Merge pull request 'dev' (#21 ) from Johannes/Johannes-dev:dev into dev

Reviewed-on: #21
Update missions/M8_5.py
2025-10-22 00:15:37 +00:00 · 2025-10-22 00:15:11 +00:00 · 2025-10-22 00:07:04 +00:00 · 2025-10-22 00:05:00 +00:00 · 2025-10-22 00:04:16 +00:00 · 2025-10-21 23:57:13 +00:00
17 changed files with 1129 additions and 229 deletions
--- a/33
+++ b/33
@@ -0,0 +1,33 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(5000,3000)
+    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/RoshoDaGoat.py
+++ b/RoshoDaGoat.py
@@ -0,0 +1,42 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, 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(200)
+    await arm_motor.run_angle(10000, 10000)
+run_task(main())
--- a/final/4main.py
+++ b/final/4main.py
@@ -86,11 +86,19 @@ async def Run2():
    await drive_base.straight(-600)
 async def Run3():
    await drive_base.straight(920)
+<<<<<<< HEAD:final/4main.py
    await drive_base.turn(-90)
    await drive_base.straight(60)
    drive_base.turn(-10)
    await left_arm.run_angle(10000,-4000)
    await drive_base.straight(-110)
+=======
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-100)
+>>>>>>> Vickram_dev_:final/main4.py
    await drive_base.turn(90)
    await drive_base.straight(2000)
 async def Run5():
--- a/final/main5.py
+++ b/final/main5.py
@@ -0,0 +1,280 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor
+from pybricks.parameters import Port, Stop, Color, Direction
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, multitask, run_task
+
+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(550,700,100,100)
+drive_base.use_gyro(True)
+color_sensor = ColorSensor(Port.F)
+Color.ORANGE = Color(37, 85, 95)
+Color.BLUE = Color(230,100,100)
+color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW]) 
+hub.speaker.volume(50) # Set the volume of the speaker
+color_sensor.detectable_colors()
+# Celebration sound types
+class CelebrationSound:
+    VICTORY_FANFARE = 0
+    LEVEL_UP = 1
+    SUCCESS_CHIME = 2
+    TA_DA = 3
+    POWER_UP = 4
+    RICKROLL_INSPIRED = 5
+    
+async def play_victory_fanfare():
+    """Classic victory fanfare"""
+    notes = [
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (349, 600),  # F4
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_level_up():
+    """Upward scale for level completion"""
+    notesold = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    notes = [
+        (277, 100),
+        (330, 100),
+        (277, 100),
+        (554, 100),
+        (277, 100),
+        (413, 100),
+        (330, 100),
+        (277, 100),
+        (413, 100),
+        (277, 100),
+        (554, 100),
+        (413, 100),
+        (277, 100),
+        (413, 100),
+        (554, 100),
+        (413, 100)
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        #await wait(20)
+async def play_success_chime():
+    """Simple success notification"""
+    notes = [
+        (523, 150),  # C5
+        (659, 150),  # E5
+        (784, 300),  # G5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_ta_da():
+    """Classic "ta-da!" sound"""
+    notes = [
+        (392, 200),  # G4
+        (523, 400),  # C5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(100)
+async def play_power_up():
+    """Rising power-up sound"""
+    for freq in range(200, 800, 50):
+        await hub.speaker.beep(freq, 50)
+        await wait(10)
+    await hub.speaker.beep(1000, 200)
+async def play_rickroll_inspired():
+    """Fun 80s-style dance beat inspired sound"""
+    # Upbeat bouncy rhythm
+    pattern = [
+        (392, 200), (440, 200), (494, 200), (523, 200),
+        (440, 200), (392, 200), (349, 200), (392, 300),
+        (440, 200), (392, 200), (349, 200), (330, 400),
+    ]
+    
+    for freq, duration in pattern:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
+    """
+    Main celebration function to call after completing a mission.
+    Plays a sound and shows light animation.
