This code is very simple. Basically there are a few things we do.

Our robot attempts to drive straight by using encoders and keeping track of the number of ticks that go by. Generally when one wheel has rotated further than the other we fix this by reducing speed of the leading wheel and increasing the speed of the other one.

We use four different leds to sense our original postion and from there we turn toward our four bin drive right at it and empty the appropriate number of balls into it. After that we attemp to drive in reverse and block our oppoents four bin.

Our rotation works by rotating one wheel one way and the other way the opposite way and counting the ticks and adding a bit to compensate. It seems to work pretty well as long as the wheel keeps traction.

Here is a link to our code: Solder Boy code