[TomH]

When you say ball detection, do you mean as in that is it in the possession of your robot, and if it is, why not use a limit switch? I understand that a limit switch requires contact with the ball, but in the long run, it may be better, and since it is a physical switch, and not beam that is expected to be reflected back, it also may be more reliable as well in my perspective. If it came in the KOP a few years prior, and it is UNMODIFIED, then it is considered as a COTS since it was available to all teams. Hope that clears up some things.