[KenWittlief]

if you want to use the HW timers thats great - my only point is you might want finer resolution on the interval period

remember that there will be a bot coming towards the center of the field from the other direction - you should try to get their first, so it doesnt get in your way and prevent you from reaching your release ball

and if you are running your motors at low speeds and something is in your path, you wont have any chance of pushing it out of your way