This is a 10 out of 10 tutorial for pushing gently on a mission model. We also discuss how to build robots that tolerate error and auto-correct their behavior.
Instead of aligning forward as in the previous tutorial we felt there is a need to demonstrate how we could align backward when moving with the robot. This is not a rare case. The attachments of the robot are generally at the front of the robot and especially during FIRST LEGO League competitions the robot must move backward very often. It is helpful to have in your toolbox the ability to align backward with the robot.
This is a 10 out of 10 tutorial on an active, auto-correcting, locking, and aligning attachment that accomplishes the FIRST LEGO League 2021-2022 Cargo Connect Large Delivery mission. The difference, as compared to the previous solution to the mission, is that we now use a much more consistent and reliable robot.