Merge pull request 'dev' (#70) from dev into atharv-dev

Reviewed-on: #70

competition_codes/AROC/Nationals_Alliance.py

@@ -0,0 +1,510 @@
+#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
+import umath
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+"""
+Debugging helps
+"""
+DEBUG = 1  # Enable when you want to show logs
+# Example conversion function (adjust min/max values as needed for your hub)
+async def get_battery_percentage(voltage_mV:float):
+    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
+    min_voltage = 5000.0  # min battery level
+    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
+    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
+
+async def wait_button_release():
+    """Wait for all buttons to be released"""
+    while hub.buttons.pressed():
+        await wait(500)
+    await wait(1000)  # Debounce delay
+
+WALL_DISTANCE = 300  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(1000,0)
+
+async def drive_backward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance():
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...',distance)
+        
+        if distance < WALL_DISTANCE:
+            # Stop the drivebase
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+        if distance is None:
+            continue
+       
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# Use this to set default
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+# Use this to change drive base movement
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)  
+
+"""
+Run#1
+- Removed forge and who lived here part
+- What's on sale + Silo
+- Green Key
+"""
+async def Run1():  
+
+    await solve_whats_on_sale_v3()
+    await solve_silo()
+ 
+    # return to base
+    await drive_base.straight(-90)
+    #await drive_base.turn(-100)
+    await drive_base.arc(200,None,-300)
+    drive_base.stop()
+
+async def solve_whats_on_sale_v3():
+
+    right_arm.run_angle(500,30)
+    left_arm.run_angle(600,-180)
+    await drive_base.straight(300)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(320)
+    
+    await drive_base.straight(-155)
+    await left_arm.run_angle(500,50)
+    await drive_base.turn(-30)
+    await left_arm.run_angle(1500,180)
+
+async def solve_whats_on_sale_v2():
+
+    right_arm.run_angle(500,30)
+
+   # Bring down left arm to position
+    await left_arm.run_angle(2000, -120)
+    #await left_arm.run_until_stalled(-500,duty_limit=15)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    left_arm.reset_angle(0)
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+
+async def solve_silo():
+    await drive_base.straight(-10)
+    await drive_base.turn(70)
+    await drive_base.straight(20)
+
+    SPEED = 10000 # speed in degree per second
+    SWING_ANGLE = 60 # the angle!
+    REBOUND_ADJ = 20
+
+    # Repeat this motion 4 times
+    for _ in range(4):
+        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
+        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
+       
+
+    right_arm.run_angle(4000,60, Stop.HOLD)
+
+
+"""
+Run#2
+- This to solve forge, who lived here and heavy lifting combined
+- Red Key
+"""
+async def Run2():  
+    await solve_forge()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+    await solve_flag()
+
+    # return to base
+    await drive_base.turn(53)
+    await drive_base.straight(-110)
+    await drive_base.turn(30)
+    await drive_base.straight(-750)
+    drive_base.stop()
+
+async def solve_forge():
+    left_arm.run_angle(100,90)
+    await right_arm.run_target(50,50)
+    await wait(800)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.straight(50)
+    await drive_base.turn(-17)
+    await drive_base.straight(650)
+    await drive_base.turn(50)
+
+    await drive_base.straight(95)
+    await drive_base.turn(-70)
+    await drive_base.straight(-60)
+
+async def solve_heavy_lifting():
+    await right_arm.run_angle(2000,-160) # arm down
+    await wait(100)
+    await drive_base.turn(30) # turn right a little bit
+    await right_arm.run_angle(2000,160) #arm up
+
+async def solve_who_lived_here():
+    await drive_base.turn(-56)
+    await drive_base.straight(120)
+    await drive_base.turn(25)
+    await drive_base.straight(-20)
+    await drive_base.turn(-15)
+    await drive_base.straight(180)
+    await drive_base.turn(17)
+
+async def solve_flag():
+    await drive_base.straight(50)
+    await left_arm.run_angle(70,-90)
+    await wait(500)
+    await left_arm.run_angle(100,120)
+    await drive_base.straight(-55)
+    await drive_base.turn(-80)
+    await drive_base.straight(50)
+    await left_arm.run_angle(250,-90)
+    await left_arm.run_angle(250,90)
+
+
+"""
+Run#2.1
+- Alternate solution for Forge, Who lived here and Heavy Lifting combined
+- Light Blue Key
+- Different alignment
+"""
+async def Run2_1():  
+    await solve_forge_straight()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge_straight():
+    await right_arm.run_target(50,50)
+    await right_arm.run_angle(50,-30)
+    await drive_base.straight(700)
+    # await drive_base.turn(-30)
+    # await drive_base.straight(20)
+    await drive_base.turn(-40)
+    await drive_base.straight(-30)
+
