Zigzag State Machine
At this point, the TRACTOR has acquired the MINER and needs to find the correct square to release the MINER. The tractor knows what square it is currently in thanks to SPI communication and the MINER's colorimeter. The tractor will reverse into a new square to determine its rough orientation with respect to the field. Then, the TRACTOR will decide how much to turn before moving forward. The TRACTOR will continue course correcting until the MINER begins mining for points.