A program to get the robot to leave his/her garage, find the inner city, find the door to the inner city on the east side of the inner city, find a ball in the inner city, pick up the ball and return to the garage.

The robot must automatically. Main issue is finding the method to have the robot to save the door when its found but afterwards finding the ball. When using door=FindIntercection it received an error. While finding the ball I used a method to zigzags from east to west, but am seeing some errors.