Merge pull request 'State merge' (#57 ) from dev into main

Reviewed-on: #57
Update competition_codes/state/sunprarie_state_main_FINAL.py
2026-01-14 17:33:15 +00:00 · 2026-01-14 17:32:46 +00:00 · 2026-01-12 14:45:46 +00:00 · 2026-01-12 03:37:32 +00:00 · 2026-01-12 03:36:10 +00:00 · 2026-01-12 03:30:25 +00:00
37 changed files with 2850 additions and 475 deletions
--- a/LINEUPS.md
+++ b/LINEUPS.md
@@ -2,14 +2,14 @@

 ## These are the line-up positions for the robot game for various missions.

- Mission Run #1 (Mission #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot.
+- Mission Run #1 (Run #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot. Also, when counting these lines, make sure you count from the inside curve, not the outside.

- Mission Run #2 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the left home. The robot's right side should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is not part of the curve.
+<img src="https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/r1l.png" alt="Alt text" width="300"/>

- Mission Run #3 (Sand mission) [Right/Blue Home] - The robot should be lined up on the vertical edge of the left home. The robot's left side should be positioned on the 1/2th thin line from the bottom.
+- Mission Run #2 (Tip the scales) [Right/Blue Home] - The middle of the left edge of the robot should be positioned on the 2nd thick line from the left.

- Mission Run #4 (Boat mission) [Left/Red Home] - The robot should be lined up on the vertical edge of the left home. The robot's right side should be positioned on the 2nd thick line from the bottom.
+- Mission Run #3 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the right home. The robot's right edge should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is in the inner curve.

- Mission Run #5 (Bautism) [Left/Red Home] - The robot's left edge should be positioned at the 1st thick, 2nd thin line from the left.
+- Mission Run #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thick line from the left.

- Mission Run #6 (Not-so-heavy Lifting) [Right/Blue Home] - The robot's right edge should be positioned at the 1st thick from the right.
+- Mission Run #5 (Boat mission) [Left/Red Home] - There are two alignments for this. When sending off the robot for part 1, the robot should be facing the right home. It's right edge should be positioned at the very bottom edge of the board. Once it completes the pulling part, once it comes back begin part 2. For part 2, the middle of the robot's right side should be positioned in the middle of the 3rd thick and the 3rd thick, 1st thin lines from the top. For both runs the robot should be facing the blue home.
--- a/README.md
+++ b/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 +61,42 @@ 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 competition_codes/sectionals/sectional_main_dec_6.py 
+ - You can do this through the repo, by using cURL, or by using git.
+ - Repo - Go to the [latest release](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/releases) and click the "Download as ZIP" button to get the full repository.
+ - Single file - Go to the latest release and click the file link to get the raw master file.
+ - git CLI - 
+ ```git clone https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git```
+ 
+   Then use the master file.

-2. **Connect to Robot**
-   - Pair your robot via Bluetooth in Pybricks
+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.

-3. **Upload to Robot**
-   - Click "Download and Run" or send the program to the robot
+ - 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 +122,7 @@ 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 +136,8 @@ 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>
+---
--- a/competition_codes/hazmat/HazmatCodeChanges.py
+++ b/competition_codes/hazmat/HazmatCodeChanges.py
@@ -0,0 +1,228 @@
+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(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(63)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+
+
+# 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())
--- a/competition_codes/hazmat/Heavy_lifting_final.py
+++ b/competition_codes/hazmat/Heavy_lifting_final.py
@@ -17,21 +17,17 @@ drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)

 async def main():
-    await right_arm.run_angle(2000,1000)
-
-    await drive_base.straight(200)
+    #await drive_base.straight(200)
    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
    await drive_base.straight(30)

-    await right_arm.run_angle(2000,-1000)
-    await drive_base.straight(30)
-    await right_arm.run_angle(3000,1000)
+    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(-525)
-    await drive_base.turn(20)
-    await drive_base.straight(-200)
-    
+    await drive_base.straight(-670)
+run_task(main())
--- a/competition_codes/hazmat/M8_5.py
+++ b/competition_codes/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())
--- a/competition_codes/hazmat/Send_Over_Final.py
+++ b/competition_codes/hazmat/Send_Over_Final.py
@@ -12,6 +12,7 @@ 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)

@@ -19,13 +20,27 @@ drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)

 async def main():
-
-    await drive_base.straight(915)
-    await drive_base.turn(-90)
-    await drive_base.straight(60)
+    #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)
-    await drive_base.straight(-90)
-    await drive_base.turn(80)
-    await drive_base.straight(2000)
+    #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())
--- a/competition_codes/hazmat/hazmat_main.py
+++ b/competition_codes/hazmat/hazmat_main.py
@@ -1,27 +1,55 @@
-# Stuff from 10/15/2025
-# Atharv trying with no avail to add more colors to the color sensor logic 😭😭😭😭😭😭😭
-from pybricks.hubs import PrimeHub
-from pybricks.pupdevices import Motor, ColorSensor
-from pybricks.parameters import Port, Stop, Color, Direction
+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.tools import wait, StopWatch, multitask, run_task
+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)#, Direction.COUNTERCLOCKWISE)
+
+left_arm = Motor(Port.C)
 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)
+lazer_ranger  = UltrasonicSensor(Port.E)
 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]) 
+
+# 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
-color_sensor.detectable_colors()
+
 # Celebration sound types
 class CelebrationSound:
    VICTORY_FANFARE = 0
@@ -152,124 +180,174 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
    
    hub.light.off()

-async def Run1():
-    left_arm.run_angle(1000, -300)
+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(-145)
+    await left_arm.run_angle(1000,450)
    await drive_base.straight(10)
    await drive_base.turn(35)
-    await drive_base.straight(-700)
+    await drive_base.straight(-600)

-async def Run2():
-    await drive_base.straight(200)
