Check-In Droid automatically checks you in via Facebook Places, Foursquare & Gowalla. Just select the location where you're going and you'll be automatically checked in when you arrive.
You can tell Check-In Droid the time you'll arrive, or you can have it always check you in to certain locations. The free version is limited to 3 "always" check-ins, but the premium version allows an unlimited number and has no ads.
Keep in mind, Foursquare suffers from frequent downtime. If Foursquare isn't working, please try again later.
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