What 4 functions are you using for autonomous mode?

[seven11mafia]

is anyone using simple 4-way directional controls? is this a good/bad idea? what are the advantages/disadvantages?

[joshyboy9987]

I think the control will be extremely hard using just 4 directions, because you'll have a hard time getting a signal to your robot. (With all the other IR signals & with the distance and stuff) I think we are going to do the position of the balls thing.. Otherwise it's just going to be a normal autonomous mode.

I was thinking though, what are some suggestions for sensors to tell where you are on the field? We tried the accelerometer & that didn't work, even with a bunch of filters and some tricky software stuff... Now I'm thinking ultrasonics, cuz that would help with navigating the course too. Then there's the obvious encoders, but there's gotta be a better way, right?