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_tip_the_scale()
+    await solve_angler_artifacts()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_tip_the_scale():
+    drive_base.straight(20)
+    await drive_base.arc(-275,None,365)
+    await drive_base.straight(280)
+    await drive_base.straight(-80)
+    await drive_base.turn(-50)
+    await drive_base.straight(80)
+    await drive_base.turn(40)
+    await drive_base.straight(295)
+    await drive_base.turn(-90)
+
+async def solve_angler_artifacts():
+    await drive_base.straight(55)
+    await drive_base.turn(-10)
+    await left_arm.run_angle(10000,-800)
+    await drive_base.straight(-120)
+    await drive_base.turn(110)
+    await drive_base.turn(-25)
+
+
+
+
+
+"""
+Run #4 
+- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
+- Blue Key
+"""
+async def Run4(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(120)
+    await drive_base.straight(-210)
+    await drive_base.turn(61)
+    await drive_base.straight(133)
+    await right_arm.run_angle(400, -200)
+    await drive_base.straight(90)
+    await right_arm.run_angle(100, 95)
+    await drive_base.straight(-875)
+
+async def solve_brush_reveal():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+
+async def solve_mineshaft_explorer():
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -90)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 90)
+
+"""
+Run#5
+- Solves Salvage Operation + Statue Rebuild
+- Orange Key
+"""
+async def Run5():
+    # Getting the sand down
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    # Shoving the boat into place
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    # Solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -300)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    # Lift up statue
+    await left_arm.run_angle(500, 100, Stop.HOLD)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
+
+async def solve_salvage_operation():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+
+async def solve_statue_rebuild():
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700,200)
+    await drive_base.turn(30)
+
+"""
+Run#6
+- Solve 2/3 Site Markings
+- Run only if have time
+- Purple Key
+"""
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    solve_site_mark_1()
+    solve_site_mark_2()
+    #return to base
+    await drive_base.straight(-300)
+    drive_base.stop()
+
+async def solve_site_mark_1():
+    await drive_base.straight(500)
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+
+async def solve_site_mark_2():
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+
+async def Run10():  # experimental map reveal attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(260)
+    left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-300)
+    await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    await drive_base.straight(-200)
+    await left_arm.run_angle(300,-215)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run11():  # experimental surface brushing attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(250)
+    #left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-100)
+    await drive_base.turn(30)
+    #await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    #await drive_base.straight(-200)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run12():
+    await drive_base.straight(900)
+    await drive_base.turn(83)
+    await left_arm.run_angle(3000, -300)
+    await right_arm.run_angle(1100, -180)
+    drive_base.settings(150, 50, 50, 50)
+    await drive_base.straight(120)
+    left_arm.reset_angle(0)
+    await left_arm.run_angle(50, 50)
+    await right_arm.run_angle(50, 90)
+    await drive_base.straight(-100)
+    drive_base.settings(950, 750, 750, 750)
+    await drive_base.turn(110)
+    await drive_base.straight(1000)
+
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 195 < h < 198:  # light blue
+            return "Light_Blue"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+       
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        pressed =  hub.buttons.pressed()
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        if DEBUG :
+            #print(color_sensor.color())
+            #print(h,s,v)
+            #print(color)
+            print(f"button pressed: {pressed}")
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run5() 
+        elif color == "Purple":
+            print('Running Mission 6')
+            await Run11()  
+        elif color == "Light_Blue":
+            print("Running Mission 2_1")
+            await Run12()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+            #pass
+
+        # Show battery % for debugging 
+        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
+            # Get the battery voltage in millivolts (mV)
+            battery_voltage_mV = hub.battery.voltage()
+            # Use the function with your voltage reading
+            percentage = await get_battery_percentage(float(battery_voltage_mV))
+            if DEBUG:
+                print(f"Battery voltage: {battery_voltage_mV} mV")
+                print(f"Battery level: {percentage:.3f}%")
+                print("FLL Robot System Ready!")
