correction))
+
+        # ── ramp speed near end ──
+        remaining    = degrees_need - traveled
+        ramp_degrees = _mm_to_deg(RAMP_MM)
+        if remaining < ramp_degrees and ramp_degrees > 0:
+            ramp_factor = max(float(MIN_SPEED) / speed,
+                              remaining / ramp_degrees)
+            run_speed = int(speed * ramp_factor)
+        else:
+            run_speed = speed
+
+        # ── per-motor clamping — prevents pivot at low speeds ──
+        l_cmd = max(-speed, min(speed, direction * run_speed + int(correction)))
+        r_cmd = max(-speed, min(speed, direction * run_speed - int(correction)))
+
+        left_motor.run(l_cmd)
+        right_motor.run(r_cmd)
+        await wait(LOOP_MS)
+
+    left_motor.brake()
+    right_motor.brake()
+
+#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
+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)
+
+"""
+Debugging helps
+"""
+DEBUG = 1  # Enable when you want to show logs
+# Example conversion function (adjust min/max values as needed for your hub)
+async def get_battery_percentage(voltage_mV:float):
+    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
+    min_voltage = 5000.0  # min battery level
+    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
+    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
+
+async def wait_button_release():
+    """Wait for all buttons to be released"""
+    while hub.buttons.pressed():
+        await wait(500)
+    await wait(1000)  # Debounce delay
+
+WALL_DISTANCE = 300  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(1000,0)
+
+async def drive_backward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance(stop_mm: int = WALL_DISTANCE):
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...', distance)
+        
+        if distance is None:
+            await wait(50)
+            continue
+        if distance < stop_mm:
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# Use this to set default
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+# Use this to change drive base movement
+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 Run1():  # Flip The Rock, Lucky Leaves, Reaching Roots - Johannes
+
+    await set_speed(600,200,300,200)
+    await drive_base.straight(500)
+    await multitask(
+        drive_base.straight(-200),
+        right_arm.run_angle(400,-150)
+    )
+    await set_speed(600,500,100,200)
+    await drive_base.turn(45)
+    await drive_base.straight(346)
+    await drive_base.turn(-68)
+    await multitask(
+        left_arm.run_angle(600,240),
+        set_speed(300,200,300,200),
+        drive_base.straight(280)
+    )
+    await left_arm.run_angle(600,-100)
+    await drive_base.turn(22)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(5000,45)
+    await set_speed(600,500,100,200)
+    await drive_base.straight(200)
+    await drive_base.arc(-1500,None,-1000)
+    
+async def Run2(): # Exploding Seeds - Johannes
+
+    await multitask(
+        right_arm.run_angle(400,-100)
+        left_arm.run_angle(300,100)
+        drive_base.arc(150,None,115)
+    )
+    await drive_base.straight(270)
+    await left_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await left_arm.run_angle(300,-100)
+    await drive_base.arc(-1000,None,-800)  
+    
+
+async def Run2_1():  # Drone Survey, Experimental - Johannes
+
+    await multitask(
+        right_arm.run_angle(400,100),
+        set_speed(600,200,300,200),
+        drive_base.straight(300)
+    )
+    set_speed(600,500,300,200)
+    await drive_base.straight(470)
+    await drive_base.turn(-15)
+    await drive_base.straight(55)
+    await drive_base.straight(-280)
+    await drive_base.turn(15)
+    await right_arm.run_angle(400,-100)
+    await drive_base.straight(40)
+    await drive_base.turn(-15)
+    await drive_base.straight(50)
+    await drive_base.turn(-25)
+    
+
+async def Run3(): # Window to the Past, Leaf Cutter, Humongous Fungus, Experimental - Johannes
+
+    await drive_base.straight(110)
+    await drive_base.turn(-45)
+    await drive_base.straight(240)
+    await right_arm.run_angle(300,120)
+    await drive_base.straight(290)
+    await drive_base.turn(50)
+    await drive_base.straight(300)
+    await drive_base.turn(40)
+    set_speed(100,200,300,200)
+    await drive_base.straight(130)
+    await drive_base.straight(-115)
+    await drive_base.turn(87)
+    await drive_base.straight(230)
+    set_speed(600, 500, 300, 200)
+    await drive_base.straight(-135)
+    await multitask(
+        drive_base.turn(-40),
+        right_arm.run_angle(100,-110)
+    )
+    set_speed(100,200,300,200)
+    await drive_base.straight(220)
+    await right_arm.run_angle(300,85)
+    await wait(500)
+    await drive_base.straight(142)
+    await drive_base.arc(110,None,-166)
+    await drive_base.straight(140)
+    await drive_base.straight(-150)
+    set_speed(600,500,300,200)
+    await drive_base.straight(150)
+    await drive_base.arc(800,None,-900)
+
+
+async def Run4(): #Flip the Rock, Lucky Leaves, Reaching Roots - Rishabh
+
+    #Run
+    await drive_base.straight(550)#Works (600(Previous))
+    await drive_base.straight(-200)
+    await drive_base.turn(45)
+    await drive_base.straight(575)
+    await drive_base.turn(-90)#-90 for Coach Cisco table
+    await left_arm.run_angle(200,270)
+    await drive_base.straight(300)
+    await left_arm.run_angle(200,-265)
+    await right_arm.run_angle(200, -200)
+    await drive_base.straight(-105)#Use -105 for Coach Cisco table(-105 for school)
+    await drive_base.turn(32)#was 24-Use 24 for Coach Cisco's table(32 for school)
+    await right_arm.run_angle(1500, 180)
+    await drive_base.turn(30)
+    await drive_base.straight(-1000)
+    
+
+async def Run5():
+    
+
+async def Run6_7():  
+    
+
+async def Run10():
+    
+
+async def Run11():  # Interchangable Mission - Parthiv
+
+    await left_arm.run_angle(200,-80)
+    await right_arm.run_angle(200,-70)
+    await drive_base.arc(-400,angle=90)
+    await drive_base.turn(55)
+    await drive_base.straight(240)
+    await drive_base.turn(-40)
+    await drive_base.straight(85)
+    await drive_base.straight(-32)
+    await run_both_arms()
+    await drive_base.straight(-53)
+    await right_arm.run_angle(200,100)
+    await drive_base.turn(30)
+    await drive_base.straight(-775)
+    await drive_base.stop
+
+async def Run12():  # Experimental Research Platform Lifter
+    
+    await multilift_up(1200)
+    await multilift_down(300)
+    await drive_base.straight(50)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 195 < h < 198:  # light blue
+            return "Light_Blue"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+       
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        pressed =  hub.buttons.pressed()
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        if DEBUG :
+            #print(color_sensor.color())
+            #print(h,s,v)
+            #print(color)
+            print(f"button pressed: {pressed}")
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run3() 
+        elif color == "Purple":
+            print('Running Mission 11')
+            await Run11()  
+        elif color == "Light_Blue":
+            print("Running Mission 12")
+            await Run12()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+            #pass
+
+        # Show battery % for debugging 
+        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
+            # Get the battery voltage in millivolts (mV)
+            battery_voltage_mV = hub.battery.voltage()
+            # Use the function with your voltage reading
+            percentage = await get_battery_percentage(float(battery_voltage_mV))
+            if DEBUG:
+                print(f"Battery voltage: {battery_voltage_mV} mV")
+                print(f"Battery level: {percentage:.3f}%")
+                print("FLL Robot System Ready!")
+                await hub.display.text(f"{percentage:.0f}")
+            break
+        elif pressed == None:
+            continue 
+
+        await wait(10)
+# Run the main function
+run_task(main())

