,Our robot, Cadence has self orientation capabilities using a limelight to calculate its position on the field. Failure and the learning process became a frequent process throughout the season, and we have made improvements to our robot in the off season. Cadence can support its own weight and swing from a chain securely, as well as shoot scoring pieces with accuracy. In the off season, adjustments were made to allow the shooter to rotate a full range of 180 degrees. The robot has color sensors to detect and relay when it contains a note.