[ubergeek5075]

Well, last year we used Optical encoders on the drivetrain, and were extremely successful. We knew within 0.15" where we were. Also, because of this, we created our own force-feedback system to keep ourselves in place when other robots were playing defense on us.

On last year's arm manipulator, we used the usual potentiometers for positioning data.

We've been working with gyros and accelerometers since 2006, but haven't found use for much of the code I wrote that year, since we replaced it last year with encoders, the camera, etc. However, this year with the lack of the need for a camera, we may be using these again.

Also, last year we started experiencing with ultrasonic range finders, specifically the EZ1 from maxbotix. We didn't end up using them last year, but we can tell within an inch, between 6" and 20+ feet. However, they may be our only eyes this year if we can get the logic working. Granted we found 2 problems: that the FOV of ultrasonic sensors was too large to "scan" area, and that they only scan at 20Hz.