[virtuald]

On our robot during the competition, we were using 2 IR sensors (Sharp GP2D120) and a limit switch. However, we found that the limit switch kept getting stuck on the balls, so we bought some more of the IR sensors that we will be using on the robot in offseason competitions.

One thing to beware of with the IR sensors is that the case is conductive and connected to ground, so we didn't pass inspection initially until we isolated its case from the chassis. But other than that, we've had really good results with them.