[Gdeaver]

Sometimes in a competition where there are lines on the field, following the line may not be the best technique. What our team has done in the past is to use the lines as way points. It can be faster to drive straight by dead reckoning or encoders until the IR sensors detects the line. Then turn until another sensor detects the line for alignment, then go on. This only works if the lines are placed right.Detecting way points on a field can many times be done faster than following the line. It's an important concept to to keep in mind for autonomous navigation.