[Ryan C.]

I am actually the head student programmer on the robot.

We have two sensors on the base of the robot, they are bouncing off of the lower flat vertical piece below the spider legs. They dont use a diode, we simply have code that fires them at seperate times so not to catch each other. Occasionally they will catch one of the poles, but we are working on a solution on that.

The two sensors on the bottom get us lined up on the leg and then a third sensor on the arm itself tells the robot if a leg is in front of it. If it is, then it drops it, if not then it tries to circle the rack. I dont have the pwm numbers right for the circle so it doesnt really work yet.

Watch out for us at Lone Star... I should have most of the problems fixed after Thursday.