Launch Test — build and try your launch, fast

1. Open in MakeCode (button above) — it loads the whole program. (Or: New Project → { } JavaScript view → Copy all → select all → paste; or Download .ts.)
2. Set your four stats in the ★ STAT ALLOCATION block near the bottom (they must total 20).
3. Change the four ★ 1–4 launch numbers — two turn angles and two drive times (ms) from the worksheet.
4. Download, place the bot in the corner and the ball on its spot, press A. Watch, tweak one number, repeat. No setup between runs.

/**
 * ============================================================
 * LAUNCH TEST  —  Cutebot Pro
 * Press A -> two-leg launch, roll up to the ball, kick, STOP.
 * If any line sensor crosses the BLACK LINE (after leaving the
 * start line), the bot just STOPS. Press A again to re-run.
 *
 * You change only:
 *   1. the four STATS below (must total 20)
 *   2. the four ★ LAUNCH numbers (2 turn angles, 2 drive times)
 *
 *   drive speed   = SPEED x 100 / 20
 *   kick strength = POWER x POWER   (capped at 100)
 * ============================================================
 */

input.onButtonPressed(Button.A, function () {
    computeStats()
    if (SPEED + TURNING + ENDURANCE + POWER != 20) {
        basic.showString("20")                 // stats must total 20
        basic.pause(900); basic.clearScreen(); return
    }
    basic.showIcon(IconNames.Yes); basic.pause(200); basic.clearScreen()

    lineArmed = false          // we START on the line -> ignore it until we roll off

    // LEG 1 — turn LEFT, then drive forward to the midline
    CutebotPro.trolleySteering(CutebotProTurn.LeftInPlace, 45)   // ★ 1. LEG-1 ANGLE
    basic.pause(300)
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
    basic.pause(150)
    if (driveForwardOrStop(2000)) { basic.showIcon(IconNames.No); return }   // ★ 2. ms1

    // LEG 2 — turn RIGHT, then drive forward toward the ball
    CutebotPro.trolleySteering(CutebotProTurn.RightInPlace, 45)  // ★ 3. LEG-2 ANGLE
    basic.pause(300)
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
    basic.pause(150)
    if (driveForwardOrStop(1000)) { basic.showIcon(IconNames.No); return }   // ★ 4. ms2

    // LOOK FOR BALL — roll up; stop if we cross the black line first
    let t0 = input.runningTime()
    CutebotPro.pwmCruiseControl(motorPower, motorPower)
    while (input.runningTime() - t0 < 1000) {
        if (lineHitArmed()) { motorStop(); basic.showIcon(IconNames.No); return }
        let d = CutebotPro.ultrasonic(SonarUnit.Centimeters)
        if (d > 3 && d < 10) {                 // ball right in front -> charge + kick
            ballDetected = true
            chargeAndFollowThrough()
        }
        basic.pause(5)
    }
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
    basic.pause(80)

    // KICK straight through (Power²) — stop if we cross the black line mid-kick
    let kt = input.runningTime()
    CutebotPro.pwmCruiseControl(chargePower, chargePower)
    while (input.runningTime() - kt < FOLLOW_THROUGH_MS) {
        if (lineHitArmed()) { motorStop(); basic.showIcon(IconNames.No); return }
        basic.pause(5)
    }
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
})

// Drive the ball forward; keep pushing while it stays in front. Stop instantly
// if we cross the black line.
function chargeAndFollowThrough() {
    flashHeadlights()
    strip.showColor(neopixel.colors(NeoPixelColors.Yellow))
    let charge = Math.max(chargePower, 30)     // don't push weaker than 30

    while (ballDetected) {
        if (lineHitArmed()) { motorStop(); ballDetected = false; break }   // black line -> STOP
        CutebotPro.pwmCruiseControl(charge, charge)
        let f = CutebotPro.ultrasonic(SonarUnit.Centimeters)
        ballDetected = (f > 5 && f < BALL_DETECT_CM)   // still in contact? keep driving through
    }
}

function flashHeadlights() {
    CutebotPro.singleHeadlights(CutebotProRGBLight.RGBA, 255, 255, 255)
    basic.pause(30)
    CutebotPro.singleHeadlights(CutebotProRGBLight.RGBA, 0, 0, 0)
}

function computeStats() {
    motorPower = SPEED * 100 / 20
    chargePower = Math.min(POWER * POWER, 100)
    FOLLOW_THROUGH_MS = 120 + POWER * 35
}