+async def Run2(): #From Heavy_lifting_final.py
+     await drive_base.straight(200)
    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)

-    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)
+    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():
+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)
-    await drive_base.straight(60)
+    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(2000)
+    await drive_base.straight(500)
+    
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)

-async def Run4():
+    #     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 drive_base.straight(519)
-    await arm_motor_left.run_angle(-10000, 300)
-    await arm_motor_left.run_angle(10000, 600)
+    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 arm_motor.run_angle(3000, 3000)
+    await right_arm.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(25)
+    await right_arm.run_angle(10000, -3000)
    await drive_base.straight(-100)
-    await drive_base.turn(-54)
-    await arm_motor.run_angle(10000, -3000)
+    await drive_base.turn(-55)
+    await right_arm.run_angle(10000, -3000)
    await drive_base.straight(250)
    await drive_base.turn(-5)
-    await arm_motor.run_angle(10000, 7000)
+    await right_arm.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(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)
-    await arm_motor.run_angle(10000, 7000)

-async def Run5():
+#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 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_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()
@@ -278,26 +356,29 @@ async def main():
                print('Running Mission 2')
                await Run2()
                #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
-            elif color_detected == Color.YELLOW:
+            elif color_detected == Color.RED:
                print('Running Mission 3')
                await Run3()
                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
-            elif color_detected == Color.BLUE:
+            elif color_detected == Color.YELLOW:
                print('Running Mission 4')
                await Run4()
                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
-            elif color_detected == Color.ORANGE:
+            elif color_detected == Color.BLUE:
                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)')
+            elif color_detected == Color.VIOLET:
+                print('Running Mission 6')
                await Run6()
-                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
            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())
--- a/competition_codes/hazmat/mainhazmatUPD.py
+++ b/competition_codes/hazmat/mainhazmatUPD.py
@@ -0,0 +1,230 @@
+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 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
+    
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,-90)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,90)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,-180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,180)
+    await drive_base.turn(-20)
+    await drive_base.turn(15)
+
+    await drive_base.straight(-173)
+    await drive_base.turn(45)
+    await drive_base.straight(120)
+    left_arm.run_angle(1000,-670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(297)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-90)
+    await drive_base.turn(-100)
+    await drive_base.arc(-500,None,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 
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+    
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+    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(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+# 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())
--- a/competition_codes/hazmat/tip
+++ b/competition_codes/hazmat/tip
@@ -10,25 +10,33 @@ 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)
+drive_base.settings(300,1000,300,200)
+
+#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)
+    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())
--- a/competition_codes/regional-final/Final_combined.py
+++ b/competition_codes/regional-final/Final_combined.py
@@ -0,0 +1,221 @@
+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
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,90)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,-90)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,-180)
+    await drive_base.turn(-20)
+    await drive_base.turn(15)
+
+    await drive_base.straight(-173)
+    await drive_base.turn(45)
+    await drive_base.straight(120)
+    left_arm.run_angle(1000,670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(297)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-90)
+    await drive_base.turn(-100)
+    await drive_base.arc(-500,None,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
+    right_arm.run_angle(500,400)
+    await drive_base.straight(800)
+    await drive_base.turn(90)
+    await drive_base.straight(86)
+    await right_arm.run_angle(800,-600)
+    await right_arm.run_angle(900,800)
+    
+    await drive_base.straight(-100)
+    await drive_base.turn(90)
+    await drive_base.straight(800)
+    drive_base.brake()
+
+
+async def Run4():  # From Send_Over_Final.py
+    
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+    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)
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, 250)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+
+
+
+# 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())
--- a/competition_codes/regional-final/RegionalFinalOld.py
+++ b/competition_codes/regional-final/RegionalFinalOld.py
@@ -0,0 +1,220 @@
+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
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,90)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,-90)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,-180)
+    await drive_base.turn(-20)
+    await drive_base.turn(15)
+
+    await drive_base.straight(-173)
+    await drive_base.turn(45)
+    await drive_base.straight(120)
+    left_arm.run_angle(1000,670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(297)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-90)
+    await drive_base.turn(-100)
+    await drive_base.arc(-500,None,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
+    right_arm.run_angle(500,400)
+    await drive_base.straight(800)
+    await drive_base.turn(90)
+    await drive_base.straight(86)
+    await right_arm.run_angle(800,-600)
+    await right_arm.run_angle(900,800)
+    
+    await drive_base.straight(-100)
+    await drive_base.turn(90)
+    await drive_base.straight(800)
+    drive_base.brake()
+
+
+async def Run4():  # From Send_Over_Final.py
+    
