In Debian, you will want to modify your /etc/sudoers
file to have the NOPASSWD
directive.
So where you find something like this in that file:
%sudo ALL=(ALL:ALL) ALL
Make it like this:
%sudo ALL=(ALL:ALL) NOPASSWD:ALL
In this example, powers are given to the sudo %group, yours might just say pi or something else the user fits into.
Also, please note that while this is convenient, it does mean anyone with access to your shell has a quick escalation to root privileges. Some program you run has a shell escape vulnerability and gets a shell without a password, this means they also get root without one too. Unlikely to happen, sure, but I believe one should make informed decisions.