So it seems your interested in The Cheat, huh? Well, are you? Do you want to know what's behind that little Handyboard of a brain? Then look no further, cause this is the place you want to be.

So let's see, how could we describe our good friend The Cheat? Well, for starters, we could say he's a brick, or better yet, he's a dump truck. Others have also said he's tank, and some have even gone to the point of calling him the bringer of death and despair to the kingdom of men. All in all, he's just our little Lego robot, created for the purpose of getting a ball and putting it into a cup.

The Cheat sports a normal Handyboard with a hacked up expansion board in order to support a maximum of seven distance sensors. (You can never have enough distance sensors ;-) ) He also has 2 servos, one for steering and one for lifting and lowering the hinge. The four motors are used for moving him and powering the ball-suckers™. And finally it has a bump sensor coupled with a LED and phototransitor for it to recognize a ball. On the bottom it has 3 CDS sensors and another LED to know what side of the table it starts on and recognize the start sequence.

Now for the trajectory.

 

So basically, what you have here is what you see is what you have. If The Cheat where to start on the black side, it would move about 3.18 inches away from the wall, head to the right, up the incline and grab the first ball on the left. If its the color we want, it'll go on reverse untill the end. If does not find the color ball we want, then it will spit it out to the left, and go for the next ball, and son on according to the trajectory illustrated above. Once it gets the correct color ball, it will head down in reverse to the bottom plain, then move a bit foward, turn left, move backwards so it aligns itself, then go straight to the cup, lift the hinge and drop the ball into the cup. Nothing more to it.