Our Super Cool Awesome Robot (O.S.C.A.R.) is a Kinetic OrB Elevator (KOBE) capable of scoring about 21 points in a game of Duelling Reverse Skee-Ball. It begins by searching for the beacon; upon finding the beacon, it drives straight forward while keeping a constant distance from the side wall and dumps the balls into the basket. It then reverses into the reload zone to be loaded with 3 more balls, and repeats this sequence of actions until the game is over.
Upon starting the game with the power switch, Oscar the Grouch (hiding in a trashcan on the front of O.S.C.A.R.) pops out of his trashcan with a smile. O.S.C.A.R. rotates in place until the input capture from its phototransistor signal processing records a frequency of either about 909 or 3333 Hz. Depending on which of these frequencies O.S.C.A.R. sees, it turns on the corresponding colored streetlamp to indicate its team color.
Now that O.S.C.A.R. has approximately identified the correct direction to drive in, it begins to go straight forward. It continuously adjusts the speed of its wheels based on the distance measured by the ultrasonic sensor on its left; if the measured distance is less than the target distance, O.S.C.A.R. turns right, whereas if the distance is too large, it turns left. This distance control is managed using a PID control loop for smooth operation.
Once O.S.C.A.R. sees that it is approaching the basket (based on the front ultrasonic sensor's reading), it stops driving (after waiting a fraction of a second to get slightly closer to the front wall than the sensor would be able to read). It then tilts a trashcan full of Kinetic OrBs forward and deposits them into the basket. Finally, after allowing enough time for the OrBs to fall into the basket, O.S.C.A.R. retracts the container and begins to drive backward.
From this point, O.S.C.A.R. continues to drive backward using the same distance control PID algorithm as before until it sees that it has entered the reload zone (based on the distance measured by the rear ultrasonic sensor.
At this point, it stops and allows a human to insert Kinetic OrBs into its ball receptacle. The human indicates that they have finished inserting the OrBs by pressing a green button; when O.S.C.A.R. detects that this button has been pressed, it begins to drive forward to the basket again and the sequence of actions repeats until the game has been ongoing for 2 minutes and 18 seconds. At this time, Oscar goes back into his trashcan and O.S.C.A.R.'s streetlamp is turned off, and O.S.C.A.R. ceases to move. O.S.C.A.R. can relatively consistently score about 21 points (by scoring 3 1-point shots at a time, 7 times).
Here is a video of O.S.C.A.R. operating. Later changes to the mounting of the ball launcher (not shown in the video) improved its accuracy, enabling it to consistently score all 21 OrBs into the basket. In this video, it scores 18.