# Requirements

## Evaluation Criteria

The final obstacle course is graded based on the following considerations:
1. Completion 
2. Time
3. Repeatability

The intended approach is to use the IR sensor to follow the black line and then 
switch to a kinematic model for the gridded area. Romi will navigate to the 
wall, and a bump switch will trigger a task dedicated to driving around the wall
to finish. The game track has 6 checkpoint positions to measure repeatability. 
Optional time deductions can be earned by knocking down cups within the dotted 
circles. Variations in the black line are also included to try 
and confuse the line tracking.

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## Preformance Metrics
Our design focuses on **completion** and **repeatability**. We view this as a
trade-off with completion time, as having Romi run at higher speeds would 
require more aggressive control and testing. Additionally, our approach is to 
have Romi go through the whole course rather than skipping between checkpoints. 
This was done to create a reliable program and to strengthen our 
understanding of the system.

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![Game Track](./image/Game_track.png "Game track")

![Game Track2](./image/Game_track2.jpg "Game track")