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+    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(-900)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-102.5)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, 270)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+
+
+
+# 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())
--- a/competition_codes/sectionals/mukwonago_sectionals_final.py
+++ b/competition_codes/sectionals/mukwonago_sectionals_final.py
@@ -0,0 +1,383 @@
+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,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+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 drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+async def drive_backward():
+    """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
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+        if distance is None:
+            continue
+
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+"""
+Run#1
+- Removed forge and who lived here part
+- What's on sale + Silo
+- Green Key
+"""
+async def Run1():  
+    await solve_whats_on_sale()
+    await solve_silo()
+
+    # return to base
+    await drive_base.straight(-90)
+    #await drive_base.turn(-100)
+    await drive_base.arc(200,None,-300)
+    drive_base.stop()
+    
+async def solve_whats_on_sale():
+
+    right_arm.run_angle(500,30)
+    left_arm.run_angle(500,90)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,-90)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,-180)
+    await drive_base.turn(-20)
+    await drive_base.turn(15)
+
+async def solve_silo():
+    await drive_base.straight(-173)
+    await drive_base.turn(45)
+    await drive_base.straight(120)
+    left_arm.run_angle(1000,670)
+
+    await right_arm.run_angle(4000,-30, Stop.HOLD)
+    await right_arm.run_angle(4000,30, Stop.HOLD)
+    await right_arm.run_angle(4000,-30, Stop.HOLD)
+    await right_arm.run_angle(4000,30, Stop.HOLD)
+    await right_arm.run_angle(4000,-30, Stop.HOLD)
+    right_arm.run_angle(4000,30, Stop.HOLD)
+
+
+"""
+Run#2
+- This to solve forge, who lived here and heavy lifting combined
+- Red Key
+"""
+async def Run2():  
+    await solve_forge()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge():
+    await right_arm.run_target(50,50)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.arc(350,113, None)
+
+    await drive_base.straight(20)
+    await drive_base.turn(-60)
+    await drive_base.straight(-47)
+
+async def solve_heavy_lifting():
+    await right_arm.run_angle(500,-160) # arm down
+    await wait(100)
+    await drive_base.turn(20) # turn right a little bit
+    await right_arm.run_angle(500,160) #arm up
+    await drive_base.turn(-20) #reset position
+
+async def solve_who_lived_here():
+    await drive_base.straight(50)
+    await drive_base.turn(-15)
+    await drive_base.straight(50)
+    await drive_base.turn(-25)
+    await drive_base.straight(-50)
+    await drive_base.turn(-100)
+
+"""
+Run#2.1
+- Alternate solution for Forge, Who lived here and Heavy Lifting combined
+- Light Blue Key
+- Different alignment
+"""
+async def Run2_1():  
+    await solve_forge_straight()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge_straight():
+    await right_arm.run_target(50,50)
+    await right_arm.run_angle(50,-30)
+    await drive_base.straight(700)
+    # await drive_base.turn(-30)
+    # await drive_base.straight(20)
+    await drive_base.turn(-40)
+    await drive_base.straight(-30)
+
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_angler_artifacts()
+    await solve_tip_the_scale()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_angler_artifacts():
+    await drive_base.straight(940)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-3000)
+    await drive_base.straight(-110)
+    
+    await drive_base.turn(90)
+    await drive_base.arc(-150,-103, None)
+
+async def solve_tip_the_scale():
+    await drive_base.turn(3)
+    await drive_base.straight(142.5)
+    await right_arm.run_angle(800,-150)
+    await right_arm.run_angle(900,150)
+    
+    await drive_base.straight(-100)
+    await drive_base.turn(-65)
+    await drive_base.straight(300,Stop.COAST_SMART)
+    await drive_base.arc(10,-47, None)
+    #await drive_base.turn(-23, Stop.COAST_SMART)
+
+
+
+
+
+
+"""
+Run #4 
+- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
+- Blue Key
+"""
+async def Run4(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(120)
+    await drive_base.straight(-210)
+    await drive_base.turn(61)
+    await drive_base.straight(133)
+    await right_arm.run_angle(400, -200)
+    await drive_base.straight(90)
+    await right_arm.run_angle(100, 95)
+    #await drive_base.straight(-875)
+    #return with arc
+    await drive_base.straight(-600)
+    await drive_base.arc(10,-47, None)
+    await drive_base.straight(-400,Stop.COAST_SMART)
+
+async def solve_brush_reveal():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+
+async def solve_mineshaft_explorer():
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -90)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 90)
+
+"""
+Run#5
+- Solves Salvage Operation + Statue Rebuild
+- Orange Key
+"""
+async def Run5():
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    #solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    await left_arm.run_angle(500, 290)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
+
+async def solve_salvage_operation():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+
+async def solve_statue_rebuild():
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, 250)
+    await drive_base.turn(30)
+
+"""
+Run#6
+- Solve 2/3 Site Markings
+- Run only if have time
+- Purple Key
+"""
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    #solve_site_mark_1()
+    #solve_site_mark_2()
+    await drive_base.straight(640)
+    await drive_base.straight(-150)
+    await drive_base.turn(-8)
+    await left_arm.run_angle(500, -520)
+    await drive_base.straight(300)
+    await wait(50)
+    await left_arm.run_angle(500, 700)
+    #return to base
+    await drive_base.straight(-300)
+    drive_base.stop()
+
+async def solve_site_mark_1():
+    await drive_base.straight(500)
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+
+async def solve_site_mark_2():
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+
+
+
+# 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 195 < h < 198:  # light blue
+            return "Light_Blue"
+        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()
+        print(color_sensor.color())
+        print(h,s,v)
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        print(color)
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run5() 
+        elif color == "Purple":
+            print('Running Mission 6_7')
+            await Run6_7()  
+        elif color == "Light_Blue":
+            print("Running Mission 2_1")
