\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.
