Merge branch 'dev' of https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed into dev

merging dev

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -142,6 +142,18 @@ async def Run4():  # From Send_Over_Final.py
 
 # Add Rishi's code here
 async def Run5(): 
+<<<<<<< HEAD
+    await drive_base.straight(600)
+    await drive_base.straight(-100)
+    await drive_base.straight(150)
+    await drive_base.turn(60)
+    await drive_base.straight(100)
+    await drive_base.turn(-86)
+    await drive_base.straight(120)
+    await drive_base.turn(-45)
+    await drive_base.straight(-200)
+    await drive_base.turn(75)
+=======
     await drive_base.straight(700)
     await drive_base.turn(-20)
     await drive_base.straight(110)
@@ -152,6 +164,7 @@ async def Run5():
     await drive_base.straight(84)
     await right_arm.run_angle(300, 1200)
     await drive_base.straight(-875)
+>>>>>>> 2d614c0e381ebefc99efa272a3ec8ee172c5f6ce
 
 # Add - Adi's code here
 async def Run6():

missions/New_MapReveal/New_MapReveal_Mineshaft.py

@@ -0,0 +1,38 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+WALL_DISTANCE = 200  # mm
+
+async def main():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-220)
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+run_task(main())