discovery-phase/missions/drone survey.py

@@ -0,0 +1,40 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import multitask, run_task
+
+# 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)
+
+async def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+async def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
+async def main():
+
+    await drive_base.straight(850)
+    await drive_base.turn(-20)
+    await drive_base.straight(100)
+    await drive_base.straight(-30)
+    await drive_base.turn(-50)
+    await drive_base.turn(60)
+    await drive_base.straight(-200)
+    await drive_base.turn(15)
+    await drive_base.straight(-800)
+run_task(main())

discovery-phase/missions/mission 3_4_5_johannes.py

@@ -0,0 +1,56 @@
+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 main():
+
+    await set_speed(600,200,300,200)
+    await drive_base.straight(500)
+    await multitask(
+        drive_base.straight(-200)
+        right_arm.run_angle(400,-150)
+    )
+    await set_speed(600,500,100,200)
+    await drive_base.turn(45)
+    await drive_base.straight(346)
+    await drive_base.turn(-68)
+    await multitask(
+        left_arm.run_angle(600,240)
+        set_speed(300,200,300,200)
+        drive_base.straight(280)
+    )
+    await left_arm.run_angle(600,-100)
+    await drive_base.turn(22)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(5000,45)
+    await set_speed(600,500,100,200)
+    await drive_base.straight(200)
+    await drive_base.arc(-1500,None,-1000)
+
+run_task(main())

discovery-phase/missions/mission_15_Parthiv.py

@@ -0,0 +1,53 @@
+#Solution for biosentric center
+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(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) 
+
+async def run_both_arms():
+
+    await multitask(
+        left_arm.run_angle(200,80),
+        right_arm.run_angle(200,-100)
+    )
+
+async def main ():
+    await left_arm.run_angle(200,-80)
+    await right_arm.run_angle(200,-70)
+    await drive_base.arc(-400,angle=90)
+    await drive_base.turn(55)
+    await drive_base.straight(240)
+    await drive_base.turn(-40)
+    await drive_base.straight(85)
+    await drive_base.straight(-32)
+    await run_both_arms()
+    await drive_base.straight(-53)
+    await right_arm.run_angle(200,100)
+    await drive_base.turn(30)
+    await drive_base.straight(-775)
+    await drive_base.stop
+    
+
+run_task(main())

