Update LINEUPS.md

well now we have 5 missions?
Update codes_for_scrimmage/hazmat/mainhazmatUPD.py
2025-11-08 22:25:56 +00:00 · 2025-11-07 23:14:24 +00:00 · 2025-11-06 01:53:13 +00:00 · 2025-11-06 01:50:26 +00:00 · 2025-11-06 01:47:54 +00:00 · 2025-11-06 01:44:09 +00:00
25 changed files with 2091 additions and 391 deletions
--- a/LINEUPS.md
+++ b/LINEUPS.md
@@ -2,14 +2,12 @@

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

- Mission Run #1 (Mission #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot.
+- Mission Run #1 (Run #1) [Right/Blue Home] - The left yellow part of the right arm attachment is positioned with its right edge on the 5th thin line from the left. Note that this is NOT positioned from the back of the robot.

- Mission Run #2 (Send Over) [Right/Blue Home] - The robot should be lined up on the vertical edge of the left home. The robot's right side should be positioned on the 1st thin line from the top. Note that the 0th line is the one that is not part of the curve.
+- Mission Run #2 (Tip the scales) [Right/Blue Home] - The middle of the left edge of the robot should be positioned on the 2nd thick line from the left.

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

- Mission Run #4 (Boat mission) [Left/Red Home] - The robot should be lined up on the vertical edge of the left home. The robot's right side should be positioned on the 2nd thick line from the bottom.
+- Mission Run #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thin line from the left.

- Mission Run #5 (Bautism) [Left/Red Home] - The robot's left edge should be positioned at the 1st thick, 2nd thin line from the left.
-
- Mission Run #6 (Not-so-heavy Lifting) [Right/Blue Home] - The robot's right edge should be positioned at the 1st thick from the right.
+- Mission Run #5 (Boat mission) [Left/Red Home] - There are two alignments for this. When sending off the robot for part 1, the robot should be facing the right home. It's right edge should be positioned at the very bottom edge of the board. Once it completes the pulling part, once it comes back begin part 2. For part 2, the middle of the robot's right side should be positioned in the middle of the 3rd thick and the 3rd thick, 1st thin lines.
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@

 ## Project Overview

-Welcome to the official code repository for **Team 65266 Lego Dynamics**! This repository contains all the Pybricks code powering our robot through the UNEARTHED season missions. Our modular approach allows for flexible mission execution and quick color-sensor-based run selection.
+Welcome to the official code repository for **Team 65266 - Lego Dynamics**! This repository contains all the Pybricks code powering our robot through the UNEARTHED season missions. Our modular approach allows for flexible mission execution and quick color-sensor-based run selection.

 ---

@@ -26,8 +26,8 @@ Welcome to the official code repository for **Team 65266 Lego Dynamics**! This r
 |-----------|--------------|
 | **Robot Name** | Optimus Prime III |
 | **Firmware** | Pybricks |
-| **Attachment Motors** | 2× Large Motors (Ports C & D) |
-| **Drive Motors** | 2× Small Motors (Ports A & B) |
+| **Attachment Motors** | 2x Large Motors (Ports C & D) |
+| **Drive Motors** | 2x Small Motors (Ports A & B) |
 | **Sensors** | Up-facing Color Sensor (Quick Start) |
 | **Attachments** | Multiple mission-specific tools |

@@ -46,10 +46,10 @@ Our codebase is organized for maximum efficiency and modularity:
 ```
 Repository
 ┣ run_1.py          # Individual mission runs
- ┣ run_2.py          # Each file = 1+ mission completions
+ ┣ run_2.py          
 ┣ run_3.py
 ┣ ...
- ┗ master.py         # 🎯 Combined master file with color-start logic
+ ┗ masterFile.py         # 🎯 Combined master file with color-start logic - this changes periodically as we release new versions. Check this README if you are unsure what code should be loaded on the robot.
 ```

