Emma+R.+and+Shayreen+Final+Project

**Bot description:**
Our robot was designed to be able to be stable so that it could not easily be tipped, but it also was designed to have 3 motors. Two of those motors are used to move the robot, and the other is used to control the contraption that we built in order to have our catch the balls in the arena, and transport them to the goal. Two of the motors are side mounted which move the wheels to enable the robot to move, and the third motor sits on top of the bot and that enabled the ball trapper to move.

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**Design & Building Process:**
We knew that for this game of Botball we would have to re-vamp our robot. We went through Constructapedia looking at different structures until we found one to go off of. In this design, we had 2 motors that would move the wheels, and one motor that would move the contraption that we made in order to capture the ball. Our building proces went pretty smothly. Becasue we had a layout to go off of, we just had to add our contraption, and since we had consructed something similar to it before in another project, building the contraption to trap the ball was not difficult. Using a joystick control program, we can move our bot as if it is a remote controlled car. Everything combined will help us capture a ball and transport it to the goal. We programmed the autonomous mode. We began by programming our bot to go straight and than turn at a 90 degree angle so that it would go down the ramp to rescue a ball. We than figured that going at an angle would take less time, so we programmed it to go straight at an angle. This did make it a bit difficult because it is very important to have the bot going at the same angle the whole time so that the amount of time that it moves forward to the correct distance. Having the bot at the correct angle will allow it to stop and turn at the correct point so that it turns into the ball pit instead of passing by it. Some issues that we ran into were the inconsistencies. At the same angle as the starting point, the bot never seems to fall into the exact same place when it turns to go into the ball pit. This may be because when the bot is going straight at a diagonal, it jumps off of the foam surface and from there, the angle that is was going at doesn’t always stay the same. The angle doesn’t alter drastically, but it does move enough so that the bot will sometimes hit the edge of the ball pit instead of going into it, and when the the 3rd motor has the ball catcher come down, it sometimes hits the wall instead of grabbing a ball. Because it sometimes hits the wall of the ball pit, the angle is sometimes changed so that when it is supposed to turn around and go back onto the foam board, it does not turn at a 90 degree angle, and it does not make its way onto the mat.

The structure and design of our bot can be seen here:

Our program that we used in order to play the game can be seen here in the joydriver.c file.

**In-Game performance:**
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