The student project Tigers Mannheim aims at enabling a team of autonomous robots, controlled by a central artificial intelligence, to play soccer. For this intent, a coordinated shooting and passing is essential and has therefor been designed and implemented. Here, the real-time environment and the adaption to the proceeding game has to be taken into account. To achieve a successful implementation, the shooting skill has been divided into different phases. At first, a suitable target has to be evaluated by the analysis and the robot has to be moved to the ball. Then the robot has to aim by circling around the ball and the shooting mechanism has to be triggered. The pass functionality is an enhancement of the shooting skill, but additional points have to be considered, since two co-dependant protagonists have to be coordinated. Regarding these requirements, complex algorithms have been developed and tested successfully in both, the simulated and real environment. The procedure may be extended by dynamic approaches and adjustments to future versions of the used robot might be necessary.