diff --git a/final/2main.py b/final/2main.py
new file mode 100644
index 0000000..7c0940d
--- /dev/null
+++ b/final/2main.py
@@ -0,0 +1,113 @@
+
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor
+from pybricks.parameters import Port, Stop, Color, Direction
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, multitask, run_task
+
+
+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)
+
+async def Run1():
+    left_arm.run_angle(1000, 300)
+    right_arm.run_angle(1000,500)
+    await drive_base.straight(320)
+
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+
+    await drive_base.turn(-20)
+    await drive_base.straight(275)
+    await drive_base.turn(20)
+    await drive_base.straight(63)
+
+    await drive_base.turn(-30)
+    right_arm.run_angle(50,500)
+    await drive_base.turn(45)
+    await drive_base.straight(-135)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000,-450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000,450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-500)
+
+async def Run2():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+
+
+async def Run3():
+    await drive_base.straight(915)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    await left_arm.run_angle(10000,-15000)
+    await drive_base.straight(-60)
+    await drive_base.turn(85)
+    await drive_base.straight(2000)
+
+
+async def Run5():
+    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)
+
+
+async def Run6():
+    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)
+
+
+def main():
+    if color_sensor.color() == Color.GREEN:
+        Run1()
+        
+    if color_sensor.color() == Color.WHITE:
+        Run2()
+        
+    if color_sensor.color() == Color.YELLOW:
+        Run3()
+        
+    if color_sensor.color() == Color.BLUE:
+        Run5()
+        
+    if color_sensor.color() == Color.RED:
+        Run6()
+    
+    print(f'Detected color: {color_sensor.color()}')
+
+# Main execution loop
+while True:
+    main()
+    wait(100)
diff --git a/final/3main.py b/final/3main.py
new file mode 100644
index 0000000..5475bd3
--- /dev/null
+++ b/final/3main.py
@@ -0,0 +1,102 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor
+from pybricks.parameters import Port, Stop, Color, Direction
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, multitask, run_task
+
+async def Run1():
+    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
+    await drive_base.straight(320)
+
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+
+    await drive_base.turn(-20)
+    await drive_base.straight(275)
+    await drive_base.turn(20)
+    await drive_base.straight(63)
+
+    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
+    await drive_base.turn(45)
+    await drive_base.straight(-135)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000,-450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000,450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-500)
+
+async def Run2():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+
+async def Run3():
+    await drive_base.straight(915)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    await left_arm.run_angle(10000,-15000)
+    await drive_base.straight(-60)
+    await drive_base.turn(85)
+    await drive_base.straight(2000)
+
+async def Run5():
+    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)
+
+
+async def Run6():
+    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)
+
+async def main():
+    while True:
+        detected_color = color_sensor.color(True)
+    
+        if detected_color == Color.GREEN:
+            print('Detected color: Green')
+            await Run1()
+            
+        elif detected_color == Color.WHITE:
+            print('Detected color: White')
+            await Run2()
+            
+        elif detected_color == Color.YELLOW:
+            print('Detected color: Yellow')
+            await Run3()
+
+        elif detected_color == Color.BLUE:
+            print('Detected color: Blue')
+            await Run5()
+
+        elif detected_color == Color.RED:
+            print('Detected color: Red')
+            await Run6()
+            
+        else:
+            print("None detected")
+
+# Main execution
+run_task(main())
\ No newline at end of file
diff --git a/final/main4emaj.py b/final/main4emaj.py
new file mode 100644
index 0000000..5335147
--- /dev/null
+++ b/final/main4emaj.py
@@ -0,0 +1,274 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor
+from pybricks.parameters import Port, Stop, Color, Direction
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, multitask, run_task
+
+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)
+color_sensor = ColorSensor(Port.F) 
+hub.speaker.volume(50) # Set the volume of the speaker
+
+cn = {
+    "Cs3": 138.59,
+    "D3": 146.83,
+    "Ds3": 155.56,
+    "E3": 164.81,
+    "F3": 174.61,
+    "Fs3": 185.00,
+    "G3": 196.00,
+    "Gs3": 207.65,
+    "A3": 220.00,
+    "As3": 233.08,
+    "B3": 246.94,
+    "C4": 261.63,
+    "Cs4": 277.18,
+    "D4": 293.66,
+    "Ds4": 311.13,
+    "E4": 329.63,
+    "F4": 349.23,
+    "Fs4": 369.99,
+    "G4": 392.00,
+    "Gs4": 415.30,
+    "A4": 440.00,
+    "As4": 466.16,
+    "B4": 493.88,
+    "C5": 523.25,
+    "Cs5": 554.37
+}
+
+
+
+async def Run1():
+    left_arm.run_angle(1000, 300)
+    right_arm.run_angle(1000,500)
+    await drive_base.straight(320)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await drive_base.turn(-20)
+    await drive_base.straight(275)
