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Right after scanning if the block is across it doesn't travel to the exact position. I suspect the reason is that it scans at the edge of the block and taking that distance as the closest. Even after rotating 25 clockwise and 25 counterclockwise it still doesn't detect the block. Assuming that was the target block
it travels to the next position and if a block is close by it doesn't go back to that block.

With our current implementation of Search. If the bridge/tunnel is placed on the x-axis.

1. The Scan method should turn counter-clockwise instead of clockwise. I test it and it was scanning the region outside our search region. It is the expected behaviour if the robot is placed on the y-axis but not on the x-axis.

• One possible fix is to have a flag in our scan method to check whether the bridge is placed on the y-axis or x-axis and rotate appropriately.

2. The Method goToNextPoint is not working on the x-axis but no issue in the y-axis.
   private void goToNextPoint() { sleepThread(300); sleepThread(100);

Behaviour on the x-axis: Instead of making a square it was just moving doing the first line of the square and turn to do the same line again and again.
Expected Behaviour: Make a square and Search.

@RemiENG you can fix the second problem if you have time. I will work on the first problem.

With our current implementation. We can travel to a block scan and then go to the next one. After scanning the previous block could be detected as the closest and it will travel to the same block again.
If there is a way of avoiding this it will save us time but otherwise we can travel to the more than twice because of your goToNextPosition method. So it's not a pressing issue compare to other issues. It's not a priority right now but if we have a solution for this it could save us time.

At first, I taught it an issue with the battery. But after changing the battery the problem still persists.
See picture it's the only position the leftMotor go crazy if it attempts to do the 25 degrees clockwise rotate.

If it's the target block as per the rules. We should not touch them but with our current implementation in most cases like 8 out of 10 it touches the target block. One possible fix is to move the robot backward and then travel to the next target position or bridge/tunnel depends on our team.