From 6e82f4d476f5d99f29d1d8892fd5ff3f3efcd841 Mon Sep 17 00:00:00 2001
From: Vickram <31kapoov@elmbrookstudents.org>
Date: Fri, 7 Nov 2025 23:12:55 +0000
Subject: [PATCH] Add missions/New_MapReveal/New_MapReveal_Mineshaft.py

Rishi's updated code
---
 .../New_MapReveal/New_MapReveal_Mineshaft.py  | 38 +++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 missions/New_MapReveal/New_MapReveal_Mineshaft.py

diff --git a/missions/New_MapReveal/New_MapReveal_Mineshaft.py b/missions/New_MapReveal/New_MapReveal_Mineshaft.py
new file mode 100644
index 0000000..2113b9b
--- /dev/null
+++ b/missions/New_MapReveal/New_MapReveal_Mineshaft.py
@@ -0,0 +1,38 @@
+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)
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+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, 500, 300, 200)
+drive_base.use_gyro(True)
+
+WALL_DISTANCE = 200  # mm
+
+async def main():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-220)
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+run_task(main())
\ No newline at end of file