+    
+    Args:
+        sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
+    """
+    # Light show
+    hub.light.on(Color.GREEN)
+    
+    # Play the selected celebration sound
+    if sound_type == CelebrationSound.VICTORY_FANFARE:
+        await play_victory_fanfare()
+    elif sound_type == CelebrationSound.LEVEL_UP:
+        await play_level_up()
+    elif sound_type == CelebrationSound.SUCCESS_CHIME:
+        await play_success_chime()
+    elif sound_type == CelebrationSound.TA_DA:
+        await play_ta_da()
+    elif sound_type == CelebrationSound.POWER_UP:
+        await play_power_up()
+    elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
+        await play_rickroll_inspired()
+    else:
+        await play_success_chime()  # Default fallback
+    
+    # Blink the light
+    for _ in range(3):
+        hub.light.off()
+        await wait(100)
+        hub.light.on(Color.GREEN)
+        await wait(100)
+    
+    hub.light.off()
+
+async def Run1():
+    await multitask(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(275)
+    await drive_base.turn(20)
+    await drive_base.straight(63)
+
+    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
+    await drive_base.turn(45)
+    await drive_base.straight(-135)
+    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(-500)
+
+async def Run2():
+    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)
+
+
+async def Run3():
+    await drive_base.straight(915)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    await left_arm.run_angle(10000,-15000)
+    await drive_base.straight(-60)
+    await drive_base.turn(85)
+    await drive_base.straight(2000)
+
+async def Run4():
+    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)
+
+async def Run5():
+    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():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
+async def main():
+    while True:
+    
+        await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        color_reflected_percent = await color_sensor.reflection()
+        print(color_reflected_percent)
+
+        color_detected = await color_sensor.color()
+        print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
+        if color_reflected_percent > 0:
+            if color_detected == Color.GREEN:
+                print('Running Mission 1')
+                await Run1()
+                await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+            elif color_detected == Color.WHITE:
+                print('Running Mission 2')
+                await Run2()
+                await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+            elif color_detected == Color.YELLOW:
+                print('Running Mission 3')
+                await Run3()
+                await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+            elif color_detected == Color.BLUE:
+                print('Running Mission 4')
+                await Run4()
+                await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.RED:
+                print('Running Mission 5')
+                await Run5()
+                await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            else:
+                hub.light.off()
+                left_motor.stop()
+                right_motor.stop()
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())
--- a/members/Rishi.txt
+++ b/members/Rishi.txt
@@ -0,0 +1,2 @@
+Hi I'm Rishi, the coding manager for Team: 65266
+I love coding and making things that probably end the world.
--- a/missions/Boat_mission.py
+++ b/missions/Boat_mission.py
@@ -0,0 +1,27 @@
+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_LIFTING_UPD.py
+++ b/missions/HEAVY_LIFTING_UPD.py
@@ -0,0 +1,33 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(5000,3000)
+    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/missions/Heavy
+++ b/missions/Heavy
@@ -0,0 +1,37 @@
+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
@@ -0,0 +1,36 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    #Solve mission
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+    #Return home
+    await drive_base.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())
--- a/missions/Lift2.py
+++ b/missions/Lift2.py
@@ -0,0 +1,34 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())
--- a/missions/Sand
+++ b/missions/Sand
@@ -20,10 +20,10 @@ drive_base.use_gyro(True)


 async def main():
-    await drive_base.straight(420)
-    await right_arm.run_angle(300,-100)
+    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 right_arm.run_angle(300,-100)
    await drive_base.straight(-350)
    
 run_task(main())
--- a/missions/Sand_mission.py
+++ b/missions/Sand_mission.py
@@ -0,0 +1,29 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task,multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(400,500,100,100)
+
+drive_base.use_gyro(True)
+
+
+async def main():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-350)
+    
+run_task(main())
--- a/missions/Send_Over.py
+++ b/missions/Send_Over.py
@@ -23,9 +23,9 @@ async def main():
    await drive_base.straight(915)
    await drive_base.turn(-90)
    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-15000)
-    await drive_base.straight(-60)
-    await drive_base.turn(85)
+    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
@@ -0,0 +1,46 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    while True:
+        distance_mm = await lazer_ranger.distance()
+        print('distancing...',distance_mm)
+
+        if distance_mm < 300:
+            drive_base.stop
+            break
+        else:
+            drive_base.straight(300)
+            print('running...')
