From 8008dafccfccf636bba1c324470144f776aa8049 Mon Sep 17 00:00:00 2001
From: Ayaan <32agarwa@elmbrookstudents.org>
Date: Sat, 4 Oct 2025 01:18:31 +0000
Subject: [PATCH] Add missions/tip the scale.py

---
 missions/tip the scale.py | 42 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 42 insertions(+)
 create mode 100644 missions/tip the scale.py

diff --git a/missions/tip the scale.py b/missions/tip the scale.py
new file mode 100644
index 0000000..200b1ea
--- /dev/null
+++ b/missions/tip the scale.py	
@@ -0,0 +1,42 @@
+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 run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(300,1000,300,200)
+
+#drive_base.use_gyro(True)
+
+async def main():
+    left_arm.run_angle(500,200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-55)
+    await drive_base.straight(900)
+    await drive_base.turn(92.5)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(21)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(55)
+    
+    await left_arm.run_angle(300,-400)
+    
+    await drive_base.turn(46.5)
+    await drive_base.turn(-40)
+    await drive_base.straight(900)
+run_task(main())
\ No newline at end of file