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())