[Al Skierkiewicz]

We use microswitches for position and limit detection. Pots for rotating position info. (Pots were used on our arms and are an essential part of our crab driving modules. They are used in closed loop servos) Let us not forget that pots are an integral part of the supplied servos. We started using current sensing several years ago and it was a real eye opener when compared to match play and battery terminal voltage. We have used the gyro in auto mode to help run straight and get to a final position. We experiimented with the IR transducers but found that there was faster ways to get to the side goals this year.