Calcifer competed in the 2016 FRC game Stronghold. It could pick up boulders from the back using a roller and transport those boulders to the launcher using polycord belts. The launcher consisted of two spinning wheels that could fire the boulder into the low goal. The robot was driven by 6 pnematic wheels. This allowed it to easily breach the B (ramparts and moat) and D (rock wall and rough terrain) defenses. Because it was only 14" in height it could breach the low bar. It could also breach the sally port. During autonomous mode the robot can drive throungh any of the defenses that it can breach except the sally port. The drivetrain was controlled using arcade drive with a Mad Catz flightstick. The intake and launcher were controlled using a Logitech XBox controller.