I have a hamper in the bathroom, and one by the bedrooms, and whenever both get full I know I have enough for a couple loads, which is usually every other day. We do: whites, towels, lights, dark/bright.
Then, I have 2 small circular baskets for the kid's clothes, and one large rectangle each ofr DH and me. I bring the clothes up from the basement dry, fold them right away in the living room and put them in the appropriate baskets as I'm folding, then that evening after dinner everyone brings up their own basket and puts their stuff away. I won't bring them up unless I can fold them right then. If I can't, then I run a quick dry with a damp cloth to try to dewrinkle them a bit when I finally get time to fold.
I've foudn I have my best rhythm in sets of 2 loads. Put one in; put that in the dryer and a new one in the washer. Take out and fold the dry ones, put the wet ones in the dryer. Take the last dry load out and bring all upstairs, fold that last load, and distribute to baskets for everyone. DS (will be 7 in Jan) and DD( 4-1/2-ish) have been putting their own laundry away for about 6 months now. It's not always pretty, but it gets done. Now, to just get them making their beds....but that means I'd have to make mine! 
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