Made some minor changes:

-Driver drops block at final destination and moves backwards
-Driver moves to center location after 3rd stop
-SearchBlock() method times out after 40sec
First Demo went very well:

Issues:
-Block got knocked off after it was picked up
-Block was dropped off near Starting Corner

Solutions:
-Move backwards after picking up block
-Multiplied Dropoff Zone coordinates by 30
possibly fixed issue with not starting in corner 1