Add missions/New_MapReveal/New_MapReveal_Mineshaft.py

Rishi's updated code

README.md

@@ -14,7 +14,7 @@
 
 ## Project Overview
 
-Welcome to the official code repository for **Team 65266 Lego Dynamics**! This repository contains all the Pybricks code powering our robot through the UNEARTHED season missions. Our modular approach allows for flexible mission execution and quick color-sensor-based run selection.
+Welcome to the official code repository for **Team 65266 - Lego Dynamics**! This repository contains all the Pybricks code powering our robot through the UNEARTHED season missions. Our modular approach allows for flexible mission execution and quick color-sensor-based run selection.
 
 ---
 
@@ -26,8 +26,8 @@ Welcome to the official code repository for **Team 65266 Lego Dynamics**! This r
 |-----------|--------------|
 | **Robot Name** | Optimus Prime III |
 | **Firmware** | Pybricks |
-| **Attachment Motors** | 2× Large Motors (Ports C & D) |
-| **Drive Motors** | 2× Small Motors (Ports A & B) |
+| **Attachment Motors** | 2x Large Motors (Ports C & D) |
+| **Drive Motors** | 2x Small Motors (Ports A & B) |
 | **Sensors** | Up-facing Color Sensor (Quick Start) |
 | **Attachments** | Multiple mission-specific tools |
 
@@ -46,10 +46,10 @@ Our codebase is organized for maximum efficiency and modularity:
 ```
 Repository
  ┣ run_1.py          # Individual mission runs
- ┣ run_2.py          # Each file = 1+ mission completions
+ ┣ run_2.py          
  ┣ run_3.py
  ┣ ...
- ┗ master.py         # 🎯 Combined master file with color-start logic
+ ┗ masterFile.py         # 🎯 Combined master file with color-start logic - this changes periodically as we release new versions. Check this README if you are unsure what code should be loaded on the robot.
 ```
 
 ### Workflow
@@ -61,34 +61,45 @@ Repository
 
 ## How to Use
 
-### Installation & Deployment
+### Installation & Deployment - from the server - everyday
 
-1. **Load the Code**
-   ```bash
-   # Open the master.py file in Pybricks IDE
-   ```
+1. Download the file codes_for_scrimmage/hazmat/mainhazmatUPD.py
+ - You can do this through the repo, by using cURL, or by using git.
+ - Repo - Go to [codes_for_scrimmage/hazmat/mainhazmatUPD.py](codes_for_scrimmage/hazmat/mainhazmatUPD.py) and click the "Download" button.
+ - cURL or another HTTP data transferrer - 
 
