Joust Subsytem
In order to joust and retract, we designed a two-axis system using high torque servos. One servo deploys the lance forward when the robot has moved out of the home region. The other servo sweeps the lance forward and backward quickly to try to hit the opponent. The robot moves between home regions fast enough that we can deploy the lance at the beginning of the round and reach the other side without having to retract the lance midway.