[RRLedford]

Our team, 3507 RoboTheosis, has this autonomous strategy:
1) We immediately engage and deeply entangle (not possess) the nearest rolling goal into a deep V-notch at front of bot which at full penetration of goal dumps five preloads into the furthest goal tube.
2) We easily navigate with the rolling goal well entangled into our deep V-notch at front, going over the tilt bridge to the other side, then arcing into and tracking along the far wall until we hit the side of the middle dispenser with a hard stopper that aligns our bot's side mounted vertical conveyor well centered on the middle dispenser.
3) We run our vertical conveyor to unload the doubler and as many more regular batons up our conveyor, which then directly dumps them onto a slide that guides them down by gravity feed into the three nearest tubes of the adjacent (in front) rolling goal .
4) We then retreat from our now well loaded rolling goal & head for the tilt bridge to balance
5) On start of teleop mode, we resume filling of the goal with the doubler in it to the max, then we bring the 2nd goal across to the 9" high dispenser and it is also filled directly by conveyor without moving the bot.

We always dispense & transfer directly into a well controlled rolling goal that penetrates 50% into the volume of our bot - without having to move from our position next to the dispenser.

-Dick Ledford