From c6783889b78338f092c7d97f62b8df6dccc04788 Mon Sep 17 00:00:00 2001
From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org>
Date: Sun, 19 Oct 2025 01:51:03 +0000
Subject: [PATCH] Add missions/Set2.py

Please add the backward part of the code.
---
 missions/Set2.py | 50 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 missions/Set2.py

diff --git a/missions/Set2.py b/missions/Set2.py
new file mode 100644
index 0000000..9298da3
--- /dev/null
+++ b/missions/Set2.py
@@ -0,0 +1,50 @@
+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, run_task, multitask
+
+hub = PrimeHub()
+
+# Initialize both motors. In this example, the motor on the
+# left must turn counterclockwise to make the robot go forward.
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+arm_motor = Motor(Port.D, Direction.CLOCKWISE)
+arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
+# Initialize the drive base. In this example, the wheel diameter is 56mm.
+# The distance between the two wheel-ground contact points is 112mm.
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+print('The default settings are: ' + str(drive_base.settings()))
+drive_base.settings(300,1000,300,750)
+# Optionally, uncomment the line below to use the gyro for improved accuracy.
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(519)
+    await arm_motor_left.run_angle(-10000, 300)
+    await arm_motor_left.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-54)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(250)
+    await drive_base.turn(-5)
+    await arm_motor.run_angle(10000, 7000)
+    await drive_base.straight(-50)
+    await drive_base.turn(68)
+    await arm_motor.run_angle(10000, -6000)
+    await drive_base.straight(200)
+    await arm_motor.run_angle(10000, 4000)
+    await drive_base.turn(-40)
+    await arm_motor.run_angle(10000, 7000)
+run_task(main())
\ No newline at end of file