+            await Run2_1()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())
--- a/competition_codes/state/Updated
+++ b/competition_codes/state/Updated
@@ -0,0 +1,513 @@
+#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
+import umath
+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,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+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)
+
+"""
+Debugging helps
+"""
+DEBUG = 1  # Enable when you want to show logs
+# Example conversion function (adjust min/max values as needed for your hub)
+async def get_battery_percentage(voltage_mV:float):
+    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
+    min_voltage = 5000.0  # min battery level
+    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
+    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
+
+async def wait_button_release():
+    """Wait for all buttons to be released"""
+    while hub.buttons.pressed():
+        await wait(500)
+    await wait(1000)  # Debounce delay
+
+WALL_DISTANCE = 200  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(1000,0)
+
+async def drive_backward():
+    """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
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+        if distance is None:
+            continue
+       
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# Use this to set default
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+# Use this to change drive base movement
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)  
+
+"""
+Run#1
+- Removed forge and who lived here part
+- What's on sale + Silo
+- Green Key
+"""
+async def Run1():  
+    
+    # Fast approach to near-stall position
+    await left_arm.run_angle(2000, 180)  # Fast movement upward
+
+    # Gentle stall detection (shorter distance = faster)
+    await left_arm.run_until_stalled(1500, duty_limit=15)
+    left_arm.reset_angle(0)
+    print(f"Initial left arm angle : {left_arm.angle()}")
+
+    await solve_whats_on_sale_v2()
+    await solve_silo()
+ 
+    # return to base
+    await drive_base.straight(-90)
+    #await drive_base.turn(-100)
+    await drive_base.arc(200,None,-300)
+    drive_base.stop()
+
+async def solve_whats_on_sale():
+
+    right_arm.run_angle(500,30)
+
+    #Automated inconsistency
+    #left_arm.run_angle(500,-119.5)
+    left_arm.run_target(500,-121.5, Stop.HOLD)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+    await drive_base.turn(15)
+
+async def solve_whats_on_sale_v2():
+
+    right_arm.run_angle(500,30)
+
+   # Bring down left arm to position
+    await left_arm.run_angle(2000, -120)
+    #await left_arm.run_until_stalled(-500,duty_limit=15)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    left_arm.reset_angle(0)
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+    await drive_base.turn(15)
+
+async def solve_silo():
+    await drive_base.straight(-80)
+    await drive_base.turn(42)
+    await drive_base.straight(95)
+
+    SPEED = 10000 # speed in degree per second
+    SWING_ANGLE = 60 # the angle!
+    REBOUND_ADJ = 20
+
+    # Repeat this motion 4 times
+    for _ in range(4):
+        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
+        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
+       
+
+    right_arm.run_angle(4000,60, Stop.HOLD)
+
+
+"""
+Run#2
+- This to solve forge, who lived here and heavy lifting combined
+- Red Key
+"""
+async def Run2():  
+    await solve_forge()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge():
+    await right_arm.run_target(50,50)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.arc(350,113, None)
+
+    await drive_base.straight(20)
+    await drive_base.turn(-60)
+    await drive_base.straight(-47)
+
+async def solve_heavy_lifting():
+    await right_arm.run_angle(2000,-160) # arm down
+    await wait(100)
+    await drive_base.turn(30) # turn right a little bit
+    await right_arm.run_angle(2000,160) #arm up
+    await drive_base.turn(-30) #reset position
+
+async def solve_who_lived_here():
+    await drive_base.straight(50)
+    await drive_base.turn(-15)
+    await drive_base.straight(50)
+    await drive_base.turn(-25)
+    await drive_base.straight(-50)
+    await drive_base.turn(-40)
+    await drive_base.straight(50)
+    right_arm.run_angle(1000,-160)
+    await drive_base.turn(-60)
+    await right_arm.run_angle(2000,160)
+
+"""
+Run#2.1
+- Alternate solution for Forge, Who lived here and Heavy Lifting combined
+- Light Blue Key
+- Different alignment
+"""
+async def Run2_1():  
+    await solve_forge_straight()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge_straight():
+    await right_arm.run_target(50,50)
+    await right_arm.run_angle(50,-30)
+    await drive_base.straight(700)
+    # await drive_base.turn(-30)
+    # await drive_base.straight(20)
+    await drive_base.turn(-40)
+    await drive_base.straight(-30)
+
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_angler_artifacts()
+    await solve_tip_the_scale()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_angler_artifacts():
+    await drive_base.straight(870)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(45)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-750)
+    await drive_base.straight(-130)
+    
+    await drive_base.turn(67)
+
+async def solve_tip_the_scale():
+    await drive_base.straight(-200)
+    await drive_base.straight(60)
+    await drive_base.turn(22)
+
+
+
+
+
+
+"""
+Run #4 
+- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
+- Blue Key
+"""
+async def Run4(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(120)
+    await drive_base.straight(-210)
+    await drive_base.turn(61)
+    await drive_base.straight(133)
+    await right_arm.run_angle(400, -200)
+    await drive_base.straight(90)
+    await right_arm.run_angle(100, 95)
+    await drive_base.straight(-875)
+
+async def solve_brush_reveal():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+
+async def solve_mineshaft_explorer():
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -90)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 90)
+
+"""
+Run#5
+- Solves Salvage Operation + Statue Rebuild
+- Orange Key
+"""
+async def Run5():
+    # Getting the sand down
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    # Shoving the boat into place
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    # Solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -300)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    # Lift up statue
+    await left_arm.run_angle(500, 100, Stop.HOLD)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
+
+async def solve_salvage_operation():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+
+async def solve_statue_rebuild():
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700,200)
+    await drive_base.turn(30)
+
+"""
+Run#6
+- Solve 2/3 Site Markings
+- Run only if have time
+- Purple Key
+"""
