# Time Trial Results
Our final design successfully completed four out of the six checkpoints. The
remaining checkpoint involved navigating from the gridded area back to the
start/finish position. Unfortunately, we ran out of bandwidth to implement this
feature, but we had planned to use the IMU heading and bump sensor to achieve
it.
The following "Software" and "Code" sections highlight the approach and control
scheme of our design.
The approach primarily relied on line sensing for navigation throughout most of
the course. Our IR sensor successfully tracked a majority of the track but was
unable to follow the diamond-shaped section. To address this, encoder ticks were
measured up to the start of the diamond section, after which a constant motor
effort was applied to bypass it. Once past the diamond, line tracking was
re-enabled to navigate to checkpoint 4. No additional measures were taken to
reacquire the line at checkpoint 5 and complete the course; however, the
approach to finishing the course is discussed in the
[future implementation](future_implementation.md) section.