[KenWittlief]

for auton mode, we are using a yaw rate sensor to generate a compass heading, pointing the bot between the beacon and the moble goal, and using the gyro to go straight ahead

until our IR sensor sees the beacon (it has a very narrow window of view - like a pinhole camera)

then we turn hard towards the release ball, using the gyro again to measure a precise turn (ie 80° or 81 or 83...)

then moving straight ahead with our arm at release ball height, until contact swithces on the front hit the bottom railing

this should allow us to run at full speed most of the way there - we will see how it works on the real field.