-2. **Connect to Robot**
-   - Pair your robot via Bluetooth in Pybricks
+ ```curl -o mainhazmatUPD.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/hazmat/mainhazmatUPD.py```
+ - git CLI - 
 
-3. **Upload to Robot**
-   - Click "Download and Run" or send the program to the robot
+ ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/hazmat```
+ 
+   Then use mainhazmatUPD.py.
+
+2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button.
+
+ - Import button looks like this:
+ ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/import.png)
+ - Bluetooth button looks like this:
+ ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/bluetooth.png)
+
+3. **Upload to Robot** - Click "Download and Run" or send the program to the robot
+ - Run button looks like this: ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/run.png)
+   
 
 4. **Start Your Run**
-   - Hold a colored LEGO brick up to the color sensor
-   - Different colors trigger different mission runs!
+   - If starting without Pybricks, press the center circular button on the SPIKE Prime Hub to start the program.
+   - Hold a colored LEGO brick up to the color sensor.
+   - Different colors trigger different mission runs - color mapping is below.
 
 ### Color Start System
-| Color | Mission | Celebration Sound |
-|-------|-----------|------------------|
-| Green  🟩 | Run 1 | Victory Fanfare |
-| White  ⚪ | Run 2 | Rickroll Inspired |
-| Yellow 🟨 | Run 3 | Success Chime |
-| Orange 🟧 | Run 4 | Power Up |
-| Blue   🟦 | Run 5 | Power Up |
-| Red    🟥 | Run 6 | Ta-Da! |
-
-> **Tip** Organize your colored bricks before the match for quick run selection!
+| Color | Mission |
+|-------|-----------|
+| Green  🟩 | Run 1 |
+| Purple 🟪 | Run 2 |
+| Red    🟥| Run 3 |
+| Yellow 🟨| Run 4 |
+| Blue   🟦| Run 5 |
+| Orange 🟧| Run 6 |
 
 ---
 
@@ -114,9 +125,7 @@ Team members can contribute by:
 
 **GNU General Public License v3.0**
 
-```
 You can take inspiration from our code, but you can't take our exact code.
-```
 
 This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for complete details.
 
@@ -130,14 +139,8 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for com
 
 ## Contact & Support
 
-**Team 65266 Lego Dynamics**
+**Team 65266 - Lego Dynamics**
 
 Questions about our approach? Interested in collaboration? Reach out!
 
----
-
-<div align="center">
-
-Star this repo if you found it helpful!
-
-</div>
+---

codes_for_scrimmage/hazmat/HazmatCodeChanges.py

@@ -0,0 +1,227 @@
+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 = 300  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# New Section
+async def Run1():  # From M8_5.py
+    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(-600)
+
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000, 4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(120)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(295)
+    await right_arm.run_angle(10000, 9000)
+    await drive_base.straight(-65)
+    await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(100)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
+    await drive_base.straight(-300)
+    await drive_base.turn(-80)
+    await drive_base.straight(-700)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())

codes_for_scrimmage/hazmat/Heavy_lifting_final.py

@@ -0,0 +1,33 @@
+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
+from pybricks.tools import run_task, multitask
+
+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(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(5000,2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000,-4000)
+    await drive_base.straight(-60)
+
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+run_task(main())

codes_for_scrimmage/hazmat/M8_5.py

@@ -0,0 +1,49 @@
+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
+from pybricks.tools import run_task, multitask
+
+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(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    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(-600)
+run_task(main())

codes_for_scrimmage/hazmat/Send_Over_Final.py

@@ -0,0 +1,46 @@
+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
+from pybricks.tools import run_task, multitask
+
+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)
+lazer_ranger = UltrasonicSensor(Port.E)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    while True:
+        distance_mm = await lazer_ranger.distance()
+        print('distancing...',distance_mm)
+
+        if distance_mm < 300:
+            drive_base.stop
+            break
+        else:
+            drive_base.straight(300)
+            print('running...')
+        await wait(10)
+
+run_task(main())

codes_for_scrimmage/hazmat/hazmat_main.py

@@ -0,0 +1,384 @@
+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)
+
+# Color Settings
+# https://docs.pybricks.com/en/latest/parameters/color.html
+print("Default Detected Colors:", color_sensor.detectable_colors())
+
+# Custom color Hue, Saturation, Brightness value for Lego bricks
+Color.MAGENTA = Color(300,100,100)
+Color.VIOLET =  Color(277,68,32)
+Color.BLUE = Color(240,100,100)
+Color.CYAN = Color(180,100,100)
+
+LEGO_BRICKS_COLOR = [
+    Color.BLUE, 
+    Color.GREEN, 
+    Color.WHITE,
+    Color.RED, 
+    Color.YELLOW, 
+    Color.MAGENTA, 
+    Color.VIOLET,
+    Color.NONE
+]
+#Update Detectable colors
+color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
+
+print("Updated Detected Colors:", color_sensor.detectable_colors())
+
+hub.speaker.volume(50) # Set the volume of the speaker
+
+# 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()
+
+WALL_DISTANCE = 200  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    #await drive_base.straight(5000)
+    drive_base.drive(400,0)
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.turn(-180)
+            drive_base.brake
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+async def Run1(): #From M8_5.py
+    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(-600)
+
+async def Run2(): #From Heavy_lifting_final.py
+     await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(5000,2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000,-4000)
+    await drive_base.straight(-60)
+