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    solve_site_mark_1()
+    solve_site_mark_2()
+    #return to base
+    await drive_base.straight(-300)
+    drive_base.stop()
+
+async def solve_site_mark_1():
+    await drive_base.straight(500)
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+
+async def solve_site_mark_2():
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+
+async def Run10():  # experimental map reveal attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(260)
+    left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-300)
+    await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    await drive_base.straight(-200)
+    await left_arm.run_angle(300,-215)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run11():  # experimental surface brushing attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-100)
+    await drive_base.turn(30)
+    await drive_base.straight(-190)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    await left_arm.run_angle(300,-300)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run12():
+    await drive_base.straight(900)
+    await drive_base.turn(83)
+    await left_arm.run_angle(3000, -300)
+    await right_arm.run_angle(1100, -180)
+    drive_base.settings(150, 50, 50, 50)
+    await drive_base.straight(120)
+    left_arm.reset_angle(0)
+    await left_arm.run_angle(50, 50)
+    await right_arm.run_angle(50, 90)
+    await drive_base.straight(-100)
+    drive_base.settings(950, 750, 750, 750)
+    await drive_base.turn(110)
+    await drive_base.straight(1000)
+
+
+# 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 195 < h < 198:  # light blue
+            return "Light_Blue"
+        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:
+        pressed =  hub.buttons.pressed()
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        if DEBUG :
+            #print(color_sensor.color())
+            #print(h,s,v)
+            #print(color)
+            print(f"button pressed: {pressed}")
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run5() 
+        elif color == "Purple":
+            print('Running Mission 6')
+            await Run11()  
+        elif color == "Light_Blue":
+            print("Running Mission 2_1")
+            await Run12()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+            #pass
+
+        # Show battery % for debugging 
+        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
+            # Get the battery voltage in millivolts (mV)
+            battery_voltage_mV = hub.battery.voltage()
+            # Use the function with your voltage reading
+            percentage = await get_battery_percentage(float(battery_voltage_mV))
+            if DEBUG:
+                print(f"Battery voltage: {battery_voltage_mV} mV")
+                print(f"Battery level: {percentage:.3f}%")
+                print("FLL Robot System Ready!")
+                await hub.display.text(f"{percentage:.0f}")
+            break
+        elif pressed == None:
+            continue 
+
+        await wait(10)
+# Run the main function
+run_task(main())
--- a/competition_codes/state/run10_experimental.py
+++ b/competition_codes/state/run10_experimental.py
@@ -0,0 +1,16 @@
+await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(260)
+    left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-300)
+    await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    await drive_base.straight(-200)
+    await left_arm.run_angle(300,-215)
+    await drive_base.straight(-600)
+    drive_base.stop()
--- a/competition_codes/state/run11_experimental.py
+++ b/competition_codes/state/run11_experimental.py
@@ -0,0 +1,16 @@
+await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-180)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    await left_arm.run_angle(300,-300)
+    await drive_base.straight(-600)
+    drive_base.stop()
--- a/competition_codes/state/sunprarie_state_main_FINAL.py
+++ b/competition_codes/state/sunprarie_state_main_FINAL.py
@@ -0,0 +1,513 @@
+#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
+import umath
+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,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+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)
+
+"""
+Debugging helps :)
+"""
+DEBUG = 0  # Enable when you want to show logs
+# Example conversion function (adjust min/max values as needed for your hub)
+async def get_battery_percentage(voltage_mV:float):
+    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
+    min_voltage = 5000.0  # min battery level
+    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
+    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
+
+async def wait_button_release():
+    """Wait for all buttons to be released"""
+    while hub.buttons.pressed():
+        await wait(500)
+    await wait(1000)  # Debounce delay
+
+WALL_DISTANCE = 200  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(1000,0)
+
+async def drive_backward():
+    """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
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+        if distance is None:
+            continue
+       
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# Use this to set default
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+# Use this to change drive base movement
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)  
+
+"""
+Run#1
+- Removed forge and who lived here part
+- What's on sale + Silo
+- Green Key
+"""
+async def Run1():  
+    
+    # Fast approach to near-stall position
+    await left_arm.run_angle(2000, -190)  # Fast movement downward
+
+    # Gentle stall detection (shorter distance = faster)
+    await left_arm.run_until_stalled(-1500, duty_limit=15)
+    left_arm.reset_angle(0)
+    print(f"Initial left arm angle : {left_arm.angle()}")
+
+    await solve_whats_on_sale_v3()
+    await solve_silo()
+ 
+    # return to base
+    await drive_base.straight(-90)
+    #await drive_base.turn(-100)
+    await drive_base.arc(200,None,-300)
+    drive_base.stop()
+
+async def solve_whats_on_sale_v3():
+
+    right_arm.run_angle(500,30)
+
+    #Automated inconsistency
+    #left_arm.run_angle(500,-119.5)
+    left_arm.run_target(500,70, Stop.HOLD)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+    await drive_base.turn(15)
+
+async def solve_whats_on_sale_v2():
+
+    right_arm.run_angle(500,30)
+
+   # Bring down left arm to position
+    await left_arm.run_angle(2000, -120)
+    #await left_arm.run_until_stalled(-500,duty_limit=15)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    left_arm.reset_angle(0)
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+    await drive_base.turn(15)
+
+async def solve_silo():
+    await drive_base.straight(-80)
+    await drive_base.turn(42)
+    await drive_base.straight(95)
+
+    SPEED = 10000 # speed in degree per second
+    SWING_ANGLE = 60 # the angle!
