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Re: What sensors do you use?
We used just the camera, a gyro, and 2 limit switches this year. We had 2 encoders and a potentiometer hooked up but never bothered wiring them up since we ended up with no testing time as it was and didn't want to spend even longer on those. Ironically since our programming team was the largest group on our team this year and we had lots of time for code reviews, everything with sensors worked the first try (all we ever had to do was tweak numbers to get to "just the right spot" instead of "very close, sometimes works").
Have any teams had success in using an accelerometer to derive position and velocity (not angle to the ground)? When I looked into it I found that we could tolerate very little error and still be even remotely accurate.
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If I was making this I would want to not have to use anything smaller than a 3/16" end mill, but 1/8" would be acceptable. Anything smaller and I'd tell the designer to go play in traffic. - Cory [more] 
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