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I believe that 2771 was probably the best non- vision robot. They at one point held the world record for the highest score, with the help of Ground Zero (I believe) and the Comets (3357). They had a great low bar cycle and I loved their robot design. Their ball detecting system I believe was they watched the change in voltage of their intake motors. So when they detected a significant drop, they could see a ball was in. To make their robot even more interesting, all the motors minus the drive motors were bag motors. They even used bag motors to move their arm. They may have one of my favorite robots, and they did so good with only a flashlight if I'm not mistaken.