+                await hub.display.text(f"{percentage:.0f}")
+            break
+        elif pressed == None:
+            continue 
+
+        await wait(10)
+# Run the main function
+run_task(main())

competition_codes/AROC/NumberOne.py

@@ -0,0 +1,652 @@
+"""
+PID Straight Drive  —  heading-corrected forward / backward movement.
+
+Improvements over baseline:
+  • Derivative on measurement (not error) — no derivative kick on setpoint change
+  • Fixed-interval dt — loop sleeps a constant 20 ms, so /dt is dropped from the
+    derivative term (dividing by 0.02 was silently multiplying KD by 50)
+  • prev_error seeded from first real heading — eliminates first-tick spike
+  • Per-motor speed clamping — prevents one side pivoting at low speeds
+  • Deceleration ramp — smooth stop in the last RAMP_MM millimetres
+  • Dual-motor exit + timeout — survives stall on either wheel
+  • Integral freeze near target — stops windup right where it matters most
+"""
+
+from pybricks.tools import StopWatch, wait
+import umath
+
+WHEEL_DIAMETER   = 68.8      # mm  — adjust to your wheel (Done)
+AXLE_TRACK       = 180       # mm  — used only if you add turning later (Done)
+LOOP_MS          = 20        # fixed control loop period
+RAMP_MM          = 50      # begin decelerating this far from target
+MIN_SPEED        = 80        # floor speed during ramp (avoid stall)
+TIMEOUT_MS       = 8_000     # safety abort
+# Tuning sequence
+
+KP = 4.8    # Wide chassis = stable platform, can afford higher P gain
+            # without oscillation. Pushes harder through corrections.
+
+KI = 0.012 # Slightly lower than default — large wheels cover distance
+            # fast so the integrator has less time to build up per run.
+            # Raise to 0.012 if you see consistent sideways drift at end.
+
+KD = 7.5    # Higher than default. Big wheels = more rotational momentum,
+            # needs stronger damping to prevent overshoot on corrections.
+
+def _mm_to_deg(mm: float) -> float:
+    return (abs(mm) / (umath.pi * WHEEL_DIAMETER)) * 360.0
+
+
+def _motor_avg_angle(m1, m2) -> float:
+    return (abs(m1.angle()) + abs(m2.angle())) / 2.0
+
+
+async def pid_straight(distance_mm: float, speed: int = 600):
+    """
+    Drive straight for distance_mm at speed (deg/s).
+    Positive = forward, negative = reverse.
+    """
+    direction    = 1 if distance_mm >= 0 else -1
+    degrees_need = _mm_to_deg(distance_mm)
+    target_hdg   = hub.imu.heading()
+
+    left_motor.reset_angle(0)
+    right_motor.reset_angle(0)
+
+    # ── seed integral and prev_error from the real opening heading ──
+    first_error  = target_hdg - hub.imu.heading()   # 0.0 on a perfect start,
+    integral     = 0.0                               # non-zero if robot is tilted
+    prev_heading = hub.imu.heading()                 # for derivative-on-measurement
+
+    watchdog = StopWatch()
+
+    while True:
+        traveled = _motor_avg_angle(left_motor, right_motor)
+
+        # ── exit: distance reached or timeout ──
+        if traveled >= degrees_need:
+            break
+        if watchdog.time() > TIMEOUT_MS:
+            break
+
+        # ── heading error with wrap ──
+        heading = hub.imu.heading()
+        error   = target_hdg - heading
+        if error >  180: error -= 360
+        if error < -180: error += 360
+
+        # ── derivative on measurement — no kick when target changes ──
+        d_heading  = heading - prev_heading          # raw delta (deg / loop)
+        if d_heading >  180: d_heading -= 360
+        if d_heading < -180: d_heading += 360
+        prev_heading = heading
+
+        # ── integral with freeze near target ──
+        near_target = (degrees_need - traveled) < _mm_to_deg(RAMP_MM / 2)
+        if not near_target:
+            integral = max(-50.0, min(50.0, integral + error))  # dt=const → no *dt
+
+        # ── PID output ──
+        #   derivative term: -KD * d_heading  (measurement, not error difference)
+        correction = KP * error + KI * integral - KD * d_heading
+        correction = max(-200.0, min(200.0, correction))
+
+        # ── ramp speed near end ──
+        remaining    = degrees_need - traveled
+        ramp_degrees = _mm_to_deg(RAMP_MM)
+        if remaining < ramp_degrees and ramp_degrees > 0:
+            ramp_factor = max(float(MIN_SPEED) / speed,
+                              remaining / ramp_degrees)
+            run_speed = int(speed * ramp_factor)
+        else:
+            run_speed = speed
+
+        # ── per-motor clamping — prevents pivot at low speeds ──
+        l_cmd = max(-speed, min(speed, direction * run_speed + int(correction)))
+        r_cmd = max(-speed, min(speed, direction * run_speed - int(correction)))
+
+        left_motor.run(l_cmd)
+        right_motor.run(r_cmd)
+        await wait(LOOP_MS)
+
+    left_motor.brake()
+    right_motor.brake()
+
+#Important Notice: All codes should be tested while the robot's battery is at 100%, and all updates must be made when the robot is at full charge.
