Game Philosophy
Initially we had discussed collecting all 16 coins and then dumping them in their respective beacons. However we soon realized that this strategy is foolish, as this would take about a full minute, while the game itself lasts for only 2 minutes. Following this we had to decide whether to collect two batches of 8 coins, or only collect enough coins for a particular number. At first we liked the 8 and 8 strategy, as this gave us great flexibility in the code. However upon further discussion, just as we did with our first strategy, that collecting 8 coins to put in both 3 and 5, could put us behind in the game. So we decided upon collecting enough coins to dump it in a beacon. We initially decided to go for the 3,5, 8 route. However during testing we realized 3 was much harder to get for us, due to structure of out robot and the receding nature of the 3-depository. Thus we finally decided to go for 5 first, then 8 and in the end try for 3. Our strategy involved a check to see if a depository went off and if it did we would just move onto the next depository, while at the same time ensuring that we had collected sufficient coins to complete that depository. Ultimately we believe the code did a pretty good job.