+        await wait(10)
+
+run_task(main())
--- a/missions/Set2.py
+++ b/missions/Set2.py
@@ -0,0 +1,50 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, run_task, multitask
+
+hub = PrimeHub()
+
+# Initialize both motors. In this example, the motor on the
+# left must turn counterclockwise to make the robot go forward.
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+arm_motor = Motor(Port.D, Direction.CLOCKWISE)
+arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
+# Initialize the drive base. In this example, the wheel diameter is 56mm.
+# The distance between the two wheel-ground contact points is 112mm.
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+print('The default settings are: ' + str(drive_base.settings()))
+drive_base.settings(300,1000,300,750)
+# Optionally, uncomment the line below to use the gyro for improved accuracy.
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(519)
+    await arm_motor_left.run_angle(-10000, 300)
+    await arm_motor_left.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-54)
+    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(250)
+    await drive_base.turn(-5)
+    await arm_motor.run_angle(10000, 7000)
+    await drive_base.straight(-50)
+    await drive_base.turn(68)
+    await arm_motor.run_angle(10000, -6000)
+    await drive_base.straight(200)
+    await arm_motor.run_angle(10000, 4000)
+    await drive_base.turn(-40)
+    await arm_motor.run_angle(10000, 7000)
+run_task(main())
--- a/test_10_17_2025.py
+++ b/test_10_17_2025.py
@@ -0,0 +1,303 @@
+# 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.robotics import DriveBase
+from pybricks.tools import wait, StopWatch, multitask, run_task
+
+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(550,700,100,100)
+drive_base.use_gyro(True)
+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]) 
+hub.speaker.volume(50) # Set the volume of the speaker
+color_sensor.detectable_colors()
+# Celebration sound types
+class CelebrationSound:
+    VICTORY_FANFARE = 0
+    LEVEL_UP = 1
+    SUCCESS_CHIME = 2
+    TA_DA = 3
+    POWER_UP = 4
+    RICKROLL_INSPIRED = 5
+    
+async def play_victory_fanfare():
+    """Classic victory fanfare"""
+    notes = [
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (349, 600),  # F4
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_level_up():
+    """Upward scale for level completion"""
+    notesold = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    notes = [
+        (277, 100),
+        (330, 100),
+        (277, 100),
+        (554, 100),
+        (277, 100),
+        (413, 100),
+        (330, 100),
+        (277, 100),
+        (413, 100),
+        (277, 100),
+        (554, 100),
+        (413, 100),
+        (277, 100),
+        (413, 100),
+        (554, 100),
+        (413, 100)
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        #await wait(20)
+async def play_success_chime():
+    """Simple success notification"""
+    notes = [
+        (523, 150),  # C5
+        (659, 150),  # E5
+        (784, 300),  # G5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_ta_da():
+    """Classic "ta-da!" sound"""
+    notes = [
+        (392, 200),  # G4
+        (523, 400),  # C5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(100)
+async def play_power_up():
+    """Rising power-up sound"""
+    for freq in range(200, 800, 50):
+        await hub.speaker.beep(freq, 50)
+        await wait(10)
+    await hub.speaker.beep(1000, 200)
+async def play_rickroll_inspired():
+    """Fun 80s-style dance beat inspired sound"""
+    # Upbeat bouncy rhythm
+    pattern = [
+        (392, 200), (440, 200), (494, 200), (523, 200),
+        (440, 200), (392, 200), (349, 200), (392, 300),
+        (440, 200), (392, 200), (349, 200), (330, 400),
+    ]
+    
+    for freq, duration in pattern:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
+    """
+    Main celebration function to call after completing a mission.
+    Plays a sound and shows light animation.