+import umath
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(600, 500, 300, 200)
+drive_base.use_gyro(True)
+
+"""
+Debugging helps
+"""
+DEBUG = 1  # Enable when you want to show logs
+# Example conversion function (adjust min/max values as needed for your hub)
+async def get_battery_percentage(voltage_mV:float):
+    max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
+    min_voltage = 5000.0  # min battery level
+    percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
+    return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100
+
+async def wait_button_release():
+    """Wait for all buttons to be released"""
+    while hub.buttons.pressed():
+        await wait(500)
+    await wait(1000)  # Debounce delay
+
+WALL_DISTANCE = 300  # mm
+async def drive_forward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(1000,0)
+
+async def drive_backward():
+    """Drive forward continuously using DriveBase."""
+    drive_base.drive(400, 0)
+
+
+async def monitor_distance(stop_mm: int = WALL_DISTANCE):
+    """Monitor ultrasonic sensor and stop when wall is detected."""
+    while True:
+        distance = await lazer_ranger.distance()
+        print('Distancing...', distance)
+        
+        if distance is None:
+            await wait(50)
+            continue
+        if distance < stop_mm:
+            drive_base.stop()
+            print(f"Wall detected at {distance}mm!")
+            break
+
+        # Small delay to prevent overwhelming the sensor
+        await wait(50)
+
+# Use this to set default
+def set_default_speed():
+    drive_base.settings(600, 500, 300, 200)
+
+# Use this to change drive base movement
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)  
+
+"""
+Run#1
+- Removed forge and who lived here part
+- What's on sale + Silo
+- Green Key
+"""
+async def Run1():  
+    
+    # Fast approach to near-stall position
+    await left_arm.run_angle(2000, -210)  # Fast movement downward
+
+    # Gentle stall detection (shorter distance = faster)
+    await left_arm.run_until_stalled(-1500, duty_limit=15)
+    left_arm.reset_angle(0)
+    print(f"Initial left arm angle : {left_arm.angle()}")
+
+    await solve_whats_on_sale_v3()
+    await solve_silo()
+ 
+    # return to base
+    await drive_base.straight(-400)
+    drive_base.stop()
+
+async def solve_whats_on_sale_v3():
+
+    right_arm.run_angle(500,30)
+
+    #Automated inconsistency
+    #left_arm.run_angle(500,-119.5)
+    await left_arm.run_angle(500, 75,Stop.HOLD)
+    #await left_arm.run_target(500,90,Stop.HOLD)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    
+    await drive_base.straight(210)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(320)
+    await left_arm.run_angle(490,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(600,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(5000,180)
+    await drive_base.turn(15)
+
+async def solve_whats_on_sale_v2():
+
+    right_arm.run_angle(500,30)
+
+   # Bring down left arm to position
+    await left_arm.run_angle(2000, -120)
+    #await left_arm.run_until_stalled(-500,duty_limit=15)
+    print(f"Position left arm angle : {left_arm.angle()}")
+    left_arm.reset_angle(0)
+    
+    await drive_base.straight(180)
+
+    await drive_base.turn(-40)
+    await drive_base.straight(335)
+    await left_arm.run_angle(500,-20)
+
+    await drive_base.straight(-100)
+    await drive_base.straight(60)
+    await left_arm.run_angle(500,50)
+
+    await drive_base.straight(-100)
+    left_arm.run_angle(500,-50)
+    await drive_base.turn(-20)
+    left_arm.run_angle(1000,180)
+    await drive_base.turn(15)
+
+async def solve_silo():
+    await drive_base.straight(-75)
+    await drive_base.turn(45)
+    await drive_base.straight(110)
+
+    SPEED = 20000 # speed in degree per second
+    SWING_ANGLE = 60 # the angle!
