Originally Posted by Dacilndak (Post 1047672)

Our team is using 3 front-mounted light sensors with great success. No encoders, no ultrasonic, no timers.

We're using C++. Our autonomous program manages a state machine that gets input from the light sensors and decides what to do based on them. Our algorithm is as follows:

[snip]
111-------------------------------------------------placeTube()

After executing placeTube(), the program quits the state machine and retreats back several feet, then turns on the spot (~180 degrees, but it's not perfect since we don't have encoders or a gyro). Generally, getting the tube on the rack takes about ten seconds, and we're only driving the motors at 40% for drive and 60% for turn.