[orangemoore]

I can give you what I believe our programming team figured out for this problem. Our approach to the problem was to take one sensor but 2 readings. The first reading is from the initial starting position the next reading is taken after you go a known distance. We did this by driving 1 rotation or 1' for 4" wheels. Then you take a second reading. This would then give you a unique position signature for the 3 positions that you are able to tell what the position of the goal is. From there you can execute 1 of 3 unique codes for the different positions.

One thing to note is our programming team has not worked a lot with this since our strategy changed away from it but the idea should still work.

I have been a programmer before so this code doesn't seem to hard to write.