Merge pull request 'Update missions/Boat.py' (#37 ) from Rishi_dev into dev

Reviewed-on: #37
Update missions/Send_Over_Final.py
2025-11-06 01:08:48 +00:00 · 2025-11-06 01:08:31 +00:00 · 2025-11-06 01:08:04 +00:00 · 2025-11-06 01:07:19 +00:00 · 2025-11-06 01:06:43 +00:00 · 2025-11-06 01:06:28 +00:00
18 changed files with 236 additions and 523 deletions
--- a/33
+++ b/33
@@ -1,33 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(536)
-    await drive_base.turn(60, Stop.HOLD)
-    await drive_base.straight(30)
-
-    await right_arm.run_angle(5000,3000)
-    await drive_base.straight(40)
-    await right_arm.run_angle(5000,-4000)
-    await drive_base.straight(-60)
-
-    await drive_base.turn(-60)
-    await drive_base.straight(-670)
-run_task(main())
--- 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 +61,45 @@ Repository

 ## How to Use

-### Installation & Deployment
+### Installation & Deployment - from the server - everyday

-1. **Load the Code**
-   ```bash
-   # Open the master.py file in Pybricks IDE
-   ```
+1. Download the file codes_for_scrimmage/hazmat/mainhazmatUPD.py
+ - You can do this through the repo, by using cURL, or by using git.
+ - Repo - Go to [codes_for_scrimmage/hazmat/mainhazmatUPD.py](codes_for_scrimmage/hazmat/mainhazmatUPD.py) and click the "Download" button.
+ - cURL or another HTTP data transferrer - 

-2. **Connect to Robot**
-   - Pair your robot via Bluetooth in Pybricks
+ ```curl -o mainhazmatUPD.py https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/main/codes_for_scrimmage/hazmat/mainhazmatUPD.py```
+ - git CLI - 
+
+ ```git clone -b dev https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed.git && cd solutions_season_unearthed/codes_for_scrimmage/hazmat```
+ 
+   Then use mainhazmatUPD.py.
+
+2. Open https://code.pybricks.com/ and select the "Import a file" button on the top of the left bar. Import the .py file. Pair your robot via Bluetooth in Pybricks by selecting the Bluetooth button.
+
+ - Import button looks like this:
+ ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/import.png)
+ - Bluetooth button looks like this:
+ ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/bluetooth.png)
+
+3. **Upload to Robot** - Click "Download and Run" or send the program to the robot
+ - Run button looks like this: ![alt text](https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed/raw/branch/do-not-merge/run.png)
   
-3. **Upload to Robot**
-   - Click "Download and Run" or send the program to the robot

 4. **Start Your Run**
-   - Hold a colored LEGO brick up to the color sensor
-   - Different colors trigger different mission runs!
+   - If starting without Pybricks, press the center circular button on the SPIKE Prime Hub to start the program.
+   - Hold a colored LEGO brick up to the color sensor.
+   - Different colors trigger different mission runs - color mapping is below.

 ### Color Start System
-| Color | Mission | Celebration Sound |
-|-------|-----------|------------------|
-| Green  🟩 | Run 1 | Victory Fanfare |
-| White  ⚪ | Run 2 | Rickroll Inspired |
-| Yellow 🟨 | Run 3 | Success Chime |
-| Orange 🟧 | Run 4 | Power Up |
-| Blue   🟦 | Run 5 | Power Up |
-| Red    🟥 | Run 6 | Ta-Da! |
-
-> **Tip** Organize your colored bricks before the match for quick run selection!
+| Color | Mission |
+|-------|-----------|
+| ```Green  🟩 ```| Run 1 |
+| ```Purple 🟪 ```| Run 2 |
+| ```Red    🟥 ```| Run 3 |
+| ```Yellow 🟨 ```| Run 4 |
+| ```Blue   🟦 ```| Run 5 |
+| ```Orange 🟧 ```| Run 6 |

 ---

@@ -114,9 +125,7 @@ Team members can contribute by:

 **GNU General Public License v3.0**

-```
 You can take inspiration from our code, but you can't take our exact code.
-```

 This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for complete details.

@@ -130,14 +139,8 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for com

 ## Contact & Support

-**Team 65266 Lego Dynamics**
+**Team 65266 - Lego Dynamics**

 Questions about our approach? Interested in collaboration? Reach out!

