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

Reviewed-on: #35
2025-10-31 11:58:01 +00:00
18 changed files with 468 additions and 284 deletions
--- a/LINEUPS.md
+++ b/LINEUPS.md
@@ -2,12 +2,14 @@

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

- 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 #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 #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 #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 #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 #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 #4 (Run #4) [Left/Red Home] - The robot's left edge should be positioned on the 2nd thin line from the left.
+- 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 #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.
+- 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.
--- a/README.md
+++ b/README.md
@@ -94,12 +94,12 @@ Repository
 ### Color Start System
 | Color | Mission |
 |-------|-----------|
-| ```Green  🟩 ```| Run 1 |
-| ```Purple 🟪 ```| Run 2 |
-| ```Red    🟥 ```| Run 3 |
-| ```Yellow 🟨 ```| Run 4 |
-| ```Blue   🟦 ```| Run 5 |
-| ```Orange 🟧 ```| Run 6 |
+| Green  🟩 | Run 1 |
+| Purple 🟪 | Run 2 |
+| Red    🟥| Run 3 |
+| Yellow 🟨| Run 4 |
+| Blue   🟦| Run 5 |
+| Orange 🟧| Run 6 |

 ---

--- a/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
+++ b/codes_for_scrimmage/hazmat/HazmatCodeChanges.py
@@ -140,41 +140,40 @@ async def Run4():  # From Send_Over_Final.py

 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(700)
-    await drive_base.turn(-18)
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(120)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(295)
+    await right_arm.run_angle(10000, 9000)
+    await drive_base.straight(-65)
+    await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -8500)
    await drive_base.straight(100)
-    await 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)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
+    await drive_base.straight(-300)
+    await drive_base.turn(-80)
+    await drive_base.straight(-700)


 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(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)
+    await drive_base.straight(750)
+    await drive_base.straight(-650)


 # Function to classify color based on HSV
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -21,7 +21,7 @@ drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
 drive_base.settings(600, 500, 300, 200)
 drive_base.use_gyro(True)

-WALL_DISTANCE = 200  # mm
+WALL_DISTANCE = 300  # mm

 async def drive_forward():
    """Drive forward continuously using DriveBase."""
@@ -45,46 +45,31 @@ async def monitor_distance():

 # 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)
+    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)

-    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)
@@ -120,62 +105,77 @@ async def Run3():  # tip the scale.py
    await drive_base.turn(40) # turning right
    await left_arm.run_angle(410,-400) #lift a little bit
    await drive_base.straight(80)
-    await drive_base.turn(-41) #ma din din din dun 67 41 21 
+    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
+    #Solve mission
    drive_base.turn(-10)
-    await left_arm.run_angle(10000,-4000)
+    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(-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)
+    await drive_base.straight(519)
+    await left_arm.run_angle(-10000, 300)
+    await left_arm.run_angle(10000, 600)
+    await drive_base.straight(160)
+    await drive_base.turn(-30)
+    await drive_base.straight(50)
+    await right_arm.run_angle(3000, 3000)
+    await drive_base.straight(-150)
+    await drive_base.turn(120)
+    await drive_base.straight(25)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(-110)
+    await drive_base.turn(-43)
+    await right_arm.run_angle(10000, -3000)
+    await drive_base.straight(295)
+    await right_arm.run_angle(10000, 9000)
+    await drive_base.straight(-65)
+    await drive_base.turn(45)
+    await drive_base.straight(175)
+    await drive_base.turn(24.5)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(100)
+    await right_arm.run_angle(10000, 3500)
+    await drive_base.turn(-30)
+    await drive_base.straight(-300)
+    await drive_base.turn(-80)
+    await drive_base.straight(-700)
+

 # Add - Adi's code here
 async def Run6():
-    await drive_base.straight(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)
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+
+
 # Function to classify color based on HSV
 def detect_color(h, s, v, reflected):
    if reflected > 4:
--- 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, multitask
+from pybricks.tools import wait, StopWatch, run_task

 hub = PrimeHub()

@@ -23,15 +23,23 @@ drive_base.settings(300,1000,300,750)
 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)
+    await drive_base.straight(519)
+    await arm_motor_left.run_angle(300, -100)
+    await arm_motor_left.run_angle(300, 500)
+    await drive_base.straight(180)
+    await drive_base.turn(-37)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(300, -400)
+    await drive_base.straight(-150)
+    await drive_base.turn(135)
+    await drive_base.straight(50)
+    await arm_motor.run_angle(300, 400)
+    await drive_base.straight(-75)
+    await arm_motor.run_angle(300, 300)
+    await drive_base.turn(-50)
+    await drive_base.straight(162)
+    await arm_motor.run_angle(100, -200)
+    await drive_base.straight(30)
+    await arm_motor.run_angle(50,-500)

 run_task(main())
--- a/missions/Boat.py
+++ b/missions/Boat.py
@@ -2,36 +2,26 @@ 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
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import 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)

-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.settings(550,700,100,100)
+
 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)
+first_run = False