+    
+    Args:
+        sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
+    """
+    # Light show
+    hub.light.on(Color.GREEN)
+    
+    # Play the selected celebration sound
+    if sound_type == CelebrationSound.VICTORY_FANFARE:
+        await play_victory_fanfare()
+    elif sound_type == CelebrationSound.LEVEL_UP:
+        await play_level_up()
+    elif sound_type == CelebrationSound.SUCCESS_CHIME:
+        await play_success_chime()
+    elif sound_type == CelebrationSound.TA_DA:
+        await play_ta_da()
+    elif sound_type == CelebrationSound.POWER_UP:
+        await play_power_up()
+    elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
+        await play_rickroll_inspired()
+    else:
+        await play_success_chime()  # Default fallback
+    
+    # Blink the light
+    for _ in range(3):
+        hub.light.off()
+        await wait(100)
+        hub.light.on(Color.GREEN)
+        await wait(100)
+    
+    hub.light.off()
+
+async def Run1():
+    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(-700)
+
+async def Run2():
+    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.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-750)
+
+
+async def Run3():
+    await drive_base.straight(920)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(2000)
+
+async def Run4():
+    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 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)
+
+async def Run5():
+    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_detected == Color.GREEN:
+                print('Running Mission 1')
+                await Run1()
+                #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+            elif color_detected == Color.WHITE:
+                print('Running Mission 2')
+                await Run2()
+                #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+            elif color_detected == Color.YELLOW:
+                print('Running Mission 3')
+                await Run3()
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+            elif color_detected == Color.BLUE:
+                print('Running Mission 4')
+                await Run4()
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.ORANGE:
+                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)')
+                await Run6()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            else:
+                hub.light.off()
+                left_motor.stop()
+                right_motor.stop()
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())
--- a/twist_scrimmage.py
+++ b/twist_scrimmage.py
@@ -1,11 +1,9 @@
-# Imports... because we kinda need them...
 from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor
 from pybricks.parameters import Port, Stop, Color, Direction
 from pybricks.robotics import DriveBase
 from pybricks.tools import wait, StopWatch, multitask, run_task

-# Sets all the default values for the runs
 hub = PrimeHub()
 left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
 right_motor = Motor(Port.B)
@@ -17,198 +15,72 @@ drive_base.use_gyro(True)
 color_sensor = ColorSensor(Port.F)
 Color.ORANGE = Color(37, 85, 95)
 Color.BLUE = Color(230,100,100)
-Color.YELLOW = Color(53, 75, 84)
-color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.ORANGE, Color.NONE]) 
+Color.YELLOW = Color(37, 85, 95)
+color_sensor.detectable_colors([Color.ORANGE, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.YELLOW]) 
 hub.speaker.volume(50) # Set the volume of the speaker
 color_sensor.detectable_colors()
-
-# Notes to hertz for nice music
-cn = {
-    "Cs3": 138.59,
-    "D3": 146.83,
-    "Ds3": 155.56,
-    "E3": 164.81,
-    "F3": 174.61,
-    "Fs3": 185.00,
-    "G3": 196.00,
-    "Gs3": 207.65,