+    REBOUND_ADJ = 20
+
+    # Repeat this motion 4 times
+    for _ in range(4):
+        await right_arm.run_angle(SPEED,SWING_ANGLE, Stop.HOLD) # Swing up
+        await right_arm.run_angle(SPEED,(-1 * SWING_ANGLE),Stop.HOLD) # Swing down
+       
+
+    right_arm.run_angle(4000,60, Stop.HOLD)
+
+
+"""
+Run#2
+- This to solve forge, who lived here and heavy lifting combined
+- Red Key
+"""
+async def Run2():  
+    await solve_forge()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+    await solve_flag()
+
+    # return to base
+    await drive_base.turn(50)
+    await drive_base.straight(-210)
+    await drive_base.turn(30)
+    await drive_base.straight(-720)
+    drive_base.stop()
+
+async def solve_forge():
+    left_arm.run_angle(100,90)
+    await right_arm.run_target(50,50)
+    await wait(800)
+    # await right_arm.run_angle(50,-30)
+    await drive_base.straight(50)
+    await drive_base.turn(-17)
+    await drive_base.straight(650)
+    await drive_base.turn(50)
+
+    await drive_base.straight(95)
+    await drive_base.turn(-70)
+    await drive_base.straight(-60)
+
+async def solve_heavy_lifting():
+    await right_arm.run_angle(2000,-160) # arm down
+    await wait(100)
+    await drive_base.turn(30) # turn right a little bit
+    await right_arm.run_angle(2000,160) #arm up
+    await drive_base.turn(-30) #reset position
+
+async def solve_who_lived_here():
+    await drive_base.straight(35)
+    await drive_base.turn(-20)
+    await drive_base.straight(50)
+    await drive_base.turn(-23)
+    await drive_base.straight(-100)
+    await drive_base.turn(-20)
+    await drive_base.straight(50)
+    await drive_base.turn(18)
+    await drive_base.straight(250)
+    await drive_base.turn(55)
+
+async def solve_flag():
+    await drive_base.straight(100)
+    await left_arm.run_angle(70,-90)
+    await wait(500)
+    await left_arm.run_angle(100,120)
+    await drive_base.straight(-60)
+    await drive_base.turn(-80)
+    await drive_base.straight(-20)
+    await left_arm.run_angle(250,-90)
+    await left_arm.run_angle(250,90)
+
+
+"""
+Run#2.1
+- Alternate solution for Forge, Who lived here and Heavy Lifting combined
+- Light Blue Key
+- Different alignment
+"""
+async def Run2_1():  
+    await solve_forge_straight()
+    await solve_heavy_lifting()
+    await solve_who_lived_here()
+
+    # return to base
+    await drive_base.arc(-500,None,600)
+    drive_base.stop()
+
+async def solve_forge_straight():
+    await right_arm.run_target(50,50)
+    await right_arm.run_angle(50,-30)
+    await drive_base.straight(700)
+    # await drive_base.turn(-30)
+    # await drive_base.straight(20)
+    await drive_base.turn(-40)
+    await drive_base.straight(-30)
+
+"""
+Run#3
+- Combined angler artifacts and tip the scale
+- Yellow key
+"""
+async def Run3(): 
+    await solve_tip_the_scale()
+    await solve_angler_artifacts()
+    
+    #cross over to red side
+    await multitask(
+        drive_forward(), 
+        monitor_distance()
+    )
+
+async def solve_tip_the_scale():
+    drive_base.straight(20)
+    await drive_base.arc(-270,None,365)
+    await drive_base.straight(280)
+    await drive_base.straight(-80)
+    await drive_base.turn(-50)
+    await drive_base.straight(80)
+    await drive_base.turn(40)
+    await drive_base.straight(290)
+    await drive_base.turn(-90)
+
+async def solve_angler_artifacts():
+    await drive_base.straight(55)
+    await drive_base.turn(-10)
+    await left_arm.run_angle(10000,-800)
+    await drive_base.straight(-140)
+    await drive_base.turn(110)
+    await drive_base.turn(-25)
+
+
+
+
+
+"""
+Run #4 
+- Solves the Mineshaft explorer + 2/3 Surface Brush + 1/3 Map Reveal
+- Blue Key
+"""
+async def Run4(): 
+    await drive_base.straight(700)
+    await drive_base.turn(-18)
+    await drive_base.straight(120)
+    await drive_base.straight(-210)
+    await drive_base.turn(61)
+    await drive_base.straight(133)