 ### Workflow
@@ -61,34 +61,45 @@ Repository

 ## How to Use

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

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

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

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

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

 ---

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

 **GNU General Public License v3.0**

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

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

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

 ## Contact & Support

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

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

 ---
-
-<div align="center">
-
-Star this repo if you found it helpful!
-
-</div>
--- a/missions/Bautism.py
+++ b/missions/Bautism.py
@@ -2,7 +2,7 @@ from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
 from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
 from pybricks.robotics import DriveBase
-from pybricks.tools import wait, StopWatch, run_task
+from pybricks.tools import wait, StopWatch, run_task, multitask

 hub = PrimeHub()

@@ -24,22 +24,19 @@ drive_base.use_gyro(True)

 async def main():
    await drive_base.straight(519)
-    await arm_motor_left.run_angle(300, -100)
-    await arm_motor_left.run_angle(300, 500)
-    await drive_base.straight(180)
-    await drive_base.turn(-37)
+    await 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(300, -400)
+    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(300, 400)
-    await drive_base.straight(-75)
-    await arm_motor.run_angle(300, 300)
-    await drive_base.turn(-50)
-    await drive_base.straight(162)
-    await arm_motor.run_angle(100, -200)
-    await drive_base.straight(30)
-    await arm_motor.run_angle(50,-500)
-
+    await 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/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
+++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
@@ -0,0 +1,228 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+WALL_DISTANCE = 300  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# New Section
+async def Run1():  # From M8_5.py
+    left_arm.run_angle(1000, -300)
+    right_arm.run_angle(1000, 500)
+    await drive_base.straight(320)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await right_arm.run_angle(5000, 500, Stop.HOLD)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await right_arm.run_angle(5000, 500, Stop.HOLD)
+    await right_arm.run_angle(5000, -500, Stop.HOLD)
+    await drive_base.turn(-20)
+    await drive_base.straight(277)
+    await drive_base.turn(20)
+    await drive_base.straight(65)
+    await drive_base.turn(-30)
+    right_arm.run_angle(50, 500)
+    await drive_base.turn(45)
+    await drive_base.straight(-145)
+    await drive_base.turn(-60)
+    await drive_base.straight(90)
+    await left_arm.run_angle(1000, 450)
+    await drive_base.straight(-145)
+    await left_arm.run_angle(1000, -450)
+    await drive_base.straight(10)
+    await drive_base.turn(35)
+    await drive_base.straight(-600)
+
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 69
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+        #Get to mission
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve mission
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000, 4000)
+    #Get to Red Start
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(63)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())
--- a/codes_for_scrimmage/hazmat/Heavy_lifting_final.py
+++ b/codes_for_scrimmage/hazmat/Heavy_lifting_final.py
@@ -12,20 +12,22 @@ 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 drive_base.straight(915)
-    await drive_base.turn(-90)
-    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-15000)
+    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(85)
-    await drive_base.straight(2000)