-    "A3": 220.00,
-    "As3": 233.08,
-    "B3": 246.94,
-    "C4": 261.63,
-    "Cs4": 277.18,
-    "D4": 293.66,
-    "Ds4": 311.13,
-    "E4": 329.63,
-    "F4": 349.23,
-    "Fs4": 369.99,
-    "G4": 392.00,
-    "Gs4": 415.30,
-    "A4": 440.00,
-    "As4": 466.16,
-    "B4": 493.88,
-    "C5": 523.25,
-    "Cs5": 554.37
-}
-
-
-# RUNS - contains the mission code that will be executed on color sensor detection
-async def Run1():
-    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():
-    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.straight(-100)
-    await drive_base.turn(-100)
-    await drive_base.straight(-600)
-
-async def Run3():
-    await drive_base.straight(920)
-    await drive_base.turn(-90)
-    await drive_base.straight(60)
-    drive_base.turn(-10)
-    await left_arm.run_angle(10000,-4000)
-    await drive_base.straight(-110)
-    await drive_base.turn(90)
-    await drive_base.straight(2000)
-
-async def Run4():
-    await drive_base.straight(519)
-    await left_arm.run_angle(300, -100)
-    await left_arm.run_angle(300, 500)
-    await drive_base.straight(180)
-    await drive_base.turn(-37)
-    await drive_base.straight(50)
-    await right_arm.run_angle(300, -400)
-    await drive_base.straight(-150)
-    await drive_base.turn(125)
-    await drive_base.straight(50)
-    await right_arm.run_angle(300, 400)
-    await drive_base.straight(-75)
-    await right_arm.run_angle(300, 300)
-    await drive_base.turn(-40)
-    await drive_base.straight(250)
-    await right_arm.run_angle(100, -300)
-    await drive_base.straight(30)
-    await right_arm.run_angle(50,-250)
-    await drive_base.turn(30)
-    await drive_base.straight(-200)
-    await drive_base.turn(-50)
-    await drive_base.straight(-800)
-
-async def Run5():
-    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.straight(-20)
-    await drive_base.turn(55)
-    await left_arm.run_angle(300,-400)
-    await drive_base.turn(70)
-    await left_arm.run_angle(300,400)
-    await drive_base.turn(-60)
-    await drive_base.straight(900)
-
 # Celebration sound types
 class CelebrationSound:
    VICTORY_FANFARE = 0
-    WAITING_SOUND = 1
+    LEVEL_UP = 1
    SUCCESS_CHIME = 2
    TA_DA = 3
    POWER_UP = 4
    RICKROLL_INSPIRED = 5
    
-# Sounds functions
 async def play_victory_fanfare():
    """Classic victory fanfare"""
    notes = [
-    (cn["B3"], 200),
-    (cn["B3"], 100),
-    (cn["B3"], 100),
-    (cn["E4"], 600)
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (349, 600),  # F4
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
        await wait(50)
-async def play_waiting_sound():
-
-    # T3rm1na1 V3l0c1ty arpeggio recreated in pybricks
-    notes = [
-    (cn["Cs4"], 100),
-    (cn["E4"], 100),
-    (cn["Cs4"], 100),
-    (cn["Cs5"], 100),
-    (cn["Cs4"], 100),
-    (cn["Gs4"], 100),
-    (cn["E4"], 100),
-    (cn["Cs4"], 100),
-    (cn["Gs4"], 100),
-    (cn["Cs4"], 100),
-    (cn["Cs5"], 100),
-    (cn["Gs4"], 100),
-    (cn["Cs4"], 100),
-    (cn["Gs4"], 100),
-    (cn["Cs5"], 100),
-    (cn["Gs4"], 100)
+async def play_level_up():
+    """Upward scale for level completion"""
+    notesold = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    notes = [
+        (277, 100),
+        (330, 100),
+        (277, 100),
+        (554, 100),
+        (277, 100),
+        (413, 100),
+        (330, 100),
+        (277, 100),
+        (413, 100),
+        (277, 100),
+        (554, 100),
+        (413, 100),
+        (277, 100),
+        (413, 100),
+        (554, 100),
+        (413, 100)
    ]
-
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
+        #await wait(20)
 async def play_success_chime():
    """Simple success notification"""
    notes = [
-    (cn["E4"], 150),
