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documentation/overview.tex

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+\section{Strategy Overview}
+
+Now that all of the milestones are completed, we will present a short overview
+of the whole goal scoring strategy, the block diagram of which can be found in
+\todo{learn to do figures and reference them}. At the very beginning the robot
+will detect the ball and turn to ball, as described in \todo{where}. After
+that, the distance to the ball will be calculated, the goal will be detected,
+and the direction to goal will be determined. If the ball is far away
+\textit{and} the ball and the goal are strongly misaligned, then the robot will
+try to approach the ball from the appropriate side, otherwise the robot will
+approach the ball directly. These approach steps will be repeated until the
+robot is close enough to the ball to start aligning to the goal, but in the
+practice one step of approach from the side followed by a short direct approach
+should suffice. When the ball is close, the robot will check if it is between
+the goalposts, and will perform necessary adjustments if that's not the case.
+After the ball and the goal are aligned, the robot will align its foot with
+the ball and kick the ball. For now, we assumed that the ball will reach the
+goal and so the robot can finish execution.