+    await right_arm.run_angle(400, -200)
+    await drive_base.straight(90)
+    await right_arm.run_angle(100, 95)
+    await drive_base.straight(-875)
+
+async def solve_brush_reveal():
+    await drive_base.straight(700)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-210)
+
+async def solve_mineshaft_explorer():
+    await drive_base.turn(63)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -90)
+    await drive_base.straight(84)
+    await right_arm.run_angle(300, 90)
+
+"""
+Run#5
+- Solves Salvage Operation + Statue Rebuild
+- Orange Key
+- Uses PID straight drive for precision
+"""
+async def Run5():
+    # Getting the sand down
+    await drive_base.straight(550)
+    await right_arm.run_angle(300,120)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -100)
+    # Shoving the boat into place
+    await drive_base.straight(300)
+    await drive_base.straight(-200)
+    await drive_base.turn(-17)
+    # Solving statue
+    await drive_base.straight(350)
+    await drive_base.turn(-104)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -300)
+    await drive_base.straight(120)
+    await drive_base.turn(5)
+    # Lift up statue
+    await left_arm.run_angle(500, 100, Stop.HOLD)
+    await drive_base.turn(18)
+    await drive_base.straight(-100)
+    await drive_base.turn(-90)
+    await drive_base.straight(900)
+    drive_base.stop()
+
+async def solve_salvage_operation():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,500)
+    await drive_base.straight(-75)
+    await right_arm.run_angle(300, -900)
+    await drive_base.straight(-350)
+    await wait(1000)
+    await drive_base.straight(800)
+    await drive_base.straight(-200)
+    await drive_base.turn(-15)
+    await drive_base.straight(350)
+
+async def solve_statue_rebuild():
+    await drive_base.turn(-100)
+    await drive_base.straight(-80)
+    await left_arm.run_angle(500, -900)
+    await drive_base.straight(50)
+    await drive_base.straight(50)
+    await left_arm.run_angle(700,200)
+    await drive_base.turn(30)
+
+"""
+Run#6
+- Solve 2/3 Site Markings
+- Run only if have time
+- Purple Key
+"""
+async def Run6_7():  # experiment with ferris wheel for Site Markings
+    solve_site_mark_1()
+    solve_site_mark_2()
+    #return to base
+    await drive_base.straight(-300)
+    drive_base.stop()
+
+async def solve_site_mark_1():
+    await drive_base.straight(500)
+    await right_arm.run_angle(100, -10)
+    await wait(50)
+    await drive_base.straight(-300)
+    await drive_base.arc(-150, -140, None)
+
+async def solve_site_mark_2():
+    await drive_base.straight(-300)
+    await wait(50)
+    await right_arm.run_angle(50, 50)
+
+async def Run10():  # experimental map reveal attachment
+    
+    await drive_base.straight(600)
+    drive_base.settings(150, 750, 50, 500)
+    await drive_base.turn(-30)
+    await drive_base.straight(260)
+    left_arm.run_angle(300,218)
+    
+    set_default_speed()
+    await drive_base.straight(-80)
+    await drive_base.turn(30)
+    await drive_base.straight(-300)
+    await drive_base.straight(400)
+    #await left_arm.run_angle(50,120)
+    await drive_base.straight(-200)
+    await left_arm.run_angle(300,-215)
+    await drive_base.straight(-600)
+    drive_base.stop()
+
+async def Run11():  # experimental surface brushing attachment with PID straight
+    # Using PID straight drive for better precision on long runs
+    await pid_straight(665, 600)   # Forward 600mm with PID
+    await drive_base.turn(-35)     # Regular turn for small angles
+    await pid_straight(200, 200) # Forward 250mm with PID
+    await pid_straight(-250, 300)  # Backward 100mm with PID
+    await drive_base.turn(45)      # Regular turn
+    await pid_straight(-705,700)  # Fast backward 600mm with PID
+    drive_base.stop()
+
+KP = 4  # Wide chassis = stable platform, can afford higher P gain
+            # without oscillation. Pushes harder through corrections.