+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
 run_task(main())
--- a/codes_for_scrimmage/hazmat/M8_5.py
+++ b/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())
--- a/codes_for_scrimmage/hazmat/Send_Over_Final.py
+++ b/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())
--- a/codes_for_scrimmage/hazmat/hazmat_main.py
+++ b/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())
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/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 = 200  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# New Section
+async def Run1():  # From M8_5.py
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,80)
+    await drive_base.straight(200)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,-80)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,170)
+
+    await drive_base.straight(-270)
+    await drive_base.turn(40)
+    await drive_base.straight(135)
+    left_arm.run_angle(1000,670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(300)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-120)
+    await drive_base.turn(-100)
+    await drive_base.straight(300)
+    await drive_base.turn(-45)
+    await drive_base.straight(500)
+
+    
+async def Run2():  # From Heavy_lifting_final.py
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)
+    await right_arm.run_angle(5000, 2900)
+    await drive_base.straight(40)
+    await right_arm.run_angle(5000, -4000)
+    await drive_base.straight(-60)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
+
+
+async def Run3():  # tip the scale.py
+    left_arm.run_angle(600,-200)   
+    right_arm.run_angle(500,200)
+    await drive_base.straight(70)
+    
+    await drive_base.turn(-70)
+    await drive_base.straight(900)
+    await drive_base.turn(115)
+    
+    await drive_base.straight(75)
+    await drive_base.straight(33)
+    await right_arm.run_angle(500,-250)
+    await right_arm.run_angle(500,250)
+    await drive_base.turn(66)
+    await drive_base.straight(7)
+    
+    await left_arm.run_angle(560,390) #going down 
+    print('turning now...')
+    await drive_base.turn(40) # turning right
+    await left_arm.run_angle(410,-400) #lift a little bit
+    await drive_base.straight(80)
+    await drive_base.turn(-41) #ma din din din dun 67 41 21 
+    await drive_base.straight(900)
+
+
+async def Run4():  # From Send_Over_Final.py
+    
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+# Add Rishi's code here
+async def Run5(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-220)
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -1200)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+# Add - Adi's code here
+async def Run6():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+    await drive_base.turn(-94)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, 900)
+    await drive_base.straight(50)
+    await drive_base.turn(-10)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700, -200)
+    await drive_base.turn(30)
+    await drive_base.straight(-60)
+    await drive_base.turn(80)
+    await drive_base.straight(-900)
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        
+        if color == "Red":
+            print('Running Mission 3')
+            await Run3() #red
+        elif color == "Orange":
+            print('Running Mission 6')
+            await Run6() #orange
+        elif color == "Yellow":
+            print('Running Mission 4')
+            await Run4() #yellow
+        elif color == "Green": 
+            print('Running Mission 1')
+            await Run1() #green - vertically
+        elif color == "Blue":
+            print('Running Mission 5')
+            await Run5() #blue - vertically
+        elif color == "Purple":
+            print('Running Mission 2')
+            await Run2()  #purple - vertically
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+        await wait(10)
+# Run the main function
+run_task(main())
--- a/codes_for_scrimmage/hazmat/tip
+++ b/codes_for_scrimmage/hazmat/tip
@@ -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())
--- 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.py
+++ b/missions/Boat.py
@@ -2,26 +2,36 @@ from pybricks.hubs import PrimeHub
 from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
 from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
 from pybricks.robotics import DriveBase
-from pybricks.tools import wait, StopWatch
-from pybricks.tools import run_task,multitask
+from pybricks.tools import wait, StopWatch, run_task, multitask

 hub = PrimeHub()

+# Initialize both motors. In this example, the motor on the
+# left must turn counterclockwise to make the robot go forward.
 left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
 right_motor = Motor(Port.B)
-left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
-right_arm = Motor(Port.D)

+arm_motor = Motor(Port.D, Direction.CLOCKWISE)
+arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
+# Initialize the drive base. In this example, the wheel diameter is 56mm.
+# The distance between the two wheel-ground contact points is 112mm.
 drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)

-drive_base.settings(550,700,100,100)
-
+print('The default settings are: ' + str(drive_base.settings()))
+drive_base.settings(300,1000,300,750)
+# Optionally, uncomment the line below to use the gyro for improved accuracy.
 drive_base.use_gyro(True)

-first_run = False
-
 async def main():
-    await drive_base.straight(750)
-    await drive_base.straight(-650)
+    await drive_base.straight(700)
+    await drive_base.turn(-17)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(62)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(87)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)

 run_task(main())
--- a/missions/HEAVY_LIFTING_UPD.py
+++ b/missions/HEAVY_LIFTING_UPD.py
@@ -19,16 +19,15 @@ 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(536)
+    await drive_base.turn(60, Stop.HOLD)
+    await drive_base.straight(30)

-    await drive_base.straight(50)
-    await right_arm.run_angle(2000,1000)
-    await drive_base.straight(-50)
-    await drive_base.turn(45)
-    await drive_base.straight(50)
-    await right_arm.run_angle(350,-1000)
+    await 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(-100)
-    await drive_base.straight(-600)
+    await drive_base.turn(-60)
+    await drive_base.straight(-670)
 run_task(main())
--- a/missions/Hypo.py
+++ b/missions/Hypo.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, 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(700)
+    await drive_base.turn(-17)
+    await drive_base.straight(100)
+    await drive_base.straight(-205)
+    await drive_base.turn(62)
+    await drive_base.straight(125)
+    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(87)
+    await arm_motor.run_angle(300, 1200)
+    await drive_base.straight(-875)
+
+run_task(main())
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -19,31 +19,44 @@ drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)

 async def main():
-    left_arm.run_angle(1000, 300)
-    right_arm.run_angle(1000,500)
-    await drive_base.straight(320)
    
