We started doing test runs and tried doing some modifications to the code to be more robust. Things weren't working and we still had a lot of veering to the left. We messed with our battery voltage equation to run the motors at a more constant speed. This changed our traveling speed pretty drastically and we realized that we would also have to change all of our timers now. Instead of doing this we instead loaded up our previous working state machine and tried doing a few test trials. Immediately our robot started working. We were driving to the crown, picking it up, driving back to the home castle, and placing it down. This only happened while we were doing test trials. As soon as we tried to go for checkoff, we saw all of our corner cases. We didn't get checked off but I feel like we made progress today.