[DjScribbles]

It's been a while since I've looked at the sonar sensor, but if I remember right, near objects are not detected very accurately (if the echo returns quickly, it's likely interfering with itself as it emits the pulse).

We used ours from the key to detect how close the basket was. However, we found that the ball returns caused were being detected in competition rather than the backboard, and due to lack of time on the field to diagnose it, we just dropped the functionality.