From 684447c01aeaa6ef2d15f226bc9b355e2ba188da Mon Sep 17 00:00:00 2001
From: Vickram <31kapoov@elmbrookstudents.org>
Date: Thu, 9 Oct 2025 00:19:33 +0000
Subject: [PATCH 1/9] Add final/2main.py

---
 final/2main.py | 113 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 113 insertions(+)
 create mode 100644 final/2main.py

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)

From 227619df494b8fb3acd58522460037b27970830c Mon Sep 17 00:00:00 2001
From: Vickram <31kapoov@elmbrookstudents.org>
Date: Thu, 9 Oct 2025 12:32:51 +0000
Subject: [PATCH 2/9] Add final/3main.py

---
 final/3main.py | 102 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 102 insertions(+)
 create mode 100644 final/3main.py

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

From 0664a619b34236a84266ed13ed75c9263d5f58b6 Mon Sep 17 00:00:00 2001
From: Vickram <31kapoov@elmbrookstudents.org>
Date: Thu, 9 Oct 2025 22:04:39 +0000
Subject: [PATCH 3/9] Add final/main4.py

---
 final/main4.py | 256 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 256 insertions(+)
 create mode 100644 final/main4.py

diff --git a/final/main4.py b/final/main4.py
new file mode 100644
index 0000000..0e5ff3e
--- /dev/null
+++ b/final/main4.py
@@ -0,0 +1,256 @@
+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)
+
+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)
+
+# 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 = [
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (349, 600),  # F4
+    ]
+    
+    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 = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(20)
+
+async def play_success_chime():
+    """Simple success notification"""
+    notes = [
+        (523, 150),  # C5
+        (659, 150),  # E5
+        (784, 300),  # G5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+
+async def play_ta_da():
+    """Classic "ta-da!" sound"""
+    notes = [
+        (392, 200),  # G4
+        (523, 400),  # C5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(100)
+
+async def play_power_up():
+    """Rising power-up sound"""
+    for freq in range(200, 800, 50):
+        await hub.speaker.beep(freq, 50)
+        await wait(10)
+    await hub.speaker.beep(1000, 200)
+
+async def play_rickroll_inspired():
+    """Fun 80s-style dance beat inspired sound"""
+    # Upbeat bouncy rhythm
+    pattern = [
+        (392, 200), (440, 200), (494, 200), (523, 200),
+        (440, 200), (392, 200), (349, 200), (392, 300),
+        (440, 200), (392, 200), (349, 200), (330, 400),
+    ]
+    
+    for freq, duration in pattern:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
+    """
+    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():
+    """Use color sensor to select runs"""
+    print("Place colored object in front of sensor:")
+    print("RED=Run1, GREEN=Run2, BLUE=Run3, YELLOW=Test")
+    
+
+    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())

From c2204e71abe83cfc943406258d722bb29d8c2bb6 Mon Sep 17 00:00:00 2001
From: Vickram <31kapoov@elmbrookstudents.org>
Date: Thu, 9 Oct 2025 22:57:18 +0000
Subject: [PATCH 4/9] Update final/main4.py

---
 final/main4.py | 162 +++++++++++++++++++++----------------------------
 1 file changed, 70 insertions(+), 92 deletions(-)

diff --git a/final/main4.py b/final/main4.py
index 0e5ff3e..d0302fa 100644
--- a/final/main4.py
+++ b/final/main4.py
@@ -9,82 +9,11 @@ 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)
-
-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)
+color_sensor = ColorSensor(Port.F) 
+hub.speaker.volume(50) # Set the volume of the speaker
 
