There is quite a bit ... but its tricky stuff!
1. Distance to a specific goal
2. Distance to a frisbee (see
http://www.chiefdelphi.com/forums/sh...d.php?t=112837)
3. Location within the field (see
http://www.roborealm.com/FRC2013/slide050.php)
4. Obstacle Avoidance (if it isn't floor, then avoid it!)
.. for a couple examples.
Could also use the red,blue and white lines on the floor to align your robot perhaps prior to firing ... or at least watch the floor side boundary to drive straight.
STeven.