[thoughtful]

We(1219) won it in Waterloo. I know we had 6 sensors ranging from hall effect, gyros, e.t.c to IR sensors. We could plot points on a tablet pc then load the program in the robot and have it carry the waypoints out. We were also making sure stuff like our shooting wheel had enough speed, balls werent jamming e.t.c in manual operation. Although we rarely used this due to the fact that our robot can easily stay in its starting spot and shoot, which gave other teams on our alliance a chance to move around. They had overrides for all the systems. However for GTR i know they made even more improvements. I will have our programmer post a full description.