[Al Skierkiewicz]

We used Banner sensors last year for wheel encoders and have included them this year as well. We use a custom wheel so when the wheel was being assembled we just slipped a piece of dark papaer between the spokes of the wheel. By using two encoders (outlined above) you can tell direction and distance traveled. Last year we were able to get accurate down to at least an inch which made auto mode pretty easy. You need to couple the wheel sensors with a direction device to really know where you are.