INTENDED
From the orientations I, O, R, G, Picasso Bot would orient itself to face outwards and push the four balls directly into the scoring area. Then it would use the RF to figure out on which side of the table (red or green) the opposing robot would be on and go in the other direction.

Picasso Bot would then pick up the four closest balls, turn, then pick up the remaining eight balls on the long line. The robot would then stop, and wait until forty-five seconds into the match. Depending on the winning vote and the color of the balls contained within the robot, the robot would then go straight (if the winning vote and the color of the balls are the same) or turn 45 degrees and go into the opponent’s scoring area (if winning vote and color of balls are different). The diagram below reflects the intended strategy which is based on the other robot sitting on the red side of the table.

ACTUAL
We couldn’t get the RF working correctly, so…

From the orientations I, O, R, G, our robot would orient itself to face outwards and push the four balls directly into the scoring area. Then Picasso Bot would go on the side of the losing vote (We were having trouble pinpointing the location of the other robot so assumed that most other robots would go for the winning vote).

Picasso Bot would then pick up the four closest balls, turn, then attempt to pick up the next four balls, make a 90 degree turn, and vote all of the balls in its possession. It would then turn back, pick up the next four balls, and drive straight into its own scoring area.

The diagram below reflects the strategy based on the red vote winning.

TIMEOUTS
Timeouts? What timeouts?

 
     
 
Actual Strategy
 
Intended Strategy