[DonRotolo]

OK, if you give the sensor +5 volts and ground, it will return a voltage between about 0.07 and 2.55 volts on the AN pin. That voltage, which you have to read into the cRio using a channel on the analog breakout, tells you the distance to the first solid object it encounters.

For example, if you read a voltage of 1.44 volts, you will be about 144 inches - 12 feet - from some object. You may need to measure for more exact voltages and distances.

What exactly that object IS can vary - it might be the backboard, it might be the fender, it might be another robot (or, if you mount it low enough, I suppose a ball). Sound waves are directional kind of like light from a flashlight, so where you point your sensor will affect which distance it 'sees'.

Smaller objects need to be closer to be sensed, larger objects can be further away. The upper limit for the KoP sensor is IIRC 256 inches, but verify that. Maxbotix makes similar sensors good to about 33 feet though.

Does that help?