[Kris Verdeyen]

We built the hardware to do this early in the build season - two banner sensors on a board. For that to work, we had to assume that we were looking at a brightly colored ball. Of course, with no shooter to test, and with plenty of robot software to make, the software guys focused their energies in more predictible ways.

Which is why I'm so thankful for this code - it worked like a champ, when we finally decided to hook up our trap. For it to work with our shooter, we put a yellow and black ball in so that it was spinning along its equator, and had the yellow side to the sensors.

Also, our setup spacing was larger than the 19" that was quoted in the code. In order to adjust it, I took the long magic number (four million something), and scaled it for our length (five million something).

Has anyone come up with a good way to calibrate or verify these guys yet? Our numbers are close to what we were expecting, but there might be something that I haven't considered that's bumping it off 2 m/s or something.