 # Celebration sound types
 class CelebrationSound:
@@ -107,7 +36,6 @@ async def play_victory_fanfare():
     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 = [
@@ -124,7 +52,6 @@ async def play_level_up():
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
         await wait(20)
-
 async def play_success_chime():
     """Simple success notification"""
     notes = [
@@ -136,7 +63,6 @@ async def play_success_chime():
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
         await wait(50)
-
 async def play_ta_da():
     """Classic "ta-da!" sound"""
     notes = [
@@ -147,14 +73,12 @@ async def play_ta_da():
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
         await wait(100)
-
 async def play_power_up():
     """Rising power-up sound"""
     for freq in range(200, 800, 50):
         await hub.speaker.beep(freq, 50)
         await wait(10)
     await hub.speaker.beep(1000, 200)
-
 async def play_rickroll_inspired():
     """Fun 80s-style dance beat inspired sound"""
     # Upbeat bouncy rhythm
@@ -167,7 +91,6 @@ async def play_rickroll_inspired():
     for freq, duration in pattern:
         await hub.speaker.beep(freq, duration)
         await wait(50)
-
 async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
     """
     Main celebration function to call after completing a mission.
@@ -204,16 +127,78 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
     
     hub.light.off()
 
-async def main():
-    """Use color sensor to select runs"""
-    print("Place colored object in front of sensor:")
-    print("RED=Run1, GREEN=Run2, BLUE=Run3, YELLOW=Test")
-    
+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)
 
     while True:
     
         await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
-
         color_reflected_percent = await color_sensor.reflection()
         print(color_reflected_percent)
     
@@ -224,33 +209,26 @@ async def main():
             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())

From a3e7be20d193a6da685e511e568636dbc56cd453 Mon Sep 17 00:00:00 2001
From: Atharv <30nagava@elmbrookstudents.org>
Date: Fri, 10 Oct 2025 20:03:09 +0000
Subject: [PATCH 5/9] Update final/main4.py

---
 final/main4.py | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/final/main4.py b/final/main4.py
index d0302fa..c1c0b16 100644
--- a/final/main4.py
+++ b/final/main4.py
@@ -128,38 +128,47 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
     hub.light.off()
 
 async def Run1():
+    # Brings both arms up while moving to first mission
     await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
     await drive_base.straight(320)
 
+    # Slaps down "Silo" 3 times
     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)
 
+    # Moves to the next mission, solving "Who lived here?"
     await drive_base.turn(-20)
-    await drive_base.straight(275)
+    await drive_base.straight(277)
     await drive_base.turn(20)
-    await drive_base.straight(63)
+    await drive_base.straight(65)
 
+    # Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
     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)
+    # Solves "What's on Sale?"
     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)
+
+    # Moves the robot back to base
     await drive_base.turn(35)
-    await drive_base.straight(-500)
+    await drive_base.straight(-600)
 
 async def Run2():
+    # Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
     await drive_base.straight(200)
     await drive_base.turn(-20)
     await drive_base.straight(525)
     await drive_base.turn(60)
 
+    # Throws "Heavy Lifting" to the side
     await drive_base.straight(50)
     await right_arm.run_angle(2000,1000)
     await drive_base.straight(-50)
@@ -167,15 +176,22 @@ async def Run2():
     await drive_base.straight(50)
     await right_arm.run_angle(350,-1000)
 
+    # Moves the robot back to base
     await drive_base.turn(-100)
     await drive_base.straight(-600)
 
 
 async def Run3():
+
+    # Runs robot to "Angler Artifacts"
     await drive_base.straight(915)
     await drive_base.turn(-90)
+
+    # Solves "Angler Artifacts"
     await drive_base.straight(60)
     await left_arm.run_angle(10000,-15000)
+
+    # Moves to the Red home area
     await drive_base.straight(-60)
     await drive_base.turn(85)
     await drive_base.straight(2000)

From 3f37e7e2ff13f93057d6da12dbd0e467b5737b8e Mon Sep 17 00:00:00 2001
From: Vickram <31kapoov@elmbrookstudents.org>
Date: Fri, 10 Oct 2025 20:05:31 +0000
Subject: [PATCH 6/9] Update final/main4.py

---
 final/main4.py | 149 ++++++++++++++++++++-----------------------------
 1 file changed, 62 insertions(+), 87 deletions(-)

diff --git a/final/main4.py b/final/main4.py
index c1c0b16..7dc67cc 100644
--- a/final/main4.py
+++ b/final/main4.py
@@ -15,6 +15,64 @@ drive_base.use_gyro(True)
 color_sensor = ColorSensor(Port.F) 
 hub.speaker.volume(50) # Set the volume of the speaker
 