-    (cn["Gs4"], 150),
-    (cn["B4"], 300),
+        (523, 150),  # C5
+        (659, 150),  # E5
+        (784, 300),  # G5
    ]
-
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
@@ -216,49 +88,32 @@ async def play_success_chime():
 async def play_ta_da():
    """Classic "ta-da!" sound"""
    notes = [
-    (cn["Cs4"], 200),
-    (cn["Ds4"], 200),
-    (cn["E4"], 200),
-    (cn["Ds4"], 200),
-    (cn["E4"], 200),
-    (cn["Fs4"], 400),
-    (cn["Gs4"], 600),
-    (cn["Fs4"], 400),
-    (cn["Gs4"], 200),
-    (cn["A4"], 200),
-    (cn["B4"], 200),
-    (cn["C5"], 200),
-    (cn["Cs5"], 200)
+        (392, 200),  # G4
+        (523, 400),  # C5
    ]
    
    for freq, duration in notes:
        await hub.speaker.beep(freq, duration)
-        #await wait(100)
+        await wait(100)
 async def play_power_up():
    """Rising power-up sound"""
-    frequencies = [
-    164.81, 207.65, 246.94, 329.63, 415.30, 493.88
-    ]
-
-    for freq in frequencies:
+    for freq in range(200, 800, 50):
        await hub.speaker.beep(freq, 50)
        await wait(10)
-
-
-    await hub.speaker.beep(659.24, 200)
+    await hub.speaker.beep(1000, 200)
 async def play_rickroll_inspired():
    """Fun 80s-style dance beat inspired sound"""
    # Upbeat bouncy rhythm
-    pattern = [ (cn["B3"], 100), (cn["Cs4"], 100), (cn["Ds4"], 100), (cn["E4"], 100), (cn["Cs4"], 100), (cn["B3"], 100), (cn["A3"], 100), (cn["B3"], 200), (cn["Cs4"], 100), (cn["B3"], 100), (cn["A3"], 100), (cn["Gs3"], 200), ]
-
-
+    pattern = [
+        (392, 200), (440, 200), (494, 200), (523, 200),
+        (440, 200), (392, 200), (349, 200), (392, 300),
+        (440, 200), (392, 200), (349, 200), (330, 400),
+    ]
    
    for freq, duration in pattern:
        await hub.speaker.beep(freq, duration)
-        #await wait(50)
-
-# Basically a big if else statement that calls the functions above        
-async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
+        await wait(50)
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
    """
    Main celebration function to call after completing a mission.
    Plays a sound and shows light animation.
@@ -272,8 +127,8 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR
    # Play the selected celebration sound
    if sound_type == CelebrationSound.VICTORY_FANFARE:
        await play_victory_fanfare()
-    elif sound_type == CelebrationSound.WAITING_SOUND:
-        await play_waiting_sound()
+    elif sound_type == CelebrationSound.LEVEL_UP:
+        await play_level_up()
    elif sound_type == CelebrationSound.SUCCESS_CHIME:
        await play_success_chime()
    elif sound_type == CelebrationSound.TA_DA:
@@ -294,48 +149,133 @@ async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIR
    
    hub.light.off()

-# This where everything happens    
+async def Run1():
+    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(-700)
+
+async def Run2():
+    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.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-750)
+
+
+async def Run3():
+    await drive_base.straight(920)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(2000)
+
+async def Run4():
+    await drive_base.straight(519)
+    await left_arm.run_angle(300, -200)
+    await left_arm.run_angle(800, 1000)
+    await drive_base.straight(180)
+    await drive_base.turn(-37)
+    await right_arm.run_angle(300, -50)
+    await drive_base.straight(50)
+    await right_arm.run_angle(300, -350)
+    await drive_base.straight(-150)
+    await drive_base.turn(125)
+    await drive_base.straight(50)
+    await right_arm.run_angle(300, 400)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -200)
+    await drive_base.turn(-40)
+    await right_arm.run_angle(300, 250)
