Our autonomous is based on wheel counts. We have 2 Banner sensors on each side that count using white pieces of tape on the wheels. The paired sensors allow us to tell if we're going foreword or backwards. We had a pretty slow but effective up the ramp program, plus a couple others. But the best thing about our autonomous programs are their names. My favorites are Stealing Babies and Operation King and I, even though neither got programmed due to time constraints and some drive train problems at SBPLI
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