There were a number of signals that we could have used for our robot's understanding of its surroundings. We chose to take advantage of the following sensors:
- IR Phototransistors: Identify when the robot was broadsides with the goal or enemy
- IR Proximity Reflectors: Provide warming when approaching the end walls and detect a successful ball request
- Limit Switches: Signal when the end walls have been reached
- Wire RLC Sensors: Measure deviation from course above an active wire