Merge pull request 'dev' (#35) from dev into main

Reviewed-on: #35

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) |
+| **Attachment Motors** | 2x Large Motors (Ports C & D) |
-| **Drive Motors** | 2× Small Motors (Ports A & B) |
+| **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**
+1. Download the file codes_for_scrimmage/hazmat/mainhazmatUPD.py
-   ```bash
+ - You can do this through the repo, by using cURL, or by using git.
-   # Open the master.py file in Pybricks IDE
+ - 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**
+ ```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```
-   - Pair your robot via Bluetooth in Pybricks
+ - 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
+   - If starting without Pybricks, press the center circular button on the SPIKE Prime Hub to start the program.
-   - Different colors trigger different mission runs!
+   - 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 |
+| Color | Mission |
-|-------|-----------|------------------|
+|-------|-----------|
-| Green  🟩 | Run 1 | Victory Fanfare |
+| Green  🟩 | Run 1 |
-| White  ⚪ | Run 2 | Rickroll Inspired |
+| Purple 🟪 | Run 2 |
-| Yellow 🟨 | Run 3 | Success Chime |
+| Red    🟥| Run 3 |
-| Orange 🟧 | Run 4 | Power Up |
+| Yellow 🟨| Run 4 |
-| Blue   🟦 | Run 5 | Power Up |
+| Blue   🟦| Run 5 |
-| Red    🟥 | Run 6 | Ta-Da! |
+| Orange 🟧| Run 6 |
-
-> **Tip** Organize your colored bricks before the match for quick run selection!
 
 ---
 
@@ -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>

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())

codes_for_scrimmage/hazmat/HazmatCodeChanges.py

@@ -0,0 +1,227 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+WALL_DISTANCE = 300  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# New Section
+async def Run1():  # From M8_5.py
+    left_arm.run_angle(1000, -300)
+    right_arm.run_angle(1000, 500)
+    await drive_base.straight(320)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await right_arm.run_angle(5000, 500, Stop.HOLD)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await right_arm.run_angle(5000, 500, Stop.HOLD)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await drive_base.turn(-20)
+    await drive_base.straight(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50, 500)
+    await drive_base.turn(45)
+    await drive_base.straight(-145)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000, 450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000, -450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-600)
+
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000, 4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(120)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(295)
+    await right_arm.run_angle(10000, 9000)
+    await drive_base.straight(-65)
+    await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(100)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
+    await drive_base.straight(-300)
+    await drive_base.turn(-80)
+    await drive_base.straight(-700)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())

codes_for_scrimmage/hazmat/Heavy_lifting_final.py

@@ -0,0 +1,33 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(5000,2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000,-4000)
+    await drive_base.straight(-60)
+
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+run_task(main())

codes_for_scrimmage/hazmat/M8_5.py

@@ -0,0 +1,49 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    left_arm.run_angle(1000, 300)
+    right_arm.run_angle(1000,500)
+    await drive_base.straight(320)
+
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+
+    await drive_base.turn(-20)
+    await drive_base.straight(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+
+    await drive_base.turn(-30)
+    right_arm.run_angle(50,500)
+    await drive_base.turn(45)
+    await drive_base.straight(-145)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000,-450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000,450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-600)
+run_task(main())

codes_for_scrimmage/hazmat/Send_Over_Final.py

@@ -0,0 +1,46 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    while True:
+        distance_mm = await lazer_ranger.distance()
+        print('distancing...',distance_mm)
+
+        if distance_mm < 300:
+            drive_base.stop
+            break
+        else:
+            drive_base.straight(300)
+            print('running...')
+        await wait(10)
+
+run_task(main())

