We had one program to knock down the left side hanging tetra. It didn't work at first on the practice day, but they got it eventually, and it worked every time after that.
I had thought they were kidding when they said they were going to drive it so the arm was inside the goal and then make the robot "throw a tantrum," but that's pretty much what we did. It twisted 2 or 3 times inside, then backed out. Our arm folds up easily, so we couldn't bring it down on top of the tetra, it didn't have enough resistance to knock it down.
Once, we placed the robot too far to one side, and it didn't hit the tetra on the first pass(groans from everyone). On the second time through, it hit it and caught it. I didn't notice until we started moving and we had a tetra on our arm.
