1. Head toward our 4 balls. Push them into the scoring zone.

2. Head toward enemy 2 balls. Use IR sensors to determine where to turn for 2 enemy balls. Pick them up and drop over edge of board.

3. Back up, hoping to push any balls we might have missed, to starting position. This involved wall-following along the bottom-edge of the board.

4. Head toward our 2 balls, dropping the arm down after passing our balls.

5. Pick up enemy balls in scoring zone & drop them over the edge, leaving our balls in the scoring zone.

6. Turn around and head to our starting area with the arm down, picking up balls we missed.

7. Back up & toss balls over backwards toward our scoring zone.