+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)
 # Celebration sound types
 class CelebrationSound:
     VICTORY_FANFARE = 0
@@ -126,92 +184,8 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
         await wait(100)
     
     hub.light.off()
-
-async def Run1():
-    # Brings both arms up while moving to first mission
-    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
-    await drive_base.straight(320)
-
-    # Slaps down "Silo" 3 times
-    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)
-
-    # Moves to the next mission, solving "Who lived here?"
-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
-
-    # Raises the right arm up slowly, before moving into position to solve "What's on Sale?"
-    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)
-    # Solves "What's on Sale?"
-    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)
-
-    # Moves the robot back to base
-    await drive_base.turn(35)
-    await drive_base.straight(-600)
-
-async def Run2():
-    # Drive robot to the front of "Forge" in preparation to solve "Heavy Lifting"
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-
-    # Throws "Heavy Lifting" to the side
-    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)
-
-    # Moves the robot back to base
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-
-
-async def Run3():
-
-    # Runs robot to "Angler Artifacts"
-    await drive_base.straight(915)
-    await drive_base.turn(-90)
-
-    # Solves "Angler Artifacts"
-    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-15000)
-
-    # Moves to the Red home area
-    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:
     
         await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
@@ -246,5 +220,6 @@ async def Run6():
             left_motor.stop()
             right_motor.stop()
         await wait(100) #prevent loop from iterating fast
+            
 # Main execution loop
-run_task(main())
+run_task(main())
\ No newline at end of file

From 8ea7cd55f3aaf0c91de71ed5f5de9629d2299790 Mon Sep 17 00:00:00 2001
From: Atharv <30nagava@elmbrookstudents.org>
Date: Fri, 10 Oct 2025 20:23:39 +0000
Subject: [PATCH 7/9] Update final/main4emaj.py

---
 final/{main4.py => main4emaj.py} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename final/{main4.py => main4emaj.py} (100%)

diff --git a/final/main4.py b/final/main4emaj.py
similarity index 100%
rename from final/main4.py
rename to final/main4emaj.py

From 75e64da4b09301946e640eb3aedffa66c5c2d9d7 Mon Sep 17 00:00:00 2001
From: Atharv <30nagava@elmbrookstudents.org>
Date: Fri, 10 Oct 2025 20:27:18 +0000
Subject: [PATCH 8/9] Update final/main4emaj.py

---
 final/main4emaj.py | 49 +++++++++++++++++++++++++++-------------------
 1 file changed, 29 insertions(+), 20 deletions(-)

diff --git a/final/main4emaj.py b/final/main4emaj.py
index 7dc67cc..cbe0254 100644
--- a/final/main4emaj.py
+++ b/final/main4emaj.py
@@ -85,10 +85,10 @@ class CelebrationSound:
 async def play_victory_fanfare():
     """Classic victory fanfare"""
     notes = [
-        (262, 200),  # C4
-        (262, 200),  # C4
-        (262, 200),  # C4
-        (349, 600),  # F4
+    (330, 200),  # E4
+    (330, 100),  # E4
+    (330, 100),  # E4
+    (440, 600),  # A4
     ]
     
     for freq, duration in notes:
@@ -97,14 +97,22 @@ async def play_victory_fanfare():
 async def play_level_up():
     """Upward scale for level completion"""
     notes = [
-        (262, 100),  # C4
-        (294, 100),  # D4
-        (330, 100),  # E4
-        (349, 100),  # F4
-        (392, 100),  # G4
-        (440, 100),  # A4
-        (494, 100),  # B4
-        (523, 300),  # C5
+    (277, 100),
+    (330, 100),
+    (277, 100),
+    (554, 100),
+    (277, 100),
+    (413, 100),
+    (330, 100),
+    (277, 100),
+    (413, 100),
+    (277, 100),
+    (554, 100),
+    (413, 100),
+    (277, 100),
+    (413, 100),
+    (554, 100),
+    (413, 100)
     ]
     
