[Jcbconway]

THe poster above me makes a good point about measuring your distance for the other side as its closer. We are tackling this problem by using high 1mm resalutin ultrasonic sensors at varios points in the gaem and using a gyro/accelerometer and a Khalman filter + 2 rotary encoders to figure out our translations from there and estimate posistion (acurately) untill conditions are met to reset our absolute posistion with the ultrasonic sensors. Now I dont know if this is pluasable for you to do this late in the season but if interested I am willing to share our algorithms with you.