Lego challenge #6 Sensabot challenge

This is the code that the robot uses to complete the Sensabot challenge. it is undoubtedly the biggest piece of code I have written.

In the project we had to make a robot go forward towards three pieces of red tape stop at each one lower and raise its arm before returning to the starting position.

This is the video of the successful attempt

Nothing went as planned. The driving base was pre built and as most people know programming never goes as planned. The program kept not sensing the lines and seeing some of the lines more than once. I solved this by making a two tenths of a second delay before the rest of the code that senses the lines activate.Also the program got deleted so I had to redo it. Also the silver ball on the back was loose so the robot kept veering off course which is what you see in the video. I learned how to use the color sensor better and how to integrate it into the programming. Next time I think I'll pay more attention to the building aspect.