+    await drive_base.straight(260)
+    await right_arm.run_angle(100, -300)
+    await drive_base.straight(30)
+    await right_arm.run_angle(50,-250)
+    await drive_base.turn(30)
+    await drive_base.straight(-200)
+    await drive_base.turn(-67)
+    await drive_base.straight(-800)
+
+async def Run5():
+    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():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
 async def main():
-    # MAIN LOOP    
    while True:
-        await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+    
+        #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
        color_reflected_percent = await color_sensor.reflection()
-        print(f"Color reflection percentage: {color_reflected_percent}")
+        print(color_reflected_percent)

        color_detected = await color_sensor.color()
-        print(f'Detected color: {color_detected}')
-        hsv = await color_sensor.hsv()
-        print(f"Measured HSV: {hsv}")
-        if color_reflected_percent > 0:
+        print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
+        if color_reflected_percent > 1:
            if color_detected == Color.GREEN:
                print('Running Mission 1')
                await Run1()
-                await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+                #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
            elif color_detected == Color.WHITE:
                print('Running Mission 2')
                await Run2()
-                await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+                #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
            elif color_detected == Color.YELLOW:
                print('Running Mission 3')
                await Run3()
-                await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME)
-            elif color_detected == Color.ORANGE:
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+            elif color_detected == Color.BLUE:
                print('Running Mission 4')
                await Run4()
-                await celebrate_mission_complete(CelebrationSound.POWER_UP)
-            elif color_detected == Color.BLUE:
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.RED:
                print('Running Mission 5')
                await Run5()
-                await celebrate_mission_complete(CelebrationSound.POWER_UP)
-            elif color_detected == Color.RED:
-                print('Running Mission 6')
-                await Run6()
-                await celebrate_mission_complete(CelebrationSound.TA_DA)
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
            else:
                hub.light.off()
                left_motor.stop()
                right_motor.stop()
-        else:
-            print("No color was detected.")
-        await wait(100) # prevent loop from iterating fast
-run_task(main())
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())
Author	SHA1	Message	Date
Johannes	e0061dc672	Merge pull request 'dev' (#21 ) from Johannes/Johannes-dev:dev into dev Reviewed-on: #21	2025-10-22 00:15:37 +00:00
Johannes	4496396d0b	Update missions/M8_5.py	2025-10-22 00:15:11 +00:00
Johannes	3ec1aafbeb	Update missions/M8_5.py	2025-10-22 00:07:04 +00:00
Johannes	6c9efe26f9	Update missions/Heavy_lifting_final.py	2025-10-22 00:05:00 +00:00
Johannes	cf1f8a1995	Update missions/Send_Over_Final.py	2025-10-22 00:04:16 +00:00
Johannes	2567e8b8d7	Add missions/Send_Over_Final.py	2025-10-21 23:57:13 +00:00
Johannes	cb79ecbb95	Add missions/Heavy_lifting_final.py	2025-10-21 23:54:55 +00:00
Rishikesh Lolapu	59213ae3f6	Update final/main5.py Just adjusted my code!!	2025-10-21 00:24:33 +00:00
