S.E.A.L Team 6 has designed a SQRL (System for Quick Removal of Litter, or a robot) that collects ACORNs (A Cylindrical Object Representing a Nut) from the home field and puts them onto the opponent field. 

Our robot uses twin ultrasonic sensors for detecting and aligning with field walls, and three reflectance sensors for line following navigation. The robot also uses closed loop speed control for the drive system to ensure precise movements even without the aid of sensors other than encoders. 

In order to detect what side (Ed or Karl) our robot is on, we used an IR sensor to detect the unique beacon frequency on top of all the TREEs (Tubular Repository of Excess Eject-ables,which stores stacked ACORNs), and we use a servo to indicate the side we are on to satisfy project requirements. 

The robot features an innovative ramp and magazine system that is capable of passively stacking up to 6 ACORNs at a time, storing them within the robot, giving our robot a timing advantage, as our robot don't need to make as many trips as one that is only capable of holding one at a time. 

Our robot also utilizes a single servo driven, bio-inspired intake arm that morphs its shape throughout its range of motion through passive cable actuation, allowing the arm to be low enough to scoop ACORNs from the grap under the TREEs, while also tall enough to push the ACORNs up the ramp and magazine system in order to stack them. 

Lastly, our robot features a repeating rapid firing system that launches the collected ACORNs in the magazine onto the opposing field by striking the ACORNs one by one.