diff --git a/missions/Boat.py b/missions/Boat.py
new file mode 100644
index 0000000..bb42eb7
--- /dev/null
+++ b/missions/Boat.py
@@ -0,0 +1,27 @@
+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(550,700,100,100)
+
+drive_base.use_gyro(True)
+
+first_run = False
+
+async def main():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+    
+run_task(main())
\ No newline at end of file
diff --git a/missions/Sand Mission.py b/missions/Sand Mission.py
new file mode 100644
index 0000000..73e1e16
--- /dev/null
+++ b/missions/Sand Mission.py	
@@ -0,0 +1,29 @@
+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(400,500,100,100)
+
+drive_base.use_gyro(True)
+
+
+async def main():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
+    
+run_task(main())
\ No newline at end of file
diff --git a/missions/Send_Over.py b/missions/Send_Over.py
index a769f1d..97bed5f 100644
--- a/missions/Send_Over.py
+++ b/missions/Send_Over.py
@@ -13,22 +13,19 @@ 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=64.8, axle_track=180)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
 
 drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)
 
 async def main():
 
-    await drive_base.straight(855)
+    await drive_base.straight(915)
     await drive_base.turn(-90)
-    await drive_base.straight(50)
+    await drive_base.straight(60)
     await left_arm.run_angle(10000,-15000)
-    await drive_base.straight(-50)
-    await drive_base.turn(90)
+    await drive_base.straight(-60)
+    await drive_base.turn(85)
     await drive_base.straight(2000)
     
- 
-      
-    
 run_task(main())
\ No newline at end of file