+    REBOUND_ADJ = 20
+
+    # Repeat this motion 4 times
+    for _ in range(4):
+        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
+        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
+       
+
+    right_arm.run_angle(4000,60, Stop.HOLD)
+
+
+"""
+Run#2
+- This to solve forge, who lived here and heavy lifting combined
+- Red Key
+"""
+async def Run2():  
+    await solve_forge()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge():
+    await right_arm.run_target(50,50)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.arc(350,113, None)
+
+    await drive_base.straight(20)
+    await drive_base.turn(-60)
+    await drive_base.straight(-47)
+
+async def solve_heavy_lifting():
+    await right_arm.run_angle(2000,-160) # arm down
+    await wait(100)
+    await drive_base.turn(30) # turn right a little bit
+    await right_arm.run_angle(2000,160) #arm up
+    await drive_base.turn(-30) #reset position
+
+async def solve_who_lived_here():
+    await drive_base.straight(50)
+    await drive_base.turn(-15)
+    await drive_base.straight(50)
+    await drive_base.turn(-25)
+    await drive_base.straight(-50)
+    await drive_base.turn(-40)
+    await drive_base.straight(50)
+    right_arm.run_angle(1000,-160)
+    await drive_base.turn(-60)
+    await right_arm.run_angle(2000,160)
+
+"""
+Run#2.1
+- Alternate solution for Forge, Who lived here and Heavy Lifting combined
+- Light Blue Key
+- Different alignment
+"""
+async def Run2_1():  
+    await solve_forge_straight()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge_straight():
+    await right_arm.run_target(50,50)
+    await right_arm.run_angle(50,-30)
+    await drive_base.straight(700)
+    # await drive_base.turn(-30)
+    # await drive_base.straight(20)
+    await drive_base.turn(-40)
+    await drive_base.straight(-30)
+
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_angler_artifacts()
+    await solve_tip_the_scale()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_angler_artifacts():
+    await drive_base.straight(870)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(45)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-750)
+    await drive_base.straight(-130)
+    
+    await drive_base.turn(67)
+
+async def solve_tip_the_scale():
+    await drive_base.straight(-200)
+    await drive_base.straight(60)
+    await drive_base.turn(22)
+
+
+
+
+
+
+"""
+Run #4 
+- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
+- Blue Key
+"""
+async def Run4(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(120)
+    await drive_base.straight(-210)
+    await drive_base.turn(61)
+    await drive_base.straight(133)
+    await right_arm.run_angle(400, -200)
+    await drive_base.straight(90)
+    await right_arm.run_angle(100, 95)
+    await drive_base.straight(-875)
+
+async def solve_brush_reveal():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+
+async def solve_mineshaft_explorer():
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -90)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 90)
+
+"""
+Run#5
+- Solves Salvage Operation + Statue Rebuild
+- Orange Key
+"""
+async def Run5():
+    # Getting the sand down
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    # Shoving the boat into place
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    # Solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -300)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    # Lift up statue
+    await left_arm.run_angle(500, 100, Stop.HOLD)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
+
+async def solve_salvage_operation():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+
+async def solve_statue_rebuild():
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700,200)
+    await drive_base.turn(30)
+
+"""
+Run#6
+- Solve 2/3 Site Markings
+- Run only if have time
+- Purple Key
+"""
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    solve_site_mark_1()
+    solve_site_mark_2()
+    #return to base
+    await drive_base.straight(-300)
+    drive_base.stop()
+
+async def solve_site_mark_1():
+    await drive_base.straight(500)
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+
+async def solve_site_mark_2():
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+
+async def Run10():  # experimental map reveal attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(260)
+    left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-300)
+    await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    await drive_base.straight(-200)
+    await left_arm.run_angle(300,-215)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run11():  # experimental surface brushing attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-230)
+    await drive_base.turn(30)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    #await drive_base.straight(-80)
+    #await left_arm.run_angle(300, -75)
+    await drive_base.arc(-650,None,-800)
+    drive_base.stop()
+
+async def Run12():
+    await drive_base.straight(900)
+    await drive_base.turn(83)
+    await left_arm.run_angle(3000, -300)
+    await right_arm.run_angle(1100, -180)
+    drive_base.settings(150, 50, 50, 50)
+    await drive_base.straight(120)
+    left_arm.reset_angle(0)
+    await left_arm.run_angle(50, 50)
+    await right_arm.run_angle(50, 90)
+    await drive_base.straight(-100)
+    drive_base.settings(950, 750, 750, 750)
+    await drive_base.turn(110)
+    await drive_base.straight(1000)
+
+
+# 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 195 < h < 198:  # light blue
+            return "Light_Blue"
+        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:
+        pressed =  hub.buttons.pressed()
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        if DEBUG :
+            #print(color_sensor.color())
+            #print(h,s,v)
+            #print(color)
+            print(f"button pressed: {pressed}")
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run5() 
+        elif color == "Purple":
+            print('Running Mission 6')
+            await Run11()  
+        elif color == "Light_Blue":
+            print("Running Mission 2_1")
+            await Run12()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+            #pass
+
+        # Show battery % for debugging 
+        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
+            # Get the battery voltage in millivolts (mV)
+            battery_voltage_mV = hub.battery.voltage()
+            # Use the function with your voltage reading
+            percentage = await get_battery_percentage(float(battery_voltage_mV))
+            if DEBUG:
+                print(f"Battery voltage: {battery_voltage_mV} mV")
+                print(f"Battery level: {percentage:.3f}%")
+                print("FLL Robot System Ready!")
