The lidar is from PulsedLight.
http://pulsedlight3d.com/
It's a little over $100. In a nutshell, at Palmetto, we targeted the shooter manually and hit slightly about 50% and tried to shoot from the batter.
At Smoky, we got the vision system perfected and hit close to 100% high goal in autonomous and probably 80% from the field but could shoot from any distance. We had weird communication problems with the raspberry pie and didn't solve it (thanks to another team) until the finals (changed to a static IP address). We used the vision system to auto align for shooting but it was relatively slow (took about 4 to 5 second).
Since Smoky, we've go the lidar coupled to the vision system. We relax our accuracy as a function of distance and tightened up the controls to where it takes between 1 and 3 seconds to line up and fire. The driver just gets close and hits the trigger, auto firing takes care of the rest.