 ---
-
-<div align="center">
-
-Star this repo if you found it helpful!
-
-</div>
--- a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
+++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
@@ -140,40 +140,41 @@ async def Run4():  # From Send_Over_Final.py

 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(519)
-    await left_arm.run_angle(-10000, 300)
-    await left_arm.run_angle(10000, 600)
-    await drive_base.straight(160)
-    await drive_base.turn(-30)
-    await drive_base.straight(50)
-    await right_arm.run_angle(3000, 3000)
-    await drive_base.straight(-150)
-    await drive_base.turn(120)
-    await drive_base.straight(25)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(-110)
-    await drive_base.turn(-43)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(295)
-    await right_arm.run_angle(10000, 9000)
-    await drive_base.straight(-65)
-    await drive_base.turn(45)
-    await drive_base.straight(175)
-    await drive_base.turn(24.5)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
    await drive_base.straight(100)
-    await right_arm.run_angle(10000, 3500)
-    await drive_base.turn(-30)
-    await drive_base.straight(-300)
-    await drive_base.turn(-80)
-    await drive_base.straight(-700)
+    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(750)
-    await drive_base.straight(-650)
+    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
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -21,7 +21,7 @@ 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
+WALL_DISTANCE = 200  # mm

 async def drive_forward():
    """Drive forward continuously using DriveBase."""
@@ -45,30 +45,35 @@ async def monitor_distance():

 # New Section
 async def Run1():  # From M8_5.py
-    left_arm.run_angle(1000, -300)
+    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)
+    right_arm.run_angle(70,500)
    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)
+    await drive_base.straight(-150)
+    await left_arm.run_angle(1000,450)
+    await drive_base.straight(27.67)  #turns back to solve market place
+    await drive_base.turn(90)      #Will solve market place
+    await drive_base.straight(-450)
+    await drive_base.turn(70)
+    await drive_base.straight(600)
    
 async def Run2():  # From Heavy_lifting_final.py
    await drive_base.straight(200)
@@ -105,76 +110,62 @@ async def Run3():  # tip the scale.py
    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.turn(-41) #ma din din din dun 67 41 21 
    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
+    #Solve
    drive_base.turn(-10)
-    await left_arm.run_angle(10000, 4000)
-    #Get to Red Start
+    await left_arm.run_angle(10000,-4000)
    await drive_base.straight(-110)
    await drive_base.turn(90)
-    # while True:
-    #     distance_mm = await lazer_ranger.distance()
-    #     print('distancing...',distance_mm)

-    #     if distance_mm < 300:
-    #         drive_base.stop
-    #         break
-    #     else:
-    #         drive_base.straight(300)
-    #         print('running...')
-    #     await wait(10)
    await multitask(
        drive_forward(), 
        monitor_distance()
    )

-
-
 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(519)
-    await left_arm.run_angle(-10000, 300)
-    await left_arm.run_angle(10000, 600)
-    await drive_base.straight(160)
-    await drive_base.turn(-30)
-    await drive_base.straight(50)
-    await right_arm.run_angle(3000, 3000)
-    await drive_base.straight(-150)
-    await drive_base.turn(120)
-    await drive_base.straight(25)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(-110)
-    await drive_base.turn(-43)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(295)
-    await right_arm.run_angle(10000, 9000)
-    await drive_base.straight(-65)
-    await drive_base.turn(45)
-    await drive_base.straight(175)
-    await drive_base.turn(24.5)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
    await drive_base.straight(100)
-    await right_arm.run_angle(10000, 3500)
-    await drive_base.turn(-30)
-    await drive_base.straight(-300)
-    await drive_base.turn(-80)
-    await drive_base.straight(-700)
-
+    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(750)
-    await drive_base.straight(-650)
-
+    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):
--- 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/Boat_mission.py
+++ b/missions/Boat_mission.py
@@ -1,27 +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
-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(880,850,700,700)
-
-drive_base.use_gyro(True)
-
-first_run = True
-
-async def main():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
-    
-run_task(main())
--- a/missions/Heavy
+++ b/missions/Heavy
@@ -1,37 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await right_arm.run_angle(2000,1000)
-
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-    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 drive_base.straight(-60)
-
-    await drive_base.turn(-60)
-    await drive_base.straight(-525)
-    await drive_base.turn(20)
-    await drive_base.straight(-200)
-    
--- a/missions/Heavy_lifting_final.py
+++ b/missions/Heavy_lifting_final.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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    #Get to mission
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-    #Solve mission
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-    #Return home
-    await drive_base.straight(-100)
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-run_task(main())
--- 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/Lift.py
+++ b/missions/Lift.py
@@ -1,34 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-run_task(main())
--- a/missions/Lift2.py
+++ b/missions/Lift2.py
@@ -1,34 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-    await drive_base.straight(200)
-    await drive_base.turn(-20)
-    await drive_base.straight(525)
-    await drive_base.turn(60)
-
-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
-
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-run_task(main())
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -19,31 +19,44 @@ 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)
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,-80)
+    await drive_base.straight(200)