+                await hub.display.text(f"{percentage:.0f}")
+            break
+        elif pressed == None:
+            continue 
+
+        await wait(10)
+# Run the main function
+run_task(main())
--- a/competition_codes/twist_scrimmage/twist_scrimmage.py
+++ b/competition_codes/twist_scrimmage/twist_scrimmage.py
--- a/config.py
+++ b/config.py
@@ -1,40 +0,0 @@
-# config.py - Robot configuration shared across all modules
-from pybricks.hubs import PrimeHub
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor
-from pybricks.parameters import Port
-
-# Initialize hub
-hub = PrimeHub()
-
-# Robot hardware configuration
-ROBOT_CONFIG = {
-    # Drive motors
-    'left_motor': Motor(Port.A),
-    'right_motor': Motor(Port.B),
-    
-    # Attachment motors
-    'attachment_motor': Motor(Port.C),
-    'lift_motor': Motor(Port.D),
-    
-    # Sensors
-    #'color_left': ColorSensor(Port.E),
-    'color_back': ColorSensor(Port.F),
-    'ultrasonic': UltrasonicSensor(Port.E),
-    
-    # Hub reference
-    'hub': hub
-}
-
-# Speed and distance constants
-SPEEDS = {
-    'FAST': 400,
-    'NORMAL': 250,
-    'SLOW': 100,
-    'PRECISE': 50
-}
-
-DISTANCES = {
-    'TILE_SIZE': 300,  # mm per field tile
-    'ROBOT_LENGTH': 180,  # mm
-    'ROBOT_WIDTH': 140    # mm
-}
--- a/missions/Boat.py
+++ b/missions/Boat.py
@@ -2,26 +2,36 @@ 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
+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)
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)

+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)

-drive_base.settings(550,700,100,100)
-
+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)

-first_run = False
-
 async def main():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
-    
+    await drive_base.straight(700)
+    await drive_base.turn(-17)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(62)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(87)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
 run_task(main())
--- a/missions/Bautism.py
+++ b/missions/Bautism.py
@@ -2,7 +2,7 @@ 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
+from pybricks.tools import wait, StopWatch, run_task, multitask

 hub = PrimeHub()

@@ -23,23 +23,15 @@ drive_base.settings(300,1000,300,750)
 drive_base.use_gyro(True)

 async def main():
-    await drive_base.straight(519)
-    await arm_motor_left.run_angle(300, -100)
-    await arm_motor_left.run_angle(300, 500)
-    await drive_base.straight(180)
-    await drive_base.turn(-37)
-    await drive_base.straight(50)
-    await arm_motor.run_angle(300, -400)
-    await drive_base.straight(-150)
-    await drive_base.turn(135)
-    await drive_base.straight(50)
-    await arm_motor.run_angle(300, 400)
-    await drive_base.straight(-75)
-    await arm_motor.run_angle(300, 300)
-    await drive_base.turn(-50)
-    await drive_base.straight(162)
-    await arm_motor.run_angle(100, -200)
-    await drive_base.straight(30)
-    await arm_motor.run_angle(50,-500)
+    await drive_base.straight(700)
+    await drive_base.turn(-17)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(62)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(87)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)

 run_task(main())
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -19,31 +19,47 @@ 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)
+    
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,-90)
+    await drive_base.straight(200)

-    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(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,90)

+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,-180)
+
+    await drive_base.straight(-90)
+    left_arm.run_angle(500,180)
    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
+    await drive_base.turn(15)

-    await drive_base.turn(-30)
-    right_arm.run_angle(50,500)
+    await drive_base.straight(-173)
    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)
+    await drive_base.straight(120)
+    left_arm.run_angle(1000,-670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(297)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-90)
+    await drive_base.turn(-100)
+    await drive_base.arc(-500,None,600)
+
 run_task(main())
--- a/missions/New_MapReveal/New_MapReveal_Mineshaft.py
+++ b/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())
--- a/missions/Rishi.py
+++ b/missions/Rishi.py
--- a/missions/Sand_mission.py
+++ b/missions/Sand_mission.py
--- a/missions/Send_Over_Final.py
+++ b/missions/Send_Over_Final.py
@@ -0,0 +1,59 @@
+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)
+
+WALL_DISTANCE = 200  # 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)
+
+async def main():
+    await drive_base.straight(-920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+    
+run_task(main())
--- a/missions/Set2.py
+++ b/missions/Set2.py
@@ -1,50 +0,0 @@
-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())
--- a/missions/mission_09_old.py
+++ b/missions/mission_09_old.py
@@ -1,44 +0,0 @@
-# ---JOHANNES---
-# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!!
-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
-
-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.E, Direction.CLOCKWISE)
-arm_motor.run_angle(299,90, Stop.HOLD)
-# 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=54, axle_track=140)
-
-print('The default settings are: ' + str(drive_base.settings()))
-drive_base.settings(100,1000,166,750)
-# Optionally, uncomment the line below to use the gyro for improved accuracy.
