Tom's code is similar to what many teams use for autonomous. However, it isn't accurate enough for many teams to get on the lower platform.
To successfully get on the lower platform, you need one of two things, a robot that can climb the platform from a variety of angles, or a robot that self-aligns with the platform. With 1405, we could climb the platform from a variety of angles, and so it didn't matter exactly how much we turned or how straight we went. At nationals, we made it onto the lower platform in 7 of 9 matches.
The other approach would be to make it mechanically so that if you hit the platform at an angle, you straighten out, and then get on from the straightened position.
Or you can add sensors (shaft encoders, accelerometers, range finders, etc) like WPI did.
Here is an example of 1405 getting on the platform in autonomous. We're in the upper left hand corner to start.
http://soap.circuitrunners.com/2004/...al/gal_089.wmv