+    await drive_base.turn(20)
+    await drive_base.straight(63)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50,500)
+    await drive_base.turn(45)
+    await drive_base.straight(-135)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000,-450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000,450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-500)
+async def Run2():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+async def Run3():
+    await drive_base.straight(915)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    await left_arm.run_angle(10000,-15000)
+    await drive_base.straight(-60)
+    await drive_base.turn(85)
+    await drive_base.straight(2000)
+async def Run5():
+    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)
+async def Run6():
+    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)
+# Celebration sound types
+class CelebrationSound:
+    VICTORY_FANFARE = 0
+    LEVEL_UP = 1
+    SUCCESS_CHIME = 2
+    TA_DA = 3
+    POWER_UP = 4
+    RICKROLL_INSPIRED = 5
+    
+async def play_victory_fanfare():
+    """Classic victory fanfare"""
+    notes = [
+    (330, 200),  # E4
+    (330, 100),  # E4
+    (330, 100),  # E4
+    (440, 600),  # A4
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_level_up():
+    """Upward scale for level completion"""
+    notes = [
+    (cn["Cs4"], 100),
+    (cn["E4"], 100),
+    (cn["Cs4"], 100),
+    (cn["Cs5"], 100),
+    (cn["Cs4"], 100),
+    (cn["Gs4"], 100),
+    (cn["E4"], 100),
+    (cn["Cs4"], 100),
+    (cn["Gs4"], 100),
+    (cn["Cs4"], 100),
+    (cn["Cs5"], 100),
+    (cn["Gs4"], 100),
+    (cn["Cs4"], 100),
+    (cn["Gs4"], 100),
+    (cn["Cs5"], 100),
+    (cn["Gs4"], 100)
+    ]
+
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(20)
+async def play_success_chime():
+    """Simple success notification"""
+    notes = [
+    (cn["E4"], 150),
+    (cn["Gs4"], 150),
+    (cn["B4"], 300),
+    ]
+
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_ta_da():
+    """Classic "ta-da!" sound"""
+    notes = [
+    (cn["B3"], 200),   # B4
+    (cn["E4"], 400),   # E5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(100)
+async def play_power_up():
+    """Rising power-up sound"""
+    frequencies = [
+    164.81, 207.65, 246.94, 329.63, 415.30, 493.88
+    ]
+
+    for freq in frequencies:
+        await hub.speaker.beep(freq, 50)
+        await wait(10)
+
+
+    await hub.speaker.beep(659.24, 200)
+async def play_rickroll_inspired():
+    """Fun 80s-style dance beat inspired sound"""
+    # Upbeat bouncy rhythm
+    pattern = [
+    (cn["B3"], 200), (cn["Cs4"], 200), (cn["Ds4"], 200), (cn["E4"], 200),
+    (cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["B3"], 300),
+    (cn["Cs4"], 200), (cn["B3"], 200), (cn["A3"], 200), (cn["Gs3"], 400),
+    ]
+
+
+    
+    for freq, duration in pattern:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
+    """
+    Main celebration function to call after completing a mission.
+    Plays a sound and shows light animation.
+    
+    Args:
+        sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
+    """
+    # Light show
+    hub.light.on(Color.GREEN)
+    
+    # Play the selected celebration sound
+    if sound_type == CelebrationSound.VICTORY_FANFARE:
+        await play_victory_fanfare()
+    elif sound_type == CelebrationSound.LEVEL_UP:
+        await play_level_up()
+    elif sound_type == CelebrationSound.SUCCESS_CHIME:
+        await play_success_chime()
+    elif sound_type == CelebrationSound.TA_DA:
+        await play_ta_da()
+    elif sound_type == CelebrationSound.POWER_UP:
+        await play_power_up()
+    elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
+        await play_rickroll_inspired()
+    else:
+        await play_success_chime()  # Default fallback
+    
+    # Blink the light
+    for _ in range(3):
+        hub.light.off()
+        await wait(100)
+        hub.light.on(Color.GREEN)
+        await wait(100)
+    
+    hub.light.off()
+    
+async def main():    
+    while True:
+    
+        await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        color_reflected_percent = await color_sensor.reflection()
+        print(color_reflected_percent)
+    
+        color_detected = await color_sensor.color()
+        print(f'Detected color: {color_detected}')
+       
+        if color_detected == Color.GREEN:
+            print('Running Mission 1')
+            await Run1()
+            await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+        elif color_detected == Color.WHITE:
+            print('Running Mission 2')
+            await Run2()
+            await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+        elif color_detected == Color.YELLOW:
+            print('Running Mission 3')
+            await Run3()
+            await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME)
+        elif color_detected == Color.BLUE:
+            print('Running Mission 5')
+            await Run5()
+            await celebrate_mission_complete(CelebrationSound.POWER_UP)
+        elif color_detected == Color.RED:
+            print('Running Mission 6')
+            await Run6()
+            await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        else:
+            hub.light.off()
+            left_motor.stop()
+            right_motor.stop()
+        await wait(100) #prevent loop from iterating fast
+            
+# Main execution loop
+run_task(main())
\ No newline at end of file