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
-    await right_arm.run_angle(5000,500, Stop.HOLD)
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
-    await right_arm.run_angle(5000,500, Stop.HOLD)
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,-80)
+    await drive_base.straight(200)

-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,80)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,-170)
+
+    await drive_base.straight(-270)
+    await drive_base.turn(40)
+    await drive_base.straight(135)
+    left_arm.run_angle(1000,-670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(300)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-120)
+    await drive_base.turn(-100)
+    await drive_base.straight(300)
+    await drive_base.turn(-45)
+    await drive_base.straight(500)

-    await drive_base.turn(-30)
-    right_arm.run_angle(50,500)
-    await drive_base.turn(45)
-    await drive_base.straight(-145)
-    await drive_base.turn(-60)
-    await drive_base.straight(90)
-    await left_arm.run_angle(1000,-450)
-    await drive_base.straight(-145)
-    await left_arm.run_angle(1000,450)
-    await drive_base.straight(10)
-    await drive_base.turn(35)
-    await drive_base.straight(-600)
 run_task(main())
--- a/missions/Rishi.py
+++ b/missions/Rishi.py
@@ -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/missions/Sand_mission.py
+++ b/missions/Sand_mission.py
@@ -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(-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 drive_base.straight(-350)
    
 run_task(main())
--- a/missions/Send_Over_Final.py
+++ b/missions/Send_Over_Final.py
@@ -0,0 +1,59 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+lazer_ranger = UltrasonicSensor(Port.E)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+WALL_DISTANCE = 200  # mm
+
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            await drive_base.stop
+            print(f"Wall detected at {distance}mm!")
+            break
+        
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+async def main():
+    await drive_base.straight(-920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    #Solve
+    drive_base.turn(-10)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-110)
+    await drive_base.turn(90)
+
+await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+    
+run_task(main())
--- a/missions/mission_09_old.py
+++ b/missions/mission_09_old.py
@@ -1,44 +0,0 @@
-# ---JOHANNES---
-# THIS CODE IS NOT USED ANYMORE AND SHOULD NOT BE USED!!!!!!
-from pybricks.hubs import PrimeHub
-from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
-from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
-from pybricks.robotics import DriveBase
-from pybricks.tools import wait, StopWatch
-
-hub = PrimeHub()
-
-# Initialize both motors. In this example, the motor on the
-# left must turn counterclockwise to make the robot go forward.
-left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
-right_motor = Motor(Port.B)
-
-arm_motor = Motor(Port.E, Direction.CLOCKWISE)
-arm_motor.run_angle(299,90, Stop.HOLD)
-# Initialize the drive base. In this example, the wheel diameter is 56mm.
-# The distance between the two wheel-ground contact points is 112mm.
-drive_base = DriveBase(left_motor, right_motor, wheel_diameter=54, axle_track=140)
-
-print('The default settings are: ' + str(drive_base.settings()))
-drive_base.settings(100,1000,166,750)
-# Optionally, uncomment the line below to use the gyro for improved accuracy.
-drive_base.use_gyro(True)
-
-async def solveM9():
-    print("Solving Mission 9")