codes_for_scrimmage/hazmat/hazmat_main.py

@@ -0,0 +1,384 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+lazer_ranger  = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+# Color Settings
+# https://docs.pybricks.com/en/latest/parameters/color.html
+print("Default Detected Colors:", color_sensor.detectable_colors())
+
+# Custom color Hue, Saturation, Brightness value for Lego bricks
+Color.MAGENTA = Color(300,100,100)
+Color.VIOLET =  Color(277,68,32)
+Color.BLUE = Color(240,100,100)
+Color.CYAN = Color(180,100,100)
+
+LEGO_BRICKS_COLOR = [
+    Color.BLUE, 
+    Color.GREEN, 
+    Color.WHITE,
+    Color.RED, 
+    Color.YELLOW, 
+    Color.MAGENTA, 
+    Color.VIOLET,
+    Color.NONE
+]
+#Update Detectable colors
+color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
+
+print("Updated Detected Colors:", color_sensor.detectable_colors())
+
+hub.speaker.volume(50) # Set the volume of the speaker
+
+# Celebration sound types
+class CelebrationSound:
+    VICTORY_FANFARE = 0
+    LEVEL_UP = 1
+    SUCCESS_CHIME = 2
+    TA_DA = 3
+    POWER_UP = 4
+    RICKROLL_INSPIRED = 5
+    
+async def play_victory_fanfare():
+    """Classic victory fanfare"""
+    notes = [
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (262, 200),  # C4
+        (349, 600),  # F4
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_level_up():
+    """Upward scale for level completion"""
+    notesold = [
+        (262, 100),  # C4
+        (294, 100),  # D4
+        (330, 100),  # E4
+        (349, 100),  # F4
+        (392, 100),  # G4
+        (440, 100),  # A4
+        (494, 100),  # B4
+        (523, 300),  # C5
+    ]
+    notes = [
+        (277, 100),
+        (330, 100),
+        (277, 100),
+        (554, 100),
+        (277, 100),
+        (413, 100),
+        (330, 100),
+        (277, 100),
+        (413, 100),
+        (277, 100),
+        (554, 100),
+        (413, 100),
+        (277, 100),
+        (413, 100),
+        (554, 100),
+        (413, 100)
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        #await wait(20)
+async def play_success_chime():
+    """Simple success notification"""
+    notes = [
+        (523, 150),  # C5
+        (659, 150),  # E5
+        (784, 300),  # G5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def play_ta_da():
+    """Classic "ta-da!" sound"""
+    notes = [
+        (392, 200),  # G4
+        (523, 400),  # C5
+    ]
+    
+    for freq, duration in notes:
+        await hub.speaker.beep(freq, duration)
+        await wait(100)
+async def play_power_up():
+    """Rising power-up sound"""
+    for freq in range(200, 800, 50):
+        await hub.speaker.beep(freq, 50)
+        await wait(10)
+    await hub.speaker.beep(1000, 200)
+async def play_rickroll_inspired():
+    """Fun 80s-style dance beat inspired sound"""
+    # Upbeat bouncy rhythm
+    pattern = [
+        (392, 200), (440, 200), (494, 200), (523, 200),
+        (440, 200), (392, 200), (349, 200), (392, 300),
+        (440, 200), (392, 200), (349, 200), (330, 400),
+    ]
+    
+    for freq, duration in pattern:
+        await hub.speaker.beep(freq, duration)
+        await wait(50)
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
+    """
+    Main celebration function to call after completing a mission.
+    Plays a sound and shows light animation.
+    
+    Args:
+        sound_type: CelebrationSound enum value (default: SUCCESS_CHIME)
+    """
+    # Light show
+    hub.light.on(Color.GREEN)
+    
+    # Play the selected celebration sound
+    if sound_type == CelebrationSound.VICTORY_FANFARE:
+        await play_victory_fanfare()
+    elif sound_type == CelebrationSound.LEVEL_UP:
+        await play_level_up()
+    elif sound_type == CelebrationSound.SUCCESS_CHIME:
+        await play_success_chime()
+    elif sound_type == CelebrationSound.TA_DA:
+        await play_ta_da()
+    elif sound_type == CelebrationSound.POWER_UP:
+        await play_power_up()
+    elif sound_type == CelebrationSound.RICKROLL_INSPIRED:
+        await play_rickroll_inspired()
+    else:
+        await play_success_chime()  # Default fallback
+    
+    # Blink the light
+    for _ in range(3):
+        hub.light.off()
+        await wait(100)
+        hub.light.on(Color.GREEN)
+        await wait(100)
+    
+    hub.light.off()
+
