The robot (after a delay to allow the "thing" to land and quit wobbling) commences a search using the Pixy camera. If it sees the "thing," it will go to it to pick it up. If not, the robot will go straight until it hits a wall, then the higher current of a stalled motor will be detected and the robot will reverse, turn, and continue the search.
When the Ping ultrasonic detector indicates that the "thing" is within the gripper, the robot stops, gripper closes and actuator rises. The robot then reverses, hunts the black line and follows the line until the robot ir detector indicates arrival at the catapult. The gripper is opened, the robot backs up, turns and waits--then repeats.
A few afterthoughts: The blue painters tape is not necessary, I just place it under the electrical tape so that the electrical tape would not "stain" the wood. I may want to paint the floor and line at some point in the future.
Did I need to use so many Arduinos? Maybe not, but it is easier with my limited software capability to assign tasks to a processor and avoid keeping up with tricky timing (like measuring overload current to the motors while timing the return signal of ultrasonic sound, etc.)