[MikLast]

While this isint exactly FTC related, in this years FRC competition, Recycle Rush, our forklift mechanism used limit switches to gauge when we had a hold of the totes, and we were able to manipulate the robot to quickly get the best hold he got with the totes. (basically we would close the forks, and if one fork hit the robot the robot would jerk slightly to a side to close the gap, making it easier on us to grab the totes and stack.) We happened to win two innovation in control awards for this, which was a happy surprise.