+WALL_DISTANCE = 200  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    #await drive_base.straight(5000)
+    drive_base.drive(400,0)
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.turn(-180)
+            drive_base.brake
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+async def Run1(): #From M8_5.py
+    left_arm.run_angle(1000, 300)
+    right_arm.run_angle(1000,500)
+    await drive_base.straight(320)
+
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await right_arm.run_angle(5000,500, Stop.HOLD)
+    await right_arm.run_angle(5000,-500, Stop.HOLD)
+
+    await drive_base.turn(-20)
+    await drive_base.straight(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+
+    await drive_base.turn(-30)
+    right_arm.run_angle(50,500)
+    await drive_base.turn(45)
+    await drive_base.straight(-145)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000,-450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000,450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-600)
+
+async def Run2(): #From Heavy_lifting_final.py
+     await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(5000,2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000,-4000)
+    await drive_base.straight(-60)
+
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3(): #tip the scale.py
+    left_arm.run_angle(600,200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,-390) #going down 
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(-410,-400) #lift a little bit
+    
+    await drive_base.turn(-46.5) #ma din din din dun
+    await drive_base.turn(-40)
+    await drive_base.straight(900)
+
+async def Run4(): #From Send_Over_Final.py
+
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+#Add  Rishi's code here
+async def Run5(): 
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(-55)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(250)
+    await drive_base.turn(-5)
+    await right_arm.run_angle(10000, 7000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(100)
+    await drive_base.turn(37)
+    await right_arm.run_angle(10000, -6000)
+    await drive_base.straight(90)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.turn(-40)
+
+#Add - Adi's code here
+async def Run6():
+    await drive_base.straight(420)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300, 100)
+    await drive_base.straight(-350)
+
+async def main():
+    while True:
+    
+        #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+        color_reflected_percent = await color_sensor.reflection()
+        print(color_reflected_percent)
+
+        
+        if color_reflected_percent > 0:                     # Make sure we actually have color reflections before checking for color
+            color_detected = await color_sensor.color()     # Moved this inside the if clause
+            print(f'Detected color:{color_detected} : {color_detected.h}, {color_detected.s}, {color_detected.v}')
+
+            if color_detected == Color.GREEN:
+                print('Running Mission 1')
+                await Run1()
+                #await celebrate_mission_complete(CelebrationSound.VICTORY_FANFARE)
+            elif color_detected == Color.WHITE:
+                print('Running Mission 2')
+                await Run2()
+                #await celebrate_mission_complete(CelebrationSound.RICKROLL_INSPIRED)
+            elif color_detected == Color.RED:
+                print('Running Mission 3')
+                await Run3()
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
+            elif color_detected == Color.YELLOW:
+                print('Running Mission 4')
+                await Run4()
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
+            elif color_detected == Color.BLUE:
+                print('Running Mission 5')
+                await Run5()
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
+            elif color_detected == Color.VIOLET:
+                print('Running Mission 6')
+                await Run6()
+            else:
+                hub.light.off()
+                left_motor.stop()
+                right_motor.stop()
+                color_detected = Color.NONE
+        else:
+            color_detected = Color.NONE
+            
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
+run_task(main())

