We started by choosing both the IR sensor and color sensor. We set the given four bins in four different colors and made them all the same distance to the yellow line that the Q bot should follow. The application of the color sensors in our program is for the Q-bot to find the correct bin as the destination to dump the containers. We used the following line function to dictate the speed of each of the wheels of the bot to make sure it stays moving along the yellow line perfectly. Then, we added if statements for the weight to make sure that the maximum weight on the bot does not exceed ninety grams. Also, we used the weight of the containers to help us find the material of the containers. After that, we tested several times in the Q-lab environment to find out the different coordinates of the Q arm to pick up a container and put it on the Q bot. In the end, we arranged all of the functions and called them in our main function.