[WillyC]

Good call on the look-ahead sensor and the "what side of the field am I starting on?" switch, KevinB. We were also going to use the switch to let the robot know which side of the field it's starting on - left or right.

But we hadn't thought of the look-ahead sensor; thanks for the tip. Have you actually tried that look-ahead sensor? If the banner sends out a signal at a downward angle toward the front, it might not see the reflected signal. I tried this and found that 45 degrees from vertical is about the most you can angle it. Best to mount that look-ahead sensor out front, even in front of the two "straddling" sensors.

We only got two Banner sensors in our kits; did you order the other two? I was thinking I could snag two Banners from another team if they're not planning on using theirs...?