​Strategy

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Our goal is to dump tokens into the center three see-saws using three servo-powered arms. We use line sensing to continuously drive back and forth along the center line, between the FLAP and the see-saws, to reload and dump tokens. 

Orientation

The first step is to orient our robot on the playing field. We rotate clockwise in place until an IR beacon detects the 5 kHz signal located in the FLAP.  From there, we have our robot turn and drive towards the center line.

Driving

Once our robot hits the center line, it turns clockwise until centered onto the line and is facing the see-saws.  Using line sensors located on the bottom front of our robot, we drive towards the see-saws. When the line sensors detect the tape T, our robot stops and prepares to dump the tokens. 

Dumping

The three arms on the top layer of the chassis are each powered by a servo. The center arm dumps tokens directly forward into the center see-saw. The left and right arms rotate 90 degrees until perpendicular to the body when they suddenly stop, and the tokens'  momentum carries them into the neighboring see-saws. 

Loading

Our robot returns the three arms back to their original positions and begins driving backwards towards the loading zone. When the line sensors detect the entrance to the FLAP, our robot stops and is reloaded with tokens. It then begins to drive forward to repeat the load-dump cycle.