+
+KI = 0.012 # Slightly lower than default — large wheels cover distance
+            # fast so the integrator has less time to build up per run.
+            # Raise to 0.012 if you see consistent sideways drift at end.
+
+KD = 7.5    # Higher than default. Big wheels = more rotational momentum,
+            # needs stronger damping to prevent overshoot on corrections.
+
+async def Run12():
+    await pid_straight(920)
+
+
+    # Using PID straight drive for precision on long run  # Forward 900mm with    await drive_base.turn(84)      # Regular tuawait left_arm.run_angle(3250, -300)
+    await drive_base.turn(86)
+    await left_arm.run_angle(1800, -300)
+    await right_arm.run_angle(1000, -180)
+    await pid_straight(120, 100)   # Short precise forward with PID
+    left_arm.reset_angle(0)
+    await drive_base.turn(3)
+    await left_arm.run_angle(65, 56)
+    await right_arm.run_angle(100, 120)
+    await pid_straight(-170, 200)  # Short precise backward with PID
+    await drive_base.turn(100)     # Regular turn
+    await pid_straight(900)  # Long return to base with PID
+    drive_base.stop()
+
+# Function to classify color based on HSV
+def detect_color(h, s, v, reflected):
+    if reflected > 4:
+        if h < 4 or h > 350:  # red
+            return "Red"
+        elif 3 < h < 40 and s > 70:  # orange
+            return "Orange"
+        elif 47 < h < 56:  # yellow
+            return "Yellow"
+        elif 70 < h < 160:  # green - do it vertically not horizontally for accuracy
+            return "Green"
+        elif 195 < h < 198:  # light blue
+            return "Light_Blue"
+        elif 210 < h < 225:  # blue - do it vertically not horizontally for accuracy
+            return "Blue"
+        elif 260 < h < 350:  # purple
+            return "Purple"
+       
+        else:
+            return "Unknown"
+    return "Unknown"
+
+
+async def main():
+    while True:
+        pressed =  hub.buttons.pressed()
+        h, s, v = await color_sensor.hsv()
+        reflected = await color_sensor.reflection()
+        color = detect_color(h, s, v, reflected)
+        if DEBUG :
+            #print(color_sensor.color())
+            #print(h,s,v)
+            #print(color)
+            print(f"button pressed: {pressed}")
+        
+
+        if color == "Green":
+            print('Running Mission 1')
+            await Run1() 
+        elif color == "Red":
+            print('Running Mission 2')
+            await Run2() 
+        elif color == "Yellow":
+            print('Running Mission 3')
+            await Run3() 
+        elif color == "Blue": 
+            print('Running Mission 4')
+            await Run4() 
+        elif color == "Orange":
+            print('Running Mission 5')
+            await Run5() 
+        elif color == "Purple":
+            print('Running Mission 11')
+            await Run11()  
+        elif color == "Light_Blue":
+            print("Running Mission 12")
+            await Run12()
+        else:
+            print(f"Unknown color detected (Hue: {h}, Sat: {s}, Val: {v})")
+            #pass
+
+        # Show battery % for debugging 
+        if Button.BLUETOOTH in pressed: # using bluetooth button here since away from color sensor
+            # Get the battery voltage in millivolts (mV)
+            battery_voltage_mV = hub.battery.voltage()
+            # Use the function with your voltage reading
+            percentage = await get_battery_percentage(float(battery_voltage_mV))
+            if DEBUG:
+                print(f"Battery voltage: {battery_voltage_mV} mV")
+                print(f"Battery level: {percentage:.3f}%")
+                print("FLL Robot System Ready!")
+                await hub.display.text(f"{percentage:.0f}")
+            break
+        elif pressed == None:
+            continue 
+
+        await wait(10)
+# Run the main function
+run_task(main())