Our team generally uses
- ir
- encoders
- limit switchs
- camera/ircamera
generally we use IR instead of ultrasonic because IR works better for the ranges we need, and generally the ultrasonics we have are too short a range.Also limit switchs are nice, the problem with them is that they break easly.
last year one of the mechanical teams made us put on a Hall Effect Sensor to know the rpm for shooter wheel. We never used it because it was to much work with little benift. Not sure if they realized it wasn't pluged in.