From 2eca0d7d247c47b8544a74304b2bc3e613cf05b7 Mon Sep 17 00:00:00 2001
From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org>
Date: Sat, 4 Oct 2025 00:23:53 +0000
Subject: [PATCH 1/2] Initial commit

Mission Run #5
---
 missions/Bautism.py | 45 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 45 insertions(+)
 create mode 100644 missions/Bautism.py

diff --git a/missions/Bautism.py b/missions/Bautism.py
new file mode 100644
index 0000000..aeb80c2
--- /dev/null
+++ b/missions/Bautism.py
@@ -0,0 +1,45 @@
+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
+
+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(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())
\ No newline at end of file
-- 
2.49.1


From 4b765b0e9d5d9cba1b2417f8ca652afc6e22691d Mon Sep 17 00:00:00 2001
From: Rishikesh Lolapu <31lolapr@elmbrookstudents.org>
Date: Sat, 4 Oct 2025 00:55:26 +0000
Subject: [PATCH 2/2] Update missions/M8_5.py

---
 missions/M8_5.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/missions/M8_5.py b/missions/M8_5.py
index 69e364d..95ecc9e 100644
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -30,14 +30,14 @@ async def main():
     await right_arm.run_angle(5000,-500, Stop.HOLD)
 
     await drive_base.turn(-20)
-    await drive_base.straight(275)
+    await drive_base.straight(277)
     await drive_base.turn(20)
-    await drive_base.straight(63)
+    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(-135)
+    await drive_base.straight(-145)
     await drive_base.turn(-60)
     await drive_base.straight(90)
     await left_arm.run_angle(1000,-450)
@@ -45,5 +45,5 @@ async def main():
     await left_arm.run_angle(1000,450)
     await drive_base.straight(10)
     await drive_base.turn(35)
-    await drive_base.straight(-500)
+    await drive_base.straight(-600)
 run_task(main())
\ No newline at end of file
-- 
2.49.1