The robot will turn the cube to each face and the camera will take 6 pictures, one of each side of the Cube. The Raspberry Pi will determine the cube configuration from the six pictures. The Cube configuration will be passed to the kociemba Python library to find an efficient solution. Finally, the robot will execute the moves to solve the Rubik’s Cube!

__The Rubik's cube appears to be made up of 26 smaller cubes. In its solved state, it has six faces, each made up of nine small square faces of the same color. While it appears that all of the small faces can be moved, only the corners and edges can actually move. The center cubes are each fixed and only rotate in place. When the cube is taken apart it can be seen that the center cubes are each connected by axles to an inner core. The corners and edges are not fixed to anything. This allows them to move around the center cubes. The cube maintains its shape because the corners and edges hold each other in place and are retained by the center cubes. Each piece has an internal tab that is retained by the center cubes and trapped by the surrounding pieces. These tabs are shaped to fit along a curved track that is created by the backs of the other pieces. The central cubes are fixed with a spring and rivet and retain all the surrounding pieces. The spring exerts just the right pressure to hold all the pieces in place while giving enough flexibility for a smooth and forgiving function. Rubiks Build It Solve It__

If there are no more edges left on the top layer, then they are probably either inserted in the right place but flipped, or inserted in the wrong place. To get an edge out of somewhere it shouldn't be, just insert one of the yellow edges into that slot. This should get the edge out and on the top layer, ready for you to use the above instructions to insert correctly. Rubix Build