High stake sensors+autonomous coding help

Our team is fairly new to VEX and we are just starting to code for the autonomous phase for high stake. We are wondering what kind of sensors we should use? Also it will be really nice if any of you have recommendations for videos or website regarding coding tutorials on autonomous programming.
Thanks!

I use the field measurements and what motors we have, but I only have 3 years of programming experience.

But also vision sensors are useful if you can figure out how to program themVEX V5 Vison Sensor Programming Video