-    await drive_base.turn(45)
-    await drive_base.straight(260)
-    await arm_motor.run_angle(500,-500, Stop.HOLD)
-    await drive_base.straight(-40)
-    await drive_base.turn(92)
-    await drive_base.straight(-120)
-    await drive_base.straight(220)
-    await arm_motor.run_angle(500,100, Stop.HOLD)
-    await drive_base.turn(-50)
-    await drive_base.straight(-600)
-async def main():
-    await drive_base.straight(50)
-    print("Hello, Robot is starting to run.")
-    await solveM9()
-
-run_task(main())
--- a/missions/tip
+++ b/missions/tip
@@ -15,28 +15,34 @@ 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())
+
+
--- 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)
@@ -17,248 +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_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)
        await wait(50)
 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
+        await wait(1000) #prevent loop from iterating fast
+# Main execution loop
 run_task(main())
--- a/utils/tests/colorsensortest.py
+++ b/utils/tests/colorsensortest.py
@@ -0,0 +1,69 @@
+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()
+
+color_sensor = ColorSensor(Port.F)
+
+# 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(315,100,60)
+Color.BLUE = Color(240,100,100)
+Color.CYAN = Color(180,100,100)
+Color.RED = Color(350, 100, 100)
+LEGO_BRICKS_COLOR = [
+    Color.BLUE, 
+    Color.GREEN, 
+    Color.WHITE,
+    Color.RED, 
+    Color.YELLOW, 
+    Color.MAGENTA, 
+    Color.NONE
+]
+magenta_counter = 0
+stable_color = None
+real_color = None
+#Update Detectable colors
+color_sensor.detectable_colors(LEGO_BRICKS_COLOR)
+print(f'Yellow:{Color.YELLOW} : {Color.YELLOW.h}, {Color.YELLOW.s}, {Color.YELLOW.v}')
+print("Updated Detected Colors:", color_sensor.detectable_colors())
+async def main():  
+    while True:
+        global magenta_counter, stable_color, real_color
+        color_reflected_percent = await color_sensor.reflection()
+        print("Reflection: ", color_reflected_percent)
+        if color_reflected_percent > 15:
+            color_detected = await color_sensor.color()
+
+            if color_detected == Color.MAGENTA:
+                magenta_counter += 1
+            else:
+                magenta_counter = 0
+                stable_color = color_detected
+
+            # Only accept magenta if it's been stable for a while - usually triggers before other colors so we gotta do this :|
+            if magenta_counter > 10:
+                stable_color = Color.MAGENTA
+                if stable_color != Color.MAGENTA:
+                    stable_color = await color_sensor.color()
+
+            real_color = stable_color
+            #if(color_detected != Color.NONE):
+            #    return
+            
+            print("Magenta counter: ", magenta_counter)
+            if real_color is not None:
+                print(f'Detected color: {real_color} : {real_color.h}, {real_color.s}, {real_color.v}')
+            else:
+                print("No valid color detected yet.")
+        await wait(50)
+
+run_task(main())
Author	SHA1	Message	Date
Atharv	2d614c0e38	Update LINEUPS.md well now we have 5 missions?	2025-11-08 22:25:56 +00:00
Johannes	c7801d17c0	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-07 23:14:24 +00:00
Johannes	974f87c4c4	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:53:13 +00:00
Johannes	a50b0cd1d7	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:50:26 +00:00
Atharv	16e96693cc	Update utils/tests/colorsensortest.py	2025-11-06 01:47:54 +00:00
Johannes	acc44dac22	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:44:09 +00:00
