[JosephC]

At the Waterford District we used encoders, drove a set amount of cycles forward, and then had our arm code place our tube, except it only worked 50% of the time because our field people liked to not line it up straight so it went off to the side quite a bit.

At Ann Arbor we used line trackers to keep our robot straight while using encoders to set our distance. But our field people would have it too far forward or back so it still wasn't reliable.

At Troy we're looking forward to trying to use a camera positioned on our arm to locate the top peg and score, with little or no use for the encoders or line trackers.

As for only using 2 line trackers I wouldn't recommend it. Last year we tried that and sent half of a competition trying to borrow one after 5 unsuccessful matches.