[MagiChau]

I am planning on using the light sensors as confirmation sensors possibly if I want the robot to go diagonal in autonomous. I do not know however, if the light sensor detects the red/blue & yellow pro gaff tape.

The sensors would confirm what "path" you are on alongside with an angle measurement and data from accelerometer/encoder, then use trigonometry to calculate the distance that the robot needs to be from the peg. Possibly use the camera then to once again confirm the distance and possibly the height of the arm.

This is more for fun though, at the least we are going to have a mode that goes straight, using accelerometer data and camera to confirm distance from scoring peg. I guess the line can be used to stay on path if robot isn't straight but I have confidence in my team to align the robot.