-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,80)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,-170)
+
+    await drive_base.straight(-270)
+    await drive_base.turn(40)
+    await drive_base.straight(135)
+    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(300)
+    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(-120)
+    await drive_base.turn(-100)
+    await drive_base.straight(300)
+    await drive_base.turn(-45)
+    await drive_base.straight(500)

-    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/missions/Rishi.py
+++ b/missions/Rishi.py
@@ -37,14 +37,6 @@ async def main():
    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)
+    await arm_motor.run_angle(10000, 10000)
 run_task(main())
--- a/missions/Sand
+++ b/missions/Sand
@@ -1,29 +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
-from pybricks.tools import run_task,multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-
-drive_base.settings(400,500,100,100)
-
-drive_base.use_gyro(True)
-
-
-async def main():
-    await drive_base.straight(500)
-    await right_arm.run_angle(300,100)
-    await drive_base.straight(-100)
-    await right_arm.run_angle(300,-100)
-    await drive_base.straight(-350)
-    
-run_task(main())
--- a/missions/Send_Over.py
+++ b/missions/Send_Over.py
@@ -1,31 +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
-from pybricks.tools import run_task, multitask
-
-hub = PrimeHub()
-
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)
-
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-
-drive_base.settings(600,500,300,200)
-drive_base.use_gyro(True)
-
-async def main():
-
-    await drive_base.straight(915)
-    await drive_base.turn(-90)
-    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-4000)
-    await drive_base.straight(-90)
-    await drive_base.turn(80)
-    await drive_base.straight(2000)
-
-run_task(main())
--- a/missions/Send_Over_Final.py
+++ b/missions/Send_Over_Final.py
@@ -19,28 +19,41 @@ drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, 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)
+
 async def main():
-    #Get to mission
-    await drive_base.straight(920)
+    await drive_base.straight(-920)
    await drive_base.turn(-90,Stop.HOLD)
    await drive_base.straight(65)
-    #Solve mission
+    #Solve
    drive_base.turn(-10)
    await left_arm.run_angle(10000,-4000)
-    #Get to Red Start
    await drive_base.straight(-110)
    await drive_base.turn(90)
-    await drive_base.straight(500)
-    while True:
-        distance_mm = await lazer_ranger.distance()
-        print('distancing...',distance_mm)

-        if distance_mm < 300:
-            drive_base.stop
-            break
-        else:
-            drive_base.straight(300)
-            print('running...')
-        await wait(10)
+await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
    
 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
@@ -15,31 +15,34 @@ left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
 right_arm = Motor(Port.D)

 drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(300,1000,300,200)
+drive_base.settings(600,500,300,200)

-#drive_base.use_gyro(True)
+drive_base.use_gyro(True)

