The purpose in this project is to design a controller and an algorithm for two soccer robots to play against the same team and prevent scoring and score goals if possible.

At first, the defender robot stands in front of the blue goal with class GotoXY (position (0,0.7)) and if the ball enters the penalty box, the robot moves towards it with class TraceBall and hits with 10 velocity it to make the ball go away.

The attacker goes behind the ball with class TraceBall and stands towards the yellow goal and hits the ball, and the approach is to trace the ball and hit the ball towards the goal until the ball becomes a goal.

In this project just use PID controller and iscretization the system with ZOH method.