-drive_base.use_gyro(True)
-
-async def solveM9():
-    print("Solving Mission 9")
-    await drive_base.turn(45)
-    await drive_base.straight(260)
-    await arm_motor.run_angle(500,-500, Stop.HOLD)
-    await drive_base.straight(-40)
-    await drive_base.turn(92)
-    await drive_base.straight(-120)
-    await drive_base.straight(220)
-    await arm_motor.run_angle(500,100, Stop.HOLD)
-    await drive_base.turn(-50)
-    await drive_base.straight(-600)
-async def main():
-    await drive_base.straight(50)
-    print("Hello, Robot is starting to run.")
-    await solveM9()
-
-run_task(main())
--- a/missions/tip
+++ b/missions/tip
@@ -15,28 +15,23 @@ 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)   
-    right_arm.run_angle(500,200)
-    await drive_base.straight(70)
+   
+    right_arm.run_angle(500,400)
+    await drive_base.straight(800)
+    await drive_base.turn(90)
+    await drive_base.straight(88)
+    await right_arm.run_angle(100,-300)
+    await right_arm.run_angle(400,400)
    
-    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())
+    await drive_base.straight(-100)
+    await drive_base.turn(90)
+    await drive_base.straight(800)
+    drive_base.brake()
+
+run_task(main())
+
--- a/old_combined/1main.py
+++ b/old_combined/1main.py
@@ -1,4 +1,3 @@
-
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction
--- a/old_combined/2main.py
+++ b/old_combined/2main.py
@@ -1,4 +1,3 @@
-
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction
--- a/old_combined/3main.py
+++ b/old_combined/3main.py
--- a/old_combined/4main.py
+++ b/old_combined/4main.py
--- a/old_combined/main5.py
+++ b/old_combined/main5.py
--- a/utils/FINAL_STARTER_BLANK_CODE.py
+++ b/utils/FINAL_STARTER_BLANK_CODE.py
@@ -1,27 +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 run_task, multitask
 from pybricks.tools import wait, StopWatch
-from pybricks.tools import run_task,multitask
+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, Direction.COUNTERCLOCKWISE)
+left_arm = Motor(Port.C)
+
 right_arm = Motor(Port.D)
-
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-
-drive_base.settings(880,850,700,700)
-
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm
+AXLE_TRACK = 180  # mm
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
 drive_base.use_gyro(True)

-first_run = True
+WALL_DISTANCE = 200  # mm

 async def main():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
-    
-run_task(main())
+    # Your code goes here
+
+run_task(main())    
--- a/utils/color_sensor_navi.py
+++ b/utils/color_sensor_navi.py
@@ -1,41 +0,0 @@
-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
-
-hub = PrimeHub()
-
-# Robot hardware configuration ROBOT_CONFIG = {     # Drive motors     'left_motor': Motor(Port.A),     'right_motor': Motor(Port.B),          # Attachment motors     'attachment_motor': Motor(Port.C),     'lift_motor': Motor(Port.D),          # Sensors     'color_left': ColorSensor(Port.E),     'color_right': ColorSensor(Port.F),     'ultrasonic': UltrasonicSensor(Port.S1),          # Hub reference     'hub': hub }  # Speed and distance constants SPEEDS = {     'FAST': 400,     'NORMAL': 250,     'SLOW': 100,     'PRECISE': 50 }  DISTANCES = {     'TILE_SIZE': 300,  # mm per field tile     'ROBOT_LENGTH': 180,  # mm     'ROBOT_WIDTH': 140    # mm }
-
-
-def mission_run_1():
-    print('Running missions in Run 1')
-
-def mission_run_2():
-    print('Running missions in Run 2')
-
-def mission_run_3():
-    print('Running missions in Run 3')
-
-# In main.py - sensor-based navigation
-def main(self):
-    """Use color sensor to select runs"""
-    print("Place colored object in front of sensor:")
-    print("RED=Run1, GREEN=Run2, BLUE=Run3, YELLOW=Test")
-    while True:
-        color = ROBOT_CONFIG['color_left'].color()
-        if color == Color.RED:
-            mission_run_1()
-            break
-        elif color == Color.GREEN:
-            mission_run_2()
-            break
-        elif color == Color.BLUE:
-            mission_run_3()
-            break
-        elif color == Color.YELLOW:
-            self.test_mode()
-            break
-        wait(1000)
-main()
--- a/utils/constants.py
+++ b/utils/constants.py
@@ -1,13 +0,0 @@
-#Speed and distance constants
-SPEEDS = {
-    'FAST': 400,
-    'NORMAL': 250,
-    'SLOW': 100,
-    'PRECISE': 50
-}
-
-DISTANCES = {
-    'TILE_SIZE': 300,  # mm per field tile
-    'ROBOT_LENGTH': 180,  # mm
-    'ROBOT_WIDTH': 140    # mm
-}
--- a/utils/starter_drivebase_code.py
+++ b/utils/starter_drivebase_code.py
@@ -1,36 +0,0 @@
-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
-
-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.E, Direction.CLOCKWISE)
-arm_motor.run_angle(299,90, Stop.HOLD)
-# 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=54, axle_track=112)
-
-print('The default settings are: ' + str(drive_base.settings()))
-drive_base.settings(100,1000,166,750)
-# Optionally, uncomment the line below to use the gyro for improved accuracy.
-drive_base.use_gyro(True)
-
-# Drive forward by 500mm (half a meter).
-drive_base.straight(500)
-
-# Turn around clockwise by 180 degrees.
-drive_base.turn(180)
-
-# Drive forward again to get back to the start.
-drive_base.straight(500)
-
-# Turn around counterclockwise.
-drive_base.turn(-180)
-arm_motor.run_angle(299,-90, Stop.HOLD)