Our bot can successfully search for and approach the beacon from the end of each of the three "hallways" on the map (shown below for reference). It sweeps the opening to the castle to search for the beacon, and if it detects a beacon it will enter the castle, drive for 1.5 seconds, and then sweep again to align itself with the beacon. The guide wheels will correct any slight deviations and align our bot perfectly around the throne to prepare for grabbing the crown.