Johannes	411f46d55e	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:36:51 +00:00
Johannes	69745c053f	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:26:47 +00:00
Rishikesh Lolapu	214ea1c22e	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:24:47 +00:00
Johannes	074703af1a	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-06 01:24:37 +00:00
Atharv	e924043945	Upload files to "utils/tests"	2025-11-06 01:11:00 +00:00
Atharv	94043eb522	Merge pull request 'Update missions/Boat.py' (#37 ) from Rishi_dev into dev Reviewed-on: #37	2025-11-06 01:08:48 +00:00
Johannes	a690350d1d	Update missions/Send_Over_Final.py	2025-11-06 01:08:31 +00:00
Atharv	8d4b296331	Delete missions/mission_09_old.py	2025-11-06 01:08:04 +00:00
Atharv	73553b0964	Delete missions/Send_Over.py	2025-11-06 01:07:19 +00:00
Atharv	b1f378eae7	Delete missions/Sand Mission.py	2025-11-06 01:06:43 +00:00
Atharv	439aca673f	Delete missions/Lift2.py	2025-11-06 01:06:28 +00:00
Atharv	4b7491637d	Delete missions/Lift.py	2025-11-06 01:06:20 +00:00
Rishikesh Lolapu	9ca07a36a8	Update missions/Boat.py	2025-11-06 01:06:09 +00:00
Atharv	6c6b7f1f02	Delete missions/Heavy_lifting_final.py	2025-11-06 01:06:05 +00:00
Atharv	b97dcf6837	Delete missions/Heavy lifting.py	2025-11-06 01:05:57 +00:00
Atharv	eea26150f9	Upload files to "missions"	2025-11-06 01:05:24 +00:00
Atharv	d056255994	Delete missions/Boat.py	2025-11-06 01:04:37 +00:00
Atharv	5f0ffea7bc	Delete missions/Boat_mission.py	2025-11-06 01:04:31 +00:00
Atharv	9a573c4eb2	Delete missions/Bautism.py	2025-11-06 01:03:46 +00:00
Atharv	a0a4fa4792	Merge pull request 'Rishi_dev' (#36 ) from Rishi_dev into dev Reviewed-on: #36	2025-11-06 01:01:39 +00:00
Rishikesh Lolapu	14bc8d291a	Add missions/Hypo.py	2025-11-06 00:58:52 +00:00
Atharv	b91e701f4c	Upload files to "missions" from risshi ramdom ahhhh repo	2025-11-06 00:03:28 +00:00
Atharv	debbc4e4d0	Delete missions/Set2.py	2025-11-06 00:03:03 +00:00
Johannes	0c7633d92d	Update missions/M8_5.py	2025-11-04 18:21:26 +00:00
Johannes	3b81a3ff2b	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 02:57:00 +00:00
Rishikesh Lolapu	401033b185	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 01:18:44 +00:00
Rishikesh Lolapu	9cdd9886e3	Update codes_for_scrimmage/hazmat/HazmatCodeChanges.py	2025-11-04 01:15:50 +00:00
Johannes	3a45721812	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-11-04 01:10:02 +00:00
Atharv	a65ad1470c	Update README.md	2025-10-31 16:09:41 +00:00
Atharv	b36a9f3355	Merge pull request 'dev' (#34 ) from dev into Rishi_dev Reviewed-on: #34	2025-10-31 11:57:36 +00:00
Atharv	e785a8ad05	Delete HEAVY_LIFTING_UPD we dont need it it is alr in missions/	2025-10-30 15:42:53 +00:00
Atharv	a6bbba9419	Update README.md	2025-10-30 15:42:31 +00:00
Atharv	8ccf8b9a5a	Update README.md	2025-10-30 12:21:46 +00:00
Atharv	bb95852bf1	Update README.md	2025-10-28 18:22:25 +00:00
Atharv	9ca160a8c7	Update README.md	2025-10-28 18:11:19 +00:00
Atharv	882ba3e13a	Delete Screenshot 2025-10-28 1.06.30 PM.png	2025-10-28 18:07:08 +00:00
Atharv	33b926cb1f	Upload files to "/"	2025-10-28 18:06:44 +00:00
Atharv	4ff5de480d	Update README.md	2025-10-28 18:06:09 +00:00
Atharv	aa062122de	Merge pull request 'main' (#29 ) from main into dev Reviewed-on: #29	2025-10-28 12:23:07 +00:00
Atharv	0fbb38baeb	Merge pull request 'dev' (#28 ) from dev into main Reviewed-on: #28	2025-10-27 12:23:13 +00:00
Atharv	3e1928fcad	Merge pull request 'Update missions/tip the scale.py' (#27 ) from ayaan_dev into dev Reviewed-on: #27	2025-10-27 12:22:25 +00:00
Rishikesh Lolapu	ef0ff44f2b	HazmatCodeChanges This is the code we changed at the scrimmage.	2025-10-25 02:06:49 +00:00