Rishikesh Lolapu	97963488eb	Update test_10_17_2025.py Rishi, A.K.A me replaced my outdated code with the new one.	2025-10-21 00:21:53 +00:00
Atharv	b263687c3b	dis id vewwy impotent codes AAAGGGHHHHHHHHHHHHH COLOR SENSORS CAUSE ME PAIN!!!!!!!!!!!	2025-10-20 16:13:13 +00:00
Atharv	e32c773d58	Merge pull request 'Changed Johannes values' (#20 ) from johannes-fork-merge into dev Reviewed-on: #20	2025-10-20 15:49:05 +00:00
Atharv	50dd00cba6	Changed Johannes values Old code was: 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,-15000) await drive_base.straight(-60) await drive_base.turn(85) await drive_base.straight(2000) run_task(main())	2025-10-20 15:48:22 +00:00
Atharv	f3f99f4e94	Merge pull request 'johannes-fork-merge' (#19 ) from johannes-fork-merge into dev Reviewed-on: #19	2025-10-20 15:44:54 +00:00
Atharv	ce4435e7eb	Changed line 23 from 420 to 500 johannes did it idk	2025-10-20 15:44:31 +00:00
Atharv	b8476d4bfc	Upload files to "missions"	2025-10-20 15:43:35 +00:00
Atharv	8bd76e5692	afniawemhcfj8ewa hjciuawefn awenfuiearhi nofuahweof e2q	2025-10-20 15:39:58 +00:00
Atharv	9c2b3a2ad9	Upload files to "/"	2025-10-20 15:35:14 +00:00
Atharv	639588e253	Merge pull request 'Add missions/Heavy lifting.py' (#17 ) from Johannes_Dev into dev Reviewed-on: #17	2025-10-20 15:34:41 +00:00
Atharv	48f504cbda	Merge pull request 'arcmyx-dev' (#18 ) from arcmyx-dev into dev Reviewed-on: #18	2025-10-20 15:34:27 +00:00
Johannes	51d7255cd0	Add HEAVY_LIFTING_UPD	2025-10-20 00:48:18 +00:00
Parthiv	53d13476a9	Add missions/Heavy lifting.py	2025-10-19 03:02:40 +00:00
Rishikesh Lolapu	c6783889b7	Add missions/Set2.py Please add the backward part of the code.	2025-10-19 01:51:03 +00:00
Rishikesh Lolapu	9eada9f151	Update RoshoDaGoat.py	2025-10-18 14:53:08 +00:00
Rishikesh Lolapu	79baeca507	Update RoshoDaGoat	2025-10-18 14:52:58 +00:00
Rishikesh Lolapu	8667a66ab1	Add sechs-sieben.py	2025-10-18 14:51:46 +00:00
alkadienePhoton	bcc47c1d1b	Merge branch 'dev' of https://codes.fll-65266.org/FLL_65266_LEGO_DYNAMICS/solutions_season_unearthed into dev	2025-10-17 19:36:33 -05:00
alkadienePhoton	e9e40896f2	Merging	2025-10-17 17:25:12 -05:00
Atharv	bbbfe0078c	Add test_10_17_2025.py um so i was testing the colors and IMMA GO insane so lemme check my lego bin for something that will work.	2025-10-17 21:58:44 +00:00
Johannes	f69c61e796	Add missions/Sand_mission.py	2025-10-17 20:52:24 +00:00
Johannes	8061eb71d5	Add missions/Boat_mission.py	2025-10-17 20:51:55 +00:00
Atharv	5e1f3098f9	Changes after scrimmage run 3	2025-10-11 19:08:38 +00:00
Atharv	19afacd87b	Scrimmage update after run 2 well at least yellow works now.	2025-10-11 18:47:09 +00:00
Atharv	9b04c18889	Update for contest	2025-10-11 18:22:21 +00:00
Rishikesh Lolapu	1a3abbb4d1	Update twist_scrimmage.py	2025-10-11 18:03:55 +00:00
Rishikesh Lolapu	ae114667f1	Update members/Rishi.txt	2025-10-11 15:27:44 +00:00
Rishikesh Lolapu	8391619c71	Add members/Rishi.txt	2025-10-11 15:24:59 +00:00
Rishikesh Lolapu	7e2dc0b7c9	Update final/main5.py	2025-10-10 21:44:03 +00:00
Rishikesh Lolapu	29bd9f0e23	Update final/main5.py	2025-10-10 21:27:24 +00:00
Rishikesh Lolapu	a3b04d3e00	Add final/main5.py	2025-10-10 21:25:32 +00:00
Johannes	2d9eb496a3	Update final/main4.py	2025-10-10 21:03:57 +00:00
Johannes	42090eae56	Update final/main4.py	2025-10-10 21:02:03 +00:00
Johannes	f7072a6207	Update final/main4.py	2025-10-10 20:56:17 +00:00
Johannes	95c3491b44	Update missions/M8_5.py	2025-10-04 00:53:13 +00:00
Johannes	47c89cba0a	Add missions/Lift2.py	2025-10-03 21:26:35 +00:00
Johannes	b8620e37aa	Update missions/Lift.py	2025-09-26 21:46:12 +00:00
Johannes	3527ee5600	Add missions/Lift Parthicc made this originally.	2025-09-26 21:45:42 +00:00
Johannes	a20bf2255b	Update missions/Send_Over.py	2025-09-20 22:52:04 +00:00
Johannes	9cff4d8626	Update missions/Send_Over.py	2025-09-19 22:00:28 +00:00