+async def main():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+    
 run_task(main())
--- a/missions/Boat_mission.py
+++ b/missions/Boat_mission.py
@@ -0,0 +1,27 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task,multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(880,850,700,700)
+
+drive_base.use_gyro(True)
+
+first_run = True
+
+async def main():
+    await drive_base.straight(750)
+    await drive_base.straight(-650)
+    
+run_task(main())
--- a/missions/Heavy
+++ b/missions/Heavy
@@ -0,0 +1,37 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await right_arm.run_angle(2000,1000)
+
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    await drive_base.straight(30)
+
+    await right_arm.run_angle(2000,-1000)
+    await drive_base.straight(30)
+    await right_arm.run_angle(3000,1000)
+    await drive_base.straight(-60)
+
+    await drive_base.turn(-60)
+    await drive_base.straight(-525)
+    await drive_base.turn(20)
+    await drive_base.straight(-200)
+    
--- a/missions/Heavy_lifting_final.py
+++ b/missions/Heavy_lifting_final.py
@@ -0,0 +1,36 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    #Get to mission
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+    #Solve mission
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+    #Return home
+    await drive_base.straight(-100)
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())
--- a/missions/Lift.py
+++ b/missions/Lift.py
@@ -0,0 +1,34 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())
--- a/missions/Lift2.py
+++ b/missions/Lift2.py
@@ -0,0 +1,34 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+    await drive_base.straight(200)
+    await drive_base.turn(-20)
+    await drive_base.straight(525)
+    await drive_base.turn(60)
+
+    await drive_base.straight(50)
+    await right_arm.run_angle(2000,1000)
+    await drive_base.straight(-50)
+    await drive_base.turn(45)
+    await drive_base.straight(50)
+    await right_arm.run_angle(350,-1000)
+
+    await drive_base.turn(-100)
+    await drive_base.straight(-600)
+run_task(main())
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -19,44 +19,31 @@ drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)

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

-    await drive_base.turn(-40)
-    await drive_base.straight(325)
-    await left_arm.run_angle(500,80)
+    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.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(-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/missions/Sand
+++ b/missions/Sand
@@ -0,0 +1,29 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task,multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(400,500,100,100)
+
+drive_base.use_gyro(True)
+
+
+async def main():
+    await drive_base.straight(500)
+    await right_arm.run_angle(300,100)
+    await drive_base.straight(-100)
+    await right_arm.run_angle(300,-100)
+    await drive_base.straight(-350)
+    
+run_task(main())
--- a/missions/Send_Over.py
+++ b/missions/Send_Over.py
@@ -0,0 +1,31 @@
+from pybricks.hubs import PrimeHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+from pybricks.tools import run_task, multitask
+
+hub = PrimeHub()
+
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_arm = Motor(Port.D)
+
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
+
+drive_base.settings(600,500,300,200)
+drive_base.use_gyro(True)
+
+async def main():
+
+    await drive_base.straight(915)
+    await drive_base.turn(-90)
+    await drive_base.straight(60)
+    await left_arm.run_angle(10000,-4000)
+    await drive_base.straight(-90)
+    await drive_base.turn(80)
+    await drive_base.straight(2000)
+
+run_task(main())
--- a/missions/Send_Over_Final.py
+++ b/missions/Send_Over_Final.py
@@ -19,41 +19,28 @@ drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=
 drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)

-WALL_DISTANCE = 200  # mm
-
-async def drive_forward():
-    """Drive forward continuously using DriveBase."""
-    drive_base.drive(400, 0)
-
-
-async def monitor_distance():
-    """Monitor ultrasonic sensor and stop when wall is detected."""
-    while True:
-        distance = await lazer_ranger.distance()
-        print('Distancing...',distance)
-        
-        if distance < WALL_DISTANCE:
-            # Stop the drivebase
-            await drive_base.stop
-            print(f"Wall detected at {distance}mm!")
-            break
-        
-        # Small delay to prevent overwhelming the sensor
-        await wait(50)
-
 async def main():
-    await drive_base.straight(-920)
+    #Get to mission
+    await drive_base.straight(920)
    await drive_base.turn(-90,Stop.HOLD)
    await drive_base.straight(65)
-    #Solve
+    #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()
-    )
-    
 run_task(main())
--- a/missions/Rishi.py
+++ b/missions/Rishi.py
@@ -37,6 +37,14 @@ async def main():
    await drive_base.straight(-100)
    await drive_base.turn(-54)
    await arm_motor.run_angle(10000, -3000)
+    await drive_base.straight(250)
+    await drive_base.turn(-5)
+    await arm_motor.run_angle(10000, 7000)
+    await drive_base.straight(-50)
+    await drive_base.turn(68)
+    await arm_motor.run_angle(10000, -6000)
    await drive_base.straight(200)
-    await arm_motor.run_angle(10000, 10000)
+    await arm_motor.run_angle(10000, 4000)
+    await drive_base.turn(-40)
+    await arm_motor.run_angle(10000, 7000)
 run_task(main())
--- a/missions/mission_09_old.py
+++ b/missions/mission_09_old.py
@@ -0,0 +1,44 @@
+# ---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/utils/tests/colorsensortest.py
+++ b/utils/tests/colorsensortest.py
@@ -1,69 +0,0 @@
-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())