[663.keith]

last year my team had a robot that had 16 different autonomous modes. We could use infrared, dead-reckoning, and wheel counts to get to the ball.

We found that the most reliable was wheel counts and dead reckoning. Every time that we wanted to knock the ball down in competition we did. I would suggest wheel counts because they ensure the distance the robot goes, it just seems a little more reliable than dead reckoning.