Climbing Platform In Auton

I was just wondering how you guys are all climbing the platform consistently in auton. I’ve found that both time and encoders don’t work consistently(undershoot or overshoot the platform). So, what would you recommend to make it consistent? Sensors?

We are using a line sensor.

I’ve found the v5 encoders to be consistent enough to climb on from whatever side. Are you using the v4 system?

We drive a set distance, measured using encoders (we’re using cortex)