[PhilBot]

To get the most out of the IR seeker, you need to use both types of data that the sensor provides.

These are:
1) The Beam Number
2) The signal strengths of the actual IR receivers (there are 5 of them)

9 detection zones are formed from the 5 IR sensors in the device.
These are either 60 deg wide or 5 deg wide.
For accurate tracking you need to use the 5 Deg ones. (Beams 2,4,6,8)
Once you turn your robot so you are in one of the narrow beams, you can look at the signal strengths of the two adjacent IR receivers. If the left receiver is stronger, the target is to the left of center, and if the right is stronger, the target is right of center.

Using this information you can drive towards the target and be within a degree or so. Plenty close enought to score a ring.