[Ben Martin]

We use the Grayhill 63R on the drivetrain. Last year, we used the gyro on the Spartan Board--it worked great, and we likely will use it again.

Like others, we have used banner sensors/photo eyes for no-contact object tracking in the past.

We used 4 VersaPlanetary integrated encoders on our shooter wheels, scaler, and portcullis device this year. Provided you manage your ribbon cables properly and know how to match the direction of the encoder with the direction given by the SRX, I would highly recommend them.