Rishikesh Lolapu	7b539b45d0	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py CVC	2025-10-25 02:05:16 +00:00
Johannes	9a320589ab	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py 67	2025-10-25 01:38:57 +00:00
Johannes	4d1bd8abe3	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-25 01:26:41 +00:00
Rishikesh Lolapu	1317c8e8ce	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py Minor Changes	2025-10-25 01:15:49 +00:00
Johannes	54e8c9eba5	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 01:16:19 +00:00
Johannes	9d3d8b48e4	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 01:15:43 +00:00
Johannes	702e05e7f7	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 01:13:45 +00:00
Rishikesh Lolapu	5427c73f1c	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py I am not a monkey	2025-10-24 01:09:49 +00:00
Johannes	b41f833c5e	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 01:07:23 +00:00
Rishikesh Lolapu	3765db3001	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py MINOR CHANGES AGAIN	2025-10-24 01:01:04 +00:00
Rishikesh Lolapu	94bae3c140	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 00:52:40 +00:00
Rishikesh Lolapu	dbb0749ff3	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py Minor Changes AGAIN!!	2025-10-24 00:49:24 +00:00
Rishikesh Lolapu	831b75025d	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py Minor changes.	2025-10-24 00:45:10 +00:00
Rishikesh Lolapu	249071f5c3	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 00:42:21 +00:00
Johannes	32a695e9ca	Update codes_for_scrimmage/hazmat/hazmat_main.py	2025-10-24 00:38:26 +00:00
Vickram	2d2863726b	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-24 00:35:06 +00:00
Ayaan	1dec912abb	Update missions/tip the scale.py	2025-10-24 00:11:38 +00:00
Atharv	12f3d97a9e	Merge pull request 'Update missions/tip the scale.py' (#25 ) from ayaan_dev into dev Reviewed-on: #25	2025-10-23 15:49:51 +00:00
Atharv	99aa81a68c	Merge pull request 'arcmyx-dev' (#26 ) from arcmyx-dev into dev Reviewed-on: #26	2025-10-23 15:49:44 +00:00
Rishikesh Lolapu	acfe0e622e	Update codes_for_scrimmage/hazmat/mainhazmatUPD.py This is the new version of Hazmat Code with the colors. Check to see if your color is different. Only Run2 is different, it was white, now violet.	2025-10-23 02:30:26 +00:00
Rishikesh Lolapu	4ad60502b9	Add codes_for_scrimmage/hazmat/mainhazmatUPD.py	2025-10-23 02:14:42 +00:00
Ayaan	9e0c82b26b	Update missions/tip the scale.py	2025-10-23 00:52:26 +00:00
Johannes	819b222610	Update codes_for_scrimmage/hazmat/hazmat_main.py	2025-10-23 00:38:23 +00:00
Atharv	a16d5deb92	Update codes_for_scrimmage/hazmat/hazmat_main.py	2025-10-23 00:35:38 +00:00
Atharv	30bc22a457	Delete codes_for_scrimmage/hazmat/hazmat_main.py	2025-10-23 00:34:40 +00:00
Rishikesh Lolapu	1cb08a0c32	Update codes_for_scrimmage/hazmat/hazmat_main.py Adding Rishi/Vickram + Adi Mission's	2025-10-23 00:34:14 +00:00
Atharv	11acca0744	Add codes_for_scrimmage/hazmat/hazmat_main.py	2025-10-23 00:33:01 +00:00
Johannes	68aff887da	Update codes_for_scrimmage/hazmat/hazmat_main.py	2025-10-23 00:29:22 +00:00
Johannes	1f2a467b9b	Update codes_for_scrimmage/hazmat/Heavy_lifting_final.py	2025-10-23 00:28:52 +00:00
Atharv	b3b0590bb9	Merge pull request 'Organize mission codes for scrimmage. Fixed some coolor detection issues' (#22 ) from add-folder-structure-for-scrimmage into dev Reviewed-on: #22	2025-10-22 18:55:29 +00:00
nifrali	d8f1d47882	Organize mission codes for scrimmage. Fixed some coolor detection issues	2025-10-22 12:37:05 -05:00
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