// Take ONE I2C sample of the four line sensors into module temps.
function readTrackbit() {
    CutebotPro.trackbitStateValue()
    tb1 = CutebotPro.trackbitgetGray(TrackbitChannel.One)
    tb2 = CutebotPro.trackbitgetGray(TrackbitChannel.Two)
    tb3 = CutebotPro.trackbitgetGray(TrackbitChannel.Three)
    tb4 = CutebotPro.trackbitgetGray(TrackbitChannel.Four)
}

// True if any sensor is over the black line (value above threshold).
function onBlackLine(): boolean {
    return tb1 > BORDER_THRESHOLD || tb2 > BORDER_THRESHOLD
        || tb3 > BORDER_THRESHOLD || tb4 > BORDER_THRESHOLD
}

// Line-stop that ignores the START line. Arms only after we've rolled onto
// clear floor; after that, the next black line returns true (stop).
function lineHitArmed(): boolean {
    readTrackbit()
    let hit = onBlackLine()
    if (!lineArmed) {
        if (!hit) { lineArmed = true }   // left the start line -> now armed
        return false
    }
    return hit
}

// Drive straight for up to `ms`, but STOP and bail if we cross a NEW black line.
function driveForwardOrStop(ms: number): boolean {
    CutebotPro.pwmCruiseControl(motorPower, motorPower)
    let t0 = input.runningTime()
    while (input.runningTime() - t0 < ms) {
        if (lineHitArmed()) { motorStop(); return true }
        basic.pause(5)
    }
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
    return false
}

// Stop the motors reliably. Double-stops because the driver can latch a previous
// command when the I2C bus is busy; the extra stop clears that.
function motorStop() {
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
    basic.pause(10)
    CutebotPro.pwmCruiseControl(0, 0)
    basic.pause(10)
    CutebotPro.stopImmediately(CutebotProMotors.ALL)
}

// ============================================================
// VARIABLES
// ============================================================
let ballDetected = false
let lineArmed = false

let motorPower = 0
let chargePower = 0
let FOLLOW_THROUGH_MS = 0

let tb1 = 0
let tb2 = 0
let tb3 = 0
let tb4 = 0

let BALL_DETECT_CM = 40        // keep pushing the ball while it's within this range
let BORDER_THRESHOLD = 130     // black-line trigger

// --- Student stats ---
let SPEED = 0
let ENDURANCE = 0
let TURNING = 0
let POWER = 0

// --- Display ---
let strip: neopixel.Strip = null

// ============================================================
// INITIALIZATION
// ============================================================
strip = neopixel.create(DigitalPin.P15, 8, NeoPixelMode.RGB)
strip.setBrightness(255)

CutebotPro.stopImmediately(CutebotProMotors.ALL)
CutebotPro.pwmCruiseControl(0, 0)
basic.pause(100)

/* ============================================================================
 *  ★ STAT ALLOCATION ★  — four whole numbers, each ≥ 1, MUST total 20.
 *    SPEED = drive speed · TURNING = aim sharpness ·
 *    ENDURANCE = late-match power · POWER = kick strength (≤10, Power² caps at 100)
 * ============================================================================
 */
SPEED = 0      // <- YOUR VALUE
TURNING = 0    // <- YOUR VALUE
ENDURANCE = 0  // <- YOUR VALUE
POWER = 0      // <- YOUR VALUE
// CHECK: SPEED + TURNING + ENDURANCE + POWER must equal 20

BORDER_THRESHOLD = 130     // black-line trigger; adjust to your floor