[Bongle]

2702 had a moderately unique solution: rather than have the ball break a beam, we mounted both the emitter and sensor on the same chip, and stuck that inside our vacuum cup. When a ball was close, or when a ball was grabbed, it would reflect IR back to the sensor.

This meant we only needed one mounted place, and it meant that we weren't tricked by things like ramps, robots, or chains getting in the way (unless they fully blocked the vacuum cup).