Aim the Target

Create an algorithm to use [Drive for] and [Turn to heading] blocks, the GPS Sensor, the Bottom Distance sensor, and the intake motor group to drive the Hero Bot along the Autonomous Line to launch the two Discs highlighted in green into the blue High Goal and launch the two Discs highlighted in pink into the red High Goal as fast as possible!

• Select the VRC Virtual Skills - Spin Up Playground.
• Drive the Hero Bot to the origin (0, 0), and turn toward the green-highlighted Discs.
• Use the Bottom Distance sensor to navigate the Hero Bot, and use the intake motor group to intake the two Discs highlighted in green one by one consecutively. 
• Create an algorithm to find the heading of the Hero Bot to launch the Discs to the blue High Goal. Code the robot to turn to the heading and launch the Discs.
• Use the Bottom Distance sensor to navigate the Hero Bot to drive along the Autonomous Line, and use the intake motor group to intake the two Discs highlighted in pink.
• Create an algorithm to find the heading of the Hero Bot to launch the Discs to the red High Goal. Code the robot to turn to the heading and launch the Discs.
• Set up a timer and see how quickly the Hero Bot can complete this task.

Helpful Hints

• The X and Y coordinates of the blue High Goal on the VRC Fields are (-1350, -1350).
• The X and Y coordinates of the red High Goal on the VRC Fields are (1350, 1350).
• Use the GPS Sensor to identify the current X and Y coordinates of the Hero Bot. 
• Use the Atan function to calculate Theta, and then convert Theta to the heading of the Hero Bot needed to launch the Discs.