discovery-phase/missions/mission_1_2_3.py

@@ -0,0 +1 @@
+#Write Code here for your missions

discovery-phase/missions/mission_1_johannes.py

@@ -0,0 +1,38 @@
+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)
+
+right_arm.run_angle(400,-100)
+left_arm.run_angle(300,100)
+drive_base.arc(150,None,115)
+drive_base.straight(270)
+left_arm.run_angle(300,-100)
+drive_base.straight(-100)
+left_arm.run_angle(300,-100)
+drive_base.arc(-1000,None,-800)

discovery-phase/missions/mission_2_johannes.py

@@ -0,0 +1,44 @@
+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)
+
+right_arm.run_angle(400,100)
+set_speed(600,200,300,200)
+drive_base.straight(300)
+set_speed(600,500,300,200)
+drive_base.straight(470)
+drive_base.turn(-15)
+drive_base.straight(55)
+drive_base.straight(-280)
+drive_base.turn(15)
+right_arm.run_angle(400,-100)
+drive_base.straight(40)
+drive_base.turn(-15)
+drive_base.straight(50)
+drive_base.turn(-25)

discovery-phase/missions/mission_9.py

@@ -0,0 +1,108 @@
+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() #settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+
+"""
+Debugging helps
+"""
+DEBUG = 1  # Enable when you want to show logs
+# Example conversion function (adjust min/max values as needed for your hub)
+async def get_battery_percentage(voltage_mV:float):
+   max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
+   min_voltage = 5000.0  # min battery level
+   percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
+   return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
+
+
+async def wait_button_release():
+   """Wait for all buttons to be released"""
+   while hub.buttons.pressed():
+       await wait(500)
+   await wait(1000)  # Debounce delay
+
+
+WALL_DISTANCE = 300  # mm
+async def drive_forward():
+   """Drive forward continuously using DriveBase."""
+   drive_base.drive(1000,0)
+
+
+async def drive_backward():
+   """Drive forward continuously using DriveBase."""
+   drive_base.drive(400, 0)
+
+
+
+
+
+
+
+
+
+
+async def monitor_distance(stop_mm: int = WALL_DISTANCE):
+   """Monitor ultrasonic sensor and stop when wall is detected."""
+   while True:
+       distance = await lazer_ranger.distance()
+       print('Distancing...', distance)
+      
+       if distance is None:
+           await wait(50)
+           continue
+       if distance < stop_mm:
+           drive_base.stop()
+           print(f"Wall detected at {distance}mm!")
+           break
+
+
+       # Small delay to prevent overwhelming the sensor
+       await wait(50)
+
+
+# Use this to set default
+def set_default_speed():
+   drive_base.settings(600, 500, 300, 200)
+
+
+# Use this to change drive base movement
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+   drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)
+
+
+
+
+
+
+
+async def main():
+    await drive_base.straight(500)
+    #await drive_base.turn(-15)
+    await right_arm.run_angle(100,-90)
+    await drive_base.straight(-176)
+    await drive_base.turn(15)
+    await right_arm.run_angle(100,90)
+
+run_task(main())

discovery-phase/missions/mission_experimental_hirohitus.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())

discovery-phase/missions/mission_experimental_stalinus.py

@@ -0,0 +1,64 @@
+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 main():
+
+    await drive_base.straight(110)
+    await drive_base.turn(-45)
+    await drive_base.straight(240)
+    await right_arm.run_angle(300,120)
+    await drive_base.straight(290)
+    await drive_base.turn(50)
+    await drive_base.straight(300)
+    await drive_base.turn(40)
+    set_speed(100,200,300,200)
+    await drive_base.straight(130)
+    await drive_base.straight(-115)
+    await drive_base.turn(87)
+    await drive_base.straight(230)
+    set_speed(600, 500, 300, 200)
+    await drive_base.straight(-135)
+    await multitask(
+        drive_base.turn(-40),
+        right_arm.run_angle(100,-110)
+    )
+    set_speed(100,200,300,200)
+    await drive_base.straight(220)
+    await right_arm.run_angle(300,85)
+    await wait(500)
+    await drive_base.straight(142)
+    await drive_base.arc(110,None,-166)
+    await drive_base.straight(140)
+    await drive_base.straight(-150)
+    set_speed(600,500,300,200)
+    await drive_base.straight(150)
+    await drive_base.arc(800,None,-900)
+
+run_task(main())

shout-fll-scrimmage/main.py

@@ -0,0 +1,6 @@
+'''
+
+This is where you write the main code to start all mission codes
+Combine all call here
+
+'''

shout-fll-scrimmage/missions/mission_1_2_3.py

@@ -0,0 +1 @@
+#Write Code here for your missions