[KevinB]

This year's line sensor bots should be quicker than last year, because this year the line is mostly straight with two abrupt corners, instead of being mostly curved. As such, once you get to a straight section, once your bot it headed the correct direction, it should be able to zoom on until it hits the next corner.

The more line sensors you use, the better you can optimize the program, lessening your chance of "losing" the line.

I would use all four banner sensors in the following configuration (all located as far forward on your bot as possible): one pointing straight down at the line (should start right above the line), one to the left and right of the line (should never see the line, unless the robot is "losing" position on the line), and one in the center pointing at the line a foot or so ahead.

By using the fourth sensor to look ahead, you can prepare for the two abrupt turns (and if you add a switch to let your robot know which side it's starting on .... you can program it to go ahead and start turining that direction when it sees the turn coming up).

P.S. With all that said .... I still prefer dead reckoning.