[topgun]

Our experience with sonar in 2011 was an unmitigated disaster (and that is putting it positively).

You have multiple robots and multiple points of sensing throughout the field. Robots are moving around. Game pieces can get in the way. It is not reliable.

We finally removed the sonar senors pointing outside the robot and tried to use it to sense the height of our elevator (a long distance). The robot vibrated, the elevator wobbled, sudden hits, etc. Even that was not a reliable use of the sensor.

If we try it again it would be only internal to the robot and near the shorter distance of the sensor, and well tested in gameplay situations.

What are you trying to do that can't be done with a more reliable and repeatable sensor?