FLL Unearthed — Team LEBOB

Our robot code for the FIRST LEGO League UNEARTHED season. It runs on a LEGO SPIKE Prime hub flashed with PyBricks, and keeps all of our competition missions in one file with an on-hub menu for picking which one to run.

What's here

src/main.py is the whole robot program: the drive base, the attachment motors, the seven missions, and the menu you scroll through on the hub before a match. It's deliberately one file so it's quick to download to the hub and easy to read at the table.

Running it

You need a SPIKE Prime hub (a Robot Inventor hub works too) running PyBricks. To flash the firmware, open https://code.pybricks.com, click Install Firmware, and follow the steps.

Then either load and run it from the PyBricks IDE (open src/main.py, connect to the hub, hit Download and Run), or push it over Bluetooth:

pybricksdev run ble --name "FatSean" src/main.py

FatSean is our hub's name; change it if yours is different.

Using the menu

On start, the hub light turns blue and the display shows a mission number.

• Left and Right buttons scroll through the missions.
• Center button runs the one shown. The light goes green while it runs, then back to blue when it finishes.

The hub also prints the battery level to the console when it boots, so we can check it's charged before a round.

The robot

• Drive base: two motors, left on port D and right on port C, 62.4 mm wheels, 130 mm axle track.
• Attachment arms: left on port F, right on port E.
• Heading is kept straight with the hub's built-in gyro.

Missions are plain functions tagged with the @mission decorator, which adds them to the menu in the order they appear in the file. Alongside the normal PyBricks drive commands there are a few "until stalled" helpers (straight_until_stalled, arc_until_stalled, turn_until_stalled) for driving into a wall or model and stopping once the robot can't move any further.

Missions

In menu order (see src/main.py for the actual movements):

1. Flip boulders and heavy
2. Silo
3. Scales and raise pan
4. Ship
5. Brush and broom
6. Minecart
7. Forum, statue and flags

Field resources

resources/ holds the field map (Map.pdf) and our path sketches (PathV1.png through PathV5.png).

Working on it

• Keep src/main.py a single file with minimal imports so it stays hub-friendly.
• Follow PEP 8 (4-space indents, snake_case).
• Test on the table before committing, and note the battery voltage while you do.
• Update the path images in resources/ if a route changes.

License

Apache License 2.0, see LICENSE. Copyright © 2026 Team LEBOB.