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


-
Author	SHA1	Message	Date
Atharv	94043eb522	Merge pull request 'Update missions/Boat.py' (#37 ) from Rishi_dev into dev Reviewed-on: #37	2025-11-06 01:08:48 +00:00
Johannes	a690350d1d	Update missions/Send_Over_Final.py	2025-11-06 01:08:31 +00:00
Atharv	8d4b296331	Delete missions/mission_09_old.py	2025-11-06 01:08:04 +00:00
Atharv	73553b0964	Delete missions/Send_Over.py	2025-11-06 01:07:19 +00:00
Atharv	b1f378eae7	Delete missions/Sand Mission.py	2025-11-06 01:06:43 +00:00
Atharv	439aca673f	Delete missions/Lift2.py	2025-11-06 01:06:28 +00:00
Atharv	4b7491637d	Delete missions/Lift.py	2025-11-06 01:06:20 +00:00
Rishikesh Lolapu	9ca07a36a8	Update missions/Boat.py	2025-11-06 01:06:09 +00:00
Atharv	6c6b7f1f02	Delete missions/Heavy_lifting_final.py	2025-11-06 01:06:05 +00:00
Atharv	b97dcf6837	Delete missions/Heavy lifting.py	2025-11-06 01:05:57 +00:00
Atharv	eea26150f9	Upload files to "missions"	2025-11-06 01:05:24 +00:00
Atharv	d056255994	Delete missions/Boat.py	2025-11-06 01:04:37 +00:00
Atharv	5f0ffea7bc	Delete missions/Boat_mission.py	2025-11-06 01:04:31 +00:00
Atharv	9a573c4eb2	Delete missions/Bautism.py	2025-11-06 01:03:46 +00:00
Atharv	a0a4fa4792	Merge pull request 'Rishi_dev' (#36 ) from Rishi_dev into dev Reviewed-on: #36	2025-11-06 01:01:39 +00:00
Rishikesh Lolapu	14bc8d291a	Add missions/Hypo.py	2025-11-06 00:58:52 +00:00
Atharv	b91e701f4c	Upload files to "missions" from risshi ramdom ahhhh repo	2025-11-06 00:03:28 +00:00
Atharv	debbc4e4d0	Delete missions/Set2.py	2025-11-06 00:03:03 +00:00
Johannes	0c7633d92d	Update missions/M8_5.py	2025-11-04 18:21:26 +00:00
Johannes	3b81a3ff2b	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 02:57:00 +00:00
Rishikesh Lolapu	401033b185	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 01:18:44 +00:00
Rishikesh Lolapu	9cdd9886e3	Update codes_for_scrimmage/hazmat/HazmatCodeChanges.py	2025-11-04 01:15:50 +00:00
Johannes	3a45721812	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 01:10:02 +00:00
Atharv	a65ad1470c	Update README.md	2025-10-31 16:09:41 +00:00
Atharv	b36a9f3355	Merge pull request 'dev' (#34 ) from dev into Rishi_dev Reviewed-on: #34	2025-10-31 11:57:36 +00:00
Atharv	e785a8ad05	Delete HEAVY_LIFTING_UPD we dont need it it is alr in missions/	2025-10-30 15:42:53 +00:00
Atharv	a6bbba9419	Update README.md	2025-10-30 15:42:31 +00:00
Atharv	8ccf8b9a5a	Update README.md	2025-10-30 12:21:46 +00:00
Atharv	bb95852bf1	Update README.md	2025-10-28 18:22:25 +00:00
Atharv	9ca160a8c7	Update README.md	2025-10-28 18:11:19 +00:00
Atharv	882ba3e13a	Delete Screenshot 2025-10-28 1.06.30 PM.png	2025-10-28 18:07:08 +00:00
Atharv	33b926cb1f	Upload files to "/"	2025-10-28 18:06:44 +00:00
Atharv	4ff5de480d	Update README.md	2025-10-28 18:06:09 +00:00
Atharv	aa062122de	Merge pull request 'main' (#29 ) from main into dev Reviewed-on: #29	2025-10-28 12:23:07 +00:00
Atharv	0fbb38baeb	Merge pull request 'dev' (#28 ) from dev into main Reviewed-on: #28	2025-10-27 12:23:13 +00:00
Atharv	3e1928fcad	Merge pull request 'Update missions/tip the scale.py' (#27 ) from ayaan_dev into dev Reviewed-on: #27	2025-10-27 12:22:25 +00:00
Ayaan	1dec912abb	Update missions/tip the scale.py	2025-10-24 00:11:38 +00:00
Atharv	d3294bcb0b	SCRIMMAGE MERGE!!! Reviewed-on: #15 yayyyyyyyyyy	2025-10-11 02:30:26 +00:00
Atharv	5ba2811af3	Merge pull request 'Updated LICENSE and README' (#12 ) from dev into main Reviewed-on: #12	2025-10-09 21:16:08 +00:00
nifrali	387e00b5c3	Merge branch 'dev'	2025-10-09 13:00:26 -05:00
nifrali	3fdd6ae9d1	Merge to main for Scrimmage	2025-10-09 12:01:36 -05:00
Atharv	ee0b8eb6a0	Update README.md	2025-09-10 13:28:54 +00:00
nifrali	a745ed8c79	Merge pull request 'WIP - Test Merge ( dev to main )' (#1 ) from dev into main Reviewed-on: #1	2025-09-02 02:32:19 +00:00