FIRST Stronghold is the 2016 FIRST Robotics Competition game. The game is played by two alliances of three teams each, and involves breaching the opponents’ defenses, which are a variety of obstacles which change depending on the match, and capturing their tower by firing “boulders” (small foam balls) into the tower. In the final 20 seconds of the match, robots can surround or scale the tower using rungs. Each match is two minutes and thirty seconds long, beginning with a fifteen second autonomous period. The official FIRST one-page summary of the game can be found here.

Our 2016 Robot, gimli


  • NAME: Gimli
  • STATUS: In service
  • SIZE: 27.5"" W x 32"" L x 15"" H
  • WEIGHT: 110 lb
  • TEAM CAPTAINS: Avalon Feiler, Andrew Mularoni
  • RECORD: 5 events, 78 matches, 50 matches won


  • AUBURN MOUNTAINVIEW: Quarterfinalists
  • CENTRAL WASHINGTON: Event Finalists, Quality Award
  • PHILOMATH: Event Finalists, Gracious Professionalism Award
  • PNW DISTRICT CHAMPIONSHIP: Quarterfinalists, Entrepreneurship Award
  • CHAMPIONSHIP: Archimedes Division Quarterfinalists


  • 6 wheel, 8-inch pneumatic drive crosses defenses easily 
  • Double-roller intake with mecanum wheels takes in boulders quickly
  • Fast and accurate shooter uses a vertically oriented spinning wheel
  • Encoder rotation sensor, PID speed control, and indicator lights ensure that shots are accurate
  • PID motion control allows for position and velocity control as well as a brake mode

The 2016 Team