     for freq, duration in notes:
@@ -113,9 +121,9 @@ async def play_level_up():
 async def play_success_chime():
     """Simple success notification"""
     notes = [
-        (523, 150),  # C5
-        (659, 150),  # E5
-        (784, 300),  # G5
+    (659, 150),  # E5
+    (830, 150),  # G♯5
+    (987, 300),  # B♭5
     ]
     
     for freq, duration in notes:
@@ -124,8 +132,8 @@ async def play_success_chime():
 async def play_ta_da():
     """Classic "ta-da!" sound"""
     notes = [
-        (392, 200),  # G4
-        (523, 400),  # C5
+    (494, 200),  # B♭4
+    (659, 400),  # E5
     ]
     
     for freq, duration in notes:
@@ -141,10 +149,11 @@ async def play_rickroll_inspired():
     """Fun 80s-style dance beat inspired sound"""
     # Upbeat bouncy rhythm
     pattern = [
-        (392, 200), (440, 200), (494, 200), (523, 200),
-        (440, 200), (392, 200), (349, 200), (392, 300),
-        (440, 200), (392, 200), (349, 200), (330, 400),
+    (494, 200), (554, 200), (622, 200), (659, 200),
+    (554, 200), (494, 200), (439, 200), (494, 300),
+    (554, 200), (494, 200), (439, 200), (416, 400),
     ]
+
     
     for freq, duration in pattern:
         await hub.speaker.beep(freq, duration)

From bb76258f58b06af11fda825dcc8a68f3204145af Mon Sep 17 00:00:00 2001
From: Atharv <30nagava@elmbrookstudents.org>
Date: Fri, 10 Oct 2025 20:56:52 +0000
Subject: [PATCH 9/9] Update final/main4emaj.py

---
 final/main4emaj.py | 94 +++++++++++++++++++++++++++++++++-------------
 1 file changed, 67 insertions(+), 27 deletions(-)

diff --git a/final/main4emaj.py b/final/main4emaj.py
index cbe0254..5335147 100644
--- a/final/main4emaj.py
+++ b/final/main4emaj.py
@@ -15,6 +15,36 @@ 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)
@@ -51,6 +81,7 @@ async def Run2():
     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():
@@ -97,23 +128,24 @@ async def play_victory_fanfare():
 async def play_level_up():
     """Upward scale for level completion"""
     notes = [
-    (277, 100),
-    (330, 100),
-    (277, 100),
-    (554, 100),
-    (277, 100),
-    (413, 100),
-    (330, 100),
-    (277, 100),
-    (413, 100),
-    (277, 100),
-    (554, 100),
-    (413, 100),
-    (277, 100),
-    (413, 100),
-    (554, 100),
-    (413, 100)
+    (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)
@@ -121,10 +153,11 @@ async def play_level_up():
 async def play_success_chime():
     """Simple success notification"""
     notes = [
-    (659, 150),  # E5
-    (830, 150),  # G♯5
-    (987, 300),  # B♭5
+    (cn["E4"], 150),
+    (cn["Gs4"], 150),
+    (cn["B4"], 300),
     ]
+
     
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
@@ -132,8 +165,8 @@ async def play_success_chime():
 async def play_ta_da():
     """Classic "ta-da!" sound"""
     notes = [
-    (494, 200),  # B♭4
-    (659, 400),  # E5
+    (cn["B3"], 200),   # B4
+    (cn["E4"], 400),   # E5
     ]
     
     for freq, duration in notes:
@@ -141,24 +174,31 @@ async def play_ta_da():
         await wait(100)
 async def play_power_up():
     """Rising power-up sound"""
-    for freq in range(200, 800, 50):
+    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(1000, 200)
+
+
+    await hub.speaker.beep(659.24, 200)
 async def play_rickroll_inspired():
     """Fun 80s-style dance beat inspired sound"""
     # Upbeat bouncy rhythm
     pattern = [
-    (494, 200), (554, 200), (622, 200), (659, 200),
-    (554, 200), (494, 200), (439, 200), (494, 300),
-    (554, 200), (494, 200), (439, 200), (416, 400),
+    (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.SUCCESS_CHIME):
+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.