diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
index c48de0b..cebadd0 100644
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -140,35 +140,16 @@ async def Run4():  # From Send_Over_Final.py
 
 # Add Rishi's code here
 async def Run5(): 
-    await drive_base.straight(519)
-    await left_arm.run_angle(-10000, 300)
-    await left_arm.run_angle(10000, 600)
-    await drive_base.straight(160)
-    await drive_base.turn(-30)
-    await drive_base.straight(50)
-    await right_arm.run_angle(3000, 3000)
-    await drive_base.straight(-150)
-    await drive_base.turn(120)
-    await drive_base.straight(25)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(-110)
-    await drive_base.turn(-43)
-    await right_arm.run_angle(10000, -3000)
-    await drive_base.straight(295)
-    await right_arm.run_angle(10000, 9000)
-    await drive_base.straight(-65)
-    await drive_base.turn(45)
-    await drive_base.straight(175)
-    await drive_base.turn(24.5)
+    await drive_base.straight(600)
     await drive_base.straight(-100)
-    await right_arm.run_angle(10000, -8500)
+    await drive_base.straight(150)
+    await drive_base.turn(60)
     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)
-
+    await drive_base.turn(-86)
+    await drive_base.straight(120)
+    await drive_base.turn(-45)
+    await drive_base.straight(-200)
+    await drive_base.turn(75)
 
 # Add - Adi's code here
 async def Run6():
diff --git a/missions/New_MapReveal/New_MapReveal_Mineshaft.py b/missions/New_MapReveal/New_MapReveal_Mineshaft.py
new file mode 100644
index 0000000..2113b9b
--- /dev/null
+++ b/missions/New_MapReveal/New_MapReveal_Mineshaft.py
@@ -0,0 +1,38 @@
+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 main():
+    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)
+
+run_task(main())
\ No newline at end of file