The robot implements both 3D PID pathfinding using deadwheel encoders and VSLAM (Visual Simultaneous Localization And Mapping) to navigate the field accurately in the autonomous period. This, with a multitude of sensors, allows the robot to achieve a 1+5 (preload and five cone stack) auto on several poles with nearly 100% consistency. The robot also has a 1+6 cone auto, transversing the field to begin scoring on the second stack, which will soon become 1+7 or greater.