[Kevin Karan]

We get a position, though not all that accurate, within a few feet, with a combination of ir sensors and encoders.
And Nick, I was going to finish cleaning up the code and make a white paper with an example since noone else had.
EDIT: let me explain this alitle better, The way we get position is to use the encoders for distance and the sensors for direction. The encoders do a horrible job figureing out where the robot is pointing, but their good for getting distance. The encoders are great for getting what direction the robot is pointing, but horrible at getting distance. They also try to detect when the other is not working. For instance, if the encoders show the robot is moving, but the trackers show that its stopped, the robot will first deturmine if there is somthing wrong with the trackers by giving up its current lock and relocking it on the beacon, if its the same, it can assume the encoders are the problem, and will ignore them untill the trackers show the robot has moved.