[Donut]

We're already intending on using this sensor, I was just commenting a completely autonomous robot would have great difficulty finding balls to pick up off the floor, and I wouldn't want to rely on my human players trying to throw them in the robot.

If you lower the angle enough (somewhere in the range of 25 to 40 degrees) and fire the ball with the right velocity, you can get it so the ball "peaks" at a height that would still go in. If you make this height very close to the top and do a shallow angle that allows the ball to maintain a height near that for a good lenght of time, you can get a wide range to shoot with (shooting 10 m/s at 32 degrees if your ball leaves your launcher at 54" allows you to hit the goal anywhere from 6 feet to 24 feet away without readjusting, not including air resistance).