[Doug Leppard]

For 1902 we use.

In order of priority:

Optical Encoder - used in robot base to tell speed, direction and control robot mostly in autonomous mode. We have used it also for arm position.

Gyro – used in base in conjunction with encoder. Tell the direction.

Ultrasonic Sonic sensor – Matbotix is the best by far. Used to sense walls objects. Easy to use.

Thumbwheel switch – to set the autonomous mode. You can then dial what mode you want fro various versions of the autonomous mode.

100k pot - Used to position arm.

Limit switches – Various switches to test if at the limit of travel.

Camera – 2006 and 2007 used effectively. Of course 2009 new setup.

I would not use the compass. Mainly it is highly sensitive to metal around it. If another robot or metal in the arena comes close it can throw off the readings as much as 90 degrees. I walked by with a metal trash can and totally changed the readings. Nice in the laboratory but bad in reality.

Autonomous mode is ALL about sensors and using them effectively.