Use IR array to identify waypoints on course.

[AhmedSamara]

The course has a handful of waypoints that could prove useful.

We have dozens of 8-IR sensor/emitter arrays.

These work where each sensor returns an analog voltage depending on how white the surface is.

In the past, we communicated with it using an ads_7830 ADC (which speaksbuilt into this board:

We also have an existing example for communicating with them (be warned: it is fairly messy) in old versions of ir hub.
I recommend building a new one from scratch with just SMbus commands, but this can be used as an example if you don't know where to start.