We used the
CTRE magnetic encoders on our shooter to measure velocity,
andymark's string potentiometer to measure position on our arms,
these grayhill encoders on our drivetrain to measure velocity for (theoretical) automatic shifting, and a
navx on our drivetrain for straight driving. I'm sure there are one or two sensors I am forgetting, but all of these are in closed loop P, PD, or PID control schemes. If you have any questions about how any of this works, let me know.
