diff --git a/test_10_17_2025.py b/test_10_17_2025.py
new file mode 100644
index 0000000..a9994ae
--- /dev/null
+++ b/test_10_17_2025.py
@@ -0,0 +1,300 @@
+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)
+Color.ORANGE = Color(28, 61, 61)
+Color.BLUE = Color(230,100,100)
+Color.YELLOW = Color(37, 85, 95)
+Color.PURPLE = Color(326, 60, 87)
+color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW, Color.NONE, Color.PURPLE]) 
+hub.speaker.volume(50) # Set the volume of the speaker
+color_sensor.detectable_colors()
+# 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"""
+    notesold = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    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)
+    ]
+    
+    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 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(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50,500)
+    await drive_base.turn(45)
+    await drive_base.straight(-145)
+    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(-700)
+
+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(-750)
+
+
+async def Run3():
+    await drive_base.straight(920)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(2000)
+
+async def Run4():
+    await drive_base.straight(519)
+    await left_arm.run_angle(300, -200)
+    await left_arm.run_angle(800, 1000)
+    await drive_base.straight(180)
+    await drive_base.turn(-37)
+    await right_arm.run_angle(300, -50)
+    await drive_base.straight(50)
+    await right_arm.run_angle(300, -350)
+    await drive_base.straight(-150)
+    await drive_base.turn(125)
+    await drive_base.straight(50)
+    await right_arm.run_angle(300, 400)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -200)
+    await drive_base.turn(-40)
+    await right_arm.run_angle(300, 250)
+    await drive_base.straight(260)
+    await right_arm.run_angle(100, -300)
+    await drive_base.straight(30)
+    await right_arm.run_angle(50,-250)
+    await drive_base.turn(30)
+    await drive_base.straight(-200)
+    await drive_base.turn(-67)
+    await drive_base.straight(-800)
+
+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():
+    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)
+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.h}, {color_detected.s}, {color_detected.v}')
+        if color_reflected_percent > 1:
+            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 4')
+                await Run4()
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.ORANGE:
+                print('Running Mission 5')
+                await Run5()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            elif color_detected == Color.PURPLE:
+                print('Running Mission 6 (this is ayaan\'s code)')
+                await Run6()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            else:
+                hub.light.off()
+                left_motor.stop()
+                right_motor.stop()
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())