We spent a lot of time making sure that our hardware was working very well before we started on the major part of the coding, the state machine. This helped out a lot because once we got our robot on the field we didn't run into many hardware problems. We have had to make adjustments to our design as we see it run along the field. We have changed the front bumpers to include angled extensions to give us a wider range for a front bump. This allowed for a simpler design in hardware and in software because at this point we only make use of two of the bumpers when exiting out of the castle (along with the tape sensors). At the time of writing this we are able to exit out of the castle, navigate through the field, find the ruling castle, and pick up the crown. Right now we are trying to get our bot to return to the home castle. We have also changed the arm. Our initial design had a narrow opening on the arm and th