After got the shaker to work and everything assembled. We started our first test run with everything together. And it ended up being rather disastrous. The car fell over when the salt shaker went forward because there ended up being too much weight in the front when the cup went forwards. So we added weight to the back of the car in the form of other lego motors. This successfully solved that problem.
The next problem that we came across was that the car would continue into the next nudge and find2 loop before the previous putout process was over. We made the iteration of adding waits after all of the putout processes so that the program would wait until they were done until going on in the loop. We had to play with out how long the waits would be.
Another problem that we came across was that the car would start stalling during find1. We found that adjustments of the sensor angles fixed this. Because the program relies heavily on feedback from the sensors, the program is very sensitive to the angles of the sensors.
This is a video of our robot. It moves very slow...
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