In this project my partner and I created a small robot that autonomously cleared blocks with 38KHz IR Beacons attached. We had to clear the blocks off a platform as fast as possible while staying within a white ring. Teams that were able to accomplish this successfully, moved on to a competition where we had to push other teams' robots out of the ring. Using a pwm circuit I was able to slow down our robot as to avoid driving over the boundary while maintaining power supplied to the wheels for maximum torque. Because of this, we were able to defeat the other robots and win first place in the sumo competition!