Which sensors should be used throughout the robot?

[Max Boord]

Originally Posted by thatprogrammer

Here is a basic chart of what I've come up with so far, based on responses in this thread:
Arms: Potentiometer or Encoder -> Hard to zero(?)
Elevator: Encoder
Flywheel: IR or photoelectric sensor (Hoping to find some good options for this, a bit scared of using the cheap sensor on high rpm flywheels)
Stops: Hall effect.
Intakes/Hoppers: IR

Arms: Potentiometer. Encoders have to be zeroed every time the robot boots up which can be a problem if the arm starts in a different position in each match.
Elevator: String Potentiometer. They output a value directly proportional to lift height. This is how 1065 measured our lift height this season.
Flywheel: Optical. Encoders produce too much information for this and caused problems for us in 2013 before we switched to optical measurement on our shooter.
Stops: Hall effect/ Optical. They don't break like limit switches do. We used them as a backup to our string potentiometer this year to prevent from hitting hard stops. They output a solid state signal and some have a 3rd "reversed output" wire.
Hoppers: Limit switches or optical.
Drive: Encoders for distance, Gyro for orientation. Use 2 gyros 1 upside down positioned above or below to account for gyro drift. Make sure the driver can zero it if the gyros are used for field oriented omni drive.