Tracking low goal in autonomous

[bacarpenter]

I'm the head programmer for team 2197 and my team has given me the task of getting over a defense then move the robot in front of the low goal and put the ball in the goal in auto. I was thinking about using a camera but I'm not sure how I'd implement that or if there's a better way. I also have access to a gyro and an ultrasonic sensor so I can use those in my code too. If anybody has any suggestions on how I should make this code it'd help a lot