codes_for_scrimmage/hazmat/mainhazmatUPD.py

@@ -0,0 +1,227 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+WALL_DISTANCE = 300  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# New Section
+async def Run1():  # From M8_5.py
+    left_arm.run_angle(1000, -300)
+    right_arm.run_angle(1000, 500)
+    await drive_base.straight(320)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await right_arm.run_angle(5000, 500, Stop.HOLD)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await right_arm.run_angle(5000, 500, Stop.HOLD)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await drive_base.turn(-20)
+    await drive_base.straight(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50, 500)
+    await drive_base.turn(45)
+    await drive_base.straight(-145)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000, 450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000, -450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-600)
+
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000, 4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(120)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(295)
+    await right_arm.run_angle(10000, 9000)
+    await drive_base.straight(-65)
+    await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(100)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
+    await drive_base.straight(-300)
+    await drive_base.turn(-80)
+    await drive_base.straight(-700)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())

codes_for_scrimmage/hazmat/tip the scale.py

@@ -0,0 +1,42 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(300,1000,300,200)
+
+#drive_base.use_gyro(True)
+
+async def main():
+    left_arm.run_angle(500,200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-55)
+    await drive_base.straight(900)
+    await drive_base.turn(92.5)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(21)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(55)
+    
+    await left_arm.run_angle(300,-400)
+    
+    await drive_base.turn(46.5)
+    await drive_base.turn(-40)
+    await drive_base.straight(900)
+run_task(main())

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():

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())

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.

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())

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())

missions/Heavy lifting.py

@@ -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)
+    

missions/Heavy_lifting_final.py

@@ -0,0 +1,36 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    #Solve mission
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+    #Return home
+    await drive_base.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())

missions/Lift2.py

@@ -0,0 +1,34 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())

missions/Sand Mission.py

@@ -20,10 +20,10 @@ drive_base.use_gyro(True)
 
 
 async def main():
-    await drive_base.straight(420)
+    await drive_base.straight(500)
-    await right_arm.run_angle(300,-100)
+    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())

missions/Sand_mission.py

@@ -0,0 +1,29 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task,multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(400,500,100,100)
+
+drive_base.use_gyro(True)
+
+
+async def main():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-350)
+    
+run_task(main())

missions/Send_Over.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 left_arm.run_angle(10000,-4000)
-    await drive_base.straight(-60)
+    await drive_base.straight(-90)
-    await drive_base.turn(85)
+    await drive_base.turn(80)
     await drive_base.straight(2000)
 
 run_task(main())

missions/Send_Over_Final.py

@@ -0,0 +1,46 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    await drive_base.straight(500)
+    while True:
+        distance_mm = await lazer_ranger.distance()
+        print('distancing...',distance_mm)
+
+        if distance_mm < 300:
+            drive_base.stop
+            break
+        else:
+            drive_base.straight(300)
+            print('running...')
+        await wait(10)
+
+run_task(main())

missions/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())

missions/tip the scale.py

@@ -15,28 +15,34 @@ left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
 right_arm = Motor(Port.D)
 
 drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
-drive_base.settings(300,1000,300,200)
+drive_base.settings(600,500,300,200)
 
-#drive_base.use_gyro(True)
+drive_base.use_gyro(True)
 
 async def main():
-    left_arm.run_angle(500,200)   
+    left_arm.run_angle(600,200)   
     right_arm.run_angle(500,200)
     await drive_base.straight(70)
     
-    await drive_base.turn(-55)
+    await drive_base.turn(-70)
     await drive_base.straight(900)
-    await drive_base.turn(92.5)
+    await drive_base.turn(115)
     
     await drive_base.straight(75)
-    await drive_base.straight(21)
+    await drive_base.straight(33)
     await right_arm.run_angle(500,-250)
     await right_arm.run_angle(500,250)
-    await drive_base.turn(55)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
     
-    await left_arm.run_angle(300,-400)
+    await left_arm.run_angle(560,-390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(-410,-400) #lift a little bit
     
-    await drive_base.turn(46.5)
+    await drive_base.turn(-46.5) #ma din din din dun
     await drive_base.turn(-40)
     await drive_base.straight(900)
 run_task(main())
+
+

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())