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3(): #tip the scale.py
+    left_arm.run_angle(600,200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,-390) #going down 
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(-410,-400) #lift a little bit
+    
+    await drive_base.turn(-46.5) #ma din din din dun
+    await drive_base.turn(-40)
+    await drive_base.straight(900)
+
+async def Run4(): #From Send_Over_Final.py
+
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+#Add  Rishi's code here
+async def Run5(): 
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-55)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(250)
+    await drive_base.turn(-5)
+    await right_arm.run_angle(10000, 7000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(100)
+    await drive_base.turn(37)
+    await right_arm.run_angle(10000, -6000)
+    await drive_base.straight(90)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.turn(-40)
+
+#Add - Adi's code here
+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)
+        color_reflected_percent = await color_sensor.reflection()
+        print(color_reflected_percent)
+
+        
+        if color_reflected_percent > 0:                     # Make sure we actually have color reflections before checking for color
+            color_detected = await color_sensor.color()     # Moved this inside the if clause
+            print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}')
+
+            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.RED:
+                print('Running Mission 3')
+                await Run3()
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+            elif color_detected == Color.YELLOW:
+                print('Running Mission 4')
+                await Run4()
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.BLUE:
+                print('Running Mission 5')
+                await Run5()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            elif color_detected == Color.VIOLET:
+                print('Running Mission 6')
+                await Run6()
+            else:
+                hub.light.off()
+                left_motor.stop()
+                right_motor.stop()
+                color_detected = Color.NONE
+        else:
+            color_detected = Color.NONE
+            
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -0,0 +1,208 @@
+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 = 300  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# New Section
+async def Run1():  # From M8_5.py
+    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(-600)
+
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000, 4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+
+
+# Add Rishi's code here
+async def Run5(): 
+    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)
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())

codes_for_scrimmage/hazmat/tip the scale.py

@@ -0,0 +1,42 @@
+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
+from pybricks.tools import run_task, multitask
+
+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(300,1000,300,200)
+
+#drive_base.use_gyro(True)
+
+async def main():
+    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)
+run_task(main())

missions/Heavy_lifting_final.py

@@ -0,0 +1,36 @@
+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
+from pybricks.tools import run_task, multitask
+
+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(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    #Solve mission
+    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)
+    #Return home
+    await drive_base.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())

missions/Lift2.py

@@ -0,0 +1,34 @@
+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
+from pybricks.tools import run_task, multitask
+
+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(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    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)
+run_task(main())

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())

missions/Sand_mission.py

@@ -0,0 +1,29 @@
+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
+from pybricks.tools import run_task,multitask
+
+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(400,500,100,100)
+
+drive_base.use_gyro(True)
+
+
+async def main():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-350)
+    
+run_task(main())

missions/Send_Over_Final.py

@@ -0,0 +1,46 @@
+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
+from pybricks.tools import run_task, multitask
+
+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)
+lazer_ranger = UltrasonicSensor(Port.E)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    while True:
+        distance_mm = await lazer_ranger.distance()
+        print('distancing...',distance_mm)
+
+        if distance_mm < 300:
+            drive_base.stop
+            break
+        else:
+            drive_base.straight(300)
+            print('running...')
+        await wait(10)
+
+run_task(main())

missions/tip the scale.py

@@ -15,28 +15,34 @@ 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(300,1000,300,200)
+drive_base.settings(600,500,300,200)
 
-#drive_base.use_gyro(True)
+drive_base.use_gyro(True)
 
 async def main():
-    left_arm.run_angle(500,200)   
+    left_arm.run_angle(600,200)   
     right_arm.run_angle(500,200)
     await drive_base.straight(70)
     
-    await drive_base.turn(-55)
+    await drive_base.turn(-70)
     await drive_base.straight(900)
-    await drive_base.turn(92.5)
+    await drive_base.turn(115)
     
     await drive_base.straight(75)
-    await drive_base.straight(21)
+    await drive_base.straight(33)
     await right_arm.run_angle(500,-250)
     await right_arm.run_angle(500,250)
-    await drive_base.turn(55)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
     
-    await left_arm.run_angle(300,-400)
+    await left_arm.run_angle(560,-390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(-410,-400) #lift a little bit
     
-    await drive_base.turn(46.5)
+    await drive_base.turn(-46.5) #ma din din din dun
     await drive_base.turn(-40)
     await drive_base.straight(900)
-run_task(main())
+run_task(main())
+
+