[Lindsey]

Here’s the rundown on what we used and what for.

In 2003 we had:
- tilt sensor (to detect when we were on the ramp and help prevent us from tipping)
- limit switch (to keep the arms from closing beyond mechanical stops, prevent stalling the motor)
- gyro (to turn a specific angle to go to the ramp, auto mode)
- optical sensors (3 to detect when the robot crossed the line, auto mode)

In 2004 we had:
- current sensors (mainly for decoration we hooked up colored bar-graph readouts)
- pressure transducers (2? to make sure our center pivot wheels, mounted on pneumatics, were all the way down)
- limit switch (to keep the arms from closing beyond mechanical stops, prevent stalling the motor)
- optical sensors (to detect when the robot crossed the line, auto mode)
- gear tooth sensors (they count gear teeth & we used them to count wheel revolutions, auto mode)

Both years we had custom circuitry to help with the sensors.

I thinks that’s about it.
Lindsey