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)
@@ -17,248 +15,105 @@ 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.YELLOW = Color(37, 85, 95)
-color_sensor.detectable_colors([Color.YELLOW, Color.BLUE, Color.GREEN, Color.WHITE, Color.RED, Color.ORANGE, Color.NONE]) 
+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),
+        (262, 200),  # C4
-    (cn["B3"], 100),
+        (262, 200),  # C4
-    (cn["B3"], 100),
+        (262, 200),  # C4
-    (cn["E4"], 600)
+        (349, 600),  # F4
     ]
     
     for freq, duration in notes:
         await hub.speaker.beep(freq, duration)
         await wait(50)
-async def play_waiting_sound():
+async def play_level_up():
-
+    """Upward scale for level completion"""
-    # T3rm1na1 V3l0c1ty arpeggio recreated in pybricks
+    notesold = [
-    notes = [
+        (262, 100),  # C4
-    (cn["Cs4"], 100),
+        (294, 100),  # D4
-    (cn["E4"], 100),
+        (330, 100),  # E4
-    (cn["Cs4"], 100),
+        (349, 100),  # F4
-    (cn["Cs5"], 100),
+        (392, 100),  # G4
-    (cn["Cs4"], 100),
+        (440, 100),  # A4
-    (cn["Gs4"], 100),
+        (494, 100),  # B4
-    (cn["E4"], 100),
+        (523, 300),  # C5
-    (cn["Cs4"], 100),
+    ]
-    (cn["Gs4"], 100),
+    notes = [
-    (cn["Cs4"], 100),
+        (277, 100),
-    (cn["Cs5"], 100),
+        (330, 100),
-    (cn["Gs4"], 100),
+        (277, 100),
-    (cn["Cs4"], 100),
+        (554, 100),
-    (cn["Gs4"], 100),
+        (277, 100),
-    (cn["Cs5"], 100),
+        (413, 100),
-    (cn["Gs4"], 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),
+        (523, 150),  # C5
-    (cn["Gs4"], 150),
+        (659, 150),  # E5
-    (cn["B4"], 300),
+        (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 = [
-    (cn["Cs4"], 200),
+        (392, 200),  # G4
-    (cn["Ds4"], 200),
+        (523, 400),  # C5
-    (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)
     ]
     
     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 = [
+    for freq in range(200, 800, 50):
-    164.81, 207.65, 246.94, 329.63, 415.30, 493.88
-    ]
-
-    for freq in frequencies:
         await hub.speaker.beep(freq, 50)
         await wait(10)
-
+    await hub.speaker.beep(1000, 200)
-
-    await hub.speaker.beep(659.24, 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)
+        await wait(50)
-
+async def celebrate_mission_complete(sound_type=CelebrationSound.SUCCESS_CHIME):
-# Basically a big if else statement that calls the functions above        
-async def celebrate_mission_complete(sound_type=CelebrationSound.RICKROLL_INSPIRED):
     """
     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:
+    elif sound_type == CelebrationSound.LEVEL_UP:
-        await play_waiting_sound()
+        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}')
+        print(f'Detected color: {color_detected.h}, {color_detected.s}, {color_detected.v}')
-        hsv = await color_sensor.hsv()
+        if color_reflected_percent > 1:
-        print(f"Measured HSV: {hsv}")
-        if color_reflected_percent > 0:
             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)
+                #await celebrate_mission_complete(CelebrationSound.SUCCESS_CHIME )
-            elif color_detected == Color.ORANGE:
+            elif color_detected == Color.BLUE:
                 print('Running Mission 4')
                 await Run4()
-                await celebrate_mission_complete(CelebrationSound.POWER_UP)
+                #await celebrate_mission_complete(CelebrationSound.POWER_UP)
-            elif color_detected == Color.BLUE:
+            elif color_detected == Color.RED:
                 print('Running Mission 5')
                 await Run5()
-                await celebrate_mission_complete(CelebrationSound.POWER_UP)
+                #await celebrate_mission_complete(CelebrationSound.LEVEL_UP)
-            elif color_detected == Color.RED:
-                print('Running Mission 6')
-                await Run6()
-                await celebrate_mission_complete(CelebrationSound.TA_DA)
             else:
                 hub.light.off()
                 left_motor.stop()
                 right_motor.stop()
-        else:
+        await wait(1000) #prevent loop from iterating fast
-            print("No color was detected.")
+# Main execution loop
-        await wait(100) # prevent loop from iterating fast
 run_task(main())