[theprgramerdude]

My sensor setup this year will likely comprise 4 encoders, one each on the two SuperShifters, and then 1 per arm controller, although one arm controller will probably be a potentiometer instead as there wont be enough rotations to get meaningful data. Furthermore, roughly 10 Maxbotix sensors will be positioned around the robot, probably in 5-5 front-back format, with the last two on each side angled 45-90 degrees. Last, all three line sensors will be on a horizontal line in the front of the robot.

By taking samples from the sensors at such a high rate, I can automate most of the driving with enough precision that I will only need to tell the robot what type of tube it has and which peg to place it on, and presto! The greater the precision in sensing time differences I have, and the greater the amount of samples, I'll be able to do a more accurate integration of the distances traveled, as well as determine what obstacles I may need to avoid, like other robots, as well as their current velocity and position, or get additional references like just how far away the walls are when lining things up.