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Re: Which sensors should be used throughout the robot?
Encoders such as Greyhills or S4s on drive and elevators. Some teams like 10 turn pots on elevators, but I think encoders are easier. Then hall effects for indexing, or anywhere you would use a limit switch. Pots work better for arms because indexing an arm is hard. Any type of object indexing we use beam break sensors, which we buy from Adafruit. Then for shooters you either need a fast reacting beam break, or the smallest CPR encoder you can find.
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All statements made are my own and not the feelings of any of my affiliated teams.
Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of RobotDotNet, a .NET port of the WPILib.
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