[Samuel H.]

Our team has a auto mode to get 6 in easily (first 2 + 1 pile), with a possibility of another pile as well, though it is much less reliable. We used dead-reckoning.

We do this by flopping our lid over the pile, with 2 already in it, and then turning 90 degrees right* and running them into the goal. The second half then turns left* and flops the lid over the second pile, turns 180 degrees and runs them into the goal. We have an option to not do the second half, and an option to be on a different side.

Good luck,
Sam

* can be reversed for the other side