How do we find the distance from the rack? Our driver observes the light rays being bounced off the robot, field, and rack, and reacts based on this information.
But seriously, I tried a tan lookup and had no luck; it kept returning very negative numbers, and it was ship date when I started working on it, so I didn't bother to troubleshoot--I scrapped it.
Auton doesn't seem that important anyhow.
JBot