If its not too late to post videos... Here is ours which unfortunately were all (technically) failures. However, it consistently saved us critical time by flipping down the gripper and backing up a little bit. Plus, it was always suspenseful and somewhat entertaining to see how close/way far off the bot would be each match.
As for technical details, our method is almost identical to team 25's:
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Originally Posted by Kristian Calhoun
As for our method, we used a single ultrasonic sensor to determine the proper distance from the base of the rack. During the matches at NJ, we used the CMUcam to align left/right towards the light, if it were in the view of the camera, and if not it would proceed to use the sonic sensor code. At UTC, we experienced camera troubles, and decided to just use the sonic sensors, and try our best to determine/guess where the spider leg would be after the rack had been moved.
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At UCF, we had planned to use the camera to run some decent (but mostly un-tested) autonomous modes, but when it caught fire during practice day we never had the time to figure out what exactly was wrong.
The entire robot was re-coded/ported to EasyC between UCF and the Championship event, and a single Vex ultrasonic module was mounted just above the rear bumper, and a magnetic read switch from home security systems was mounted on the arm base and arm chain to determine when the arm was in the correct place. The code is fairly simple, and basically had two cases: 1) Too far: Drive forward 2) Too close, back up. Variables were used to determine the ideal distance, and the window decreased each program loop until it was as close as reasonably possible.
With no way to point the robot, it was sheer dumb luck, and we simply were not as lucky as team 25. On the positive side of things, we determined that the camera's *wiring* burnt up, not the actual camera. So hopefully we will have something more advanced set in motion come Mission Mayhem time

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Google video preview:
http://video.google.com/videoplay?do...97900448188076
High quality download ( http://marsbot.org/files/Auton07.wmv )