Patent Publication Number: US-11027185-B1

Title: Robotic batting tee system

Description:
TECHNICAL FIELD 
     The present disclosure is related to baseball/softball batting/hitting tees, more specifically the present disclosure is related to robotic or automated tees. 
     BACKGROUND 
     Hitting a baseball or softball is one of the most difficult skills of all sports to master. Attempts at mastery require batting practice, often taking the form of tee work. Indeed, tee work in baseball is heavily promoted, encouraged, and even mandated as a training tool at all levels of competition, from Little League to the Majors. The main purpose of tee work is to aid batters in maintaining consistent form in their swing path so that contact with the ball will produce line drive hits. Batting tees generally have a ball holder that extends from a home plate shaped support. The ball holder may be mounted along an adjustable neck allowing the player or coach to grasp the neck to adjust the height of the ball holder relative to the base shaped support and hence the ball when positioned on the holder. In use, a hitter takes stance adjacent to the tee and hits the ball off the ball holder. 
     SUMMARY 
     According to various embodiments, the present disclosure describes a batting tee system that seeks to shift the paradigm of tee work that historically defines “muscle memory” from a historical mode of “repetition” to a new methodology that embraces “randomization”. By embedding randomization software, for example, within a robotic (mechanical) batting tee apparatus, batters can be prevented from sequentially hitting balls off of the tee in the same consecutive spot. This randomization approach prevents “locking in” a batters swing path or swing “groove” to a particular point or area within a batters strike zone. Hence, the methodology of randomization produces a contextual interference effect that drives enhanced flexibility and fluidity to make better contact anywhere in the strike zone and not just in areas where a batter feels they are most proficient (e.g., the batter&#39;s “hot zone”). It is believed that contextual interference and randomization modes as applied to sport specific training provides longer term learning patterns as well. 
     In one embodiment, a batting tee system includes a housing, a ball holder for holding a ball, and a neck movable along a vertical axis. The neck is attached at a first end to the housing, and is further attached at a second end to the ball holder. The batting tee system further includes an actuator positioned in the housing, and a control system. The actuator may move the neck along the vertical axis thereby increasing and decreasing a distance between the ball holder and the housing. The control system may cause (e.g., via electrical signals, hardware, programmed or programmable circuits, etc.) the actuator to move the neck to a first random position along the vertical axis, and may further cause the actuator to move the neck from the first random position to a second random position along the vertical axis, different than the first random position, after the ball is hit from the ball holder when the neck is in the first random position. The batting tee system also includes one or more connectors that may releasably couple the housing to an external system. 
     In another embodiment, a batting tee system includes a base, a first carriage moveably coupled to the base, and a second carriage moveably coupled to the first carriage. The second carriage may hold an external system having a neck and a ball holder. The batting tee system further includes a first actuator attached to the base, and a second actuator attached to the first carriage. The first actuator may move the first carriage and the second carriage along a first horizontal axis relative to the base. The second actuator may move the second carriage along a second horizontal axis relative to the base and the first carriage. The batting tee system further includes a control system that may cause (e.g., via electrical signals, hardware, programmed or programmable circuits, etc.) the first actuator to move the first carriage and the second carriage to a first random position along the first horizontal axis, and further cause the second actuator to move the second carriage to a first random position along the second horizontal axis. The control system may further cause the first actuator to move the first carriage and the second carriage from the first random position along the first horizontal axis to a second random position along the first horizontal axis, different than the first random position along the first horizontal axis, after a ball is hit from the ball holder when the first carriage and the second carriage are in the first random position along the first horizontal axis. The control system may also cause the second actuator to move the second carriage from the first random position along the second horizontal axis to a second random position along the second horizontal axis, different than the first random position along the second horizontal axis, after the ball is hit from the ball holder when the second carriage is in the first random position along the second horizontal axis. 
     While it is preferable that the actuator(s) cause movement from a random position to another random position, in some embodiments, the positions may not be random. For example, the positions may be selected by a user, and then the actuator(s) may move the neck, first carriage, and/or second carriage from a position selected by the user to another position selected by the user. As another example, the batting tee system(s) may also allow a user to apply physical force to the neck, first carriage, and/or second carriage so as to move the neck, first carriage, and/or second carriage from a position selected by the user to another position selected by the user. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For a more complete understanding of the present disclosure and its features and advantages, reference is now made to the following description, taken in conjunction with the accompanying drawings, in which: 
         FIG. 1  is a side view of one embodiment of a tee system having a vertical tee system and a tee stand; 
         FIG. 2  is a partial cross-sectional view illustrating an actuator and neck of the vertical tee system of  FIG. 1 ; 
         FIG. 3  is a perspective view of the tee system of  FIG. 1  where the vertical tee system is removeably coupled to the tee stand; 
         FIG. 4  schematically illustrates various operational features of the vertical tee system of  FIG. 1 ; 
         FIG. 5  is a top view of one embodiment of a tee system having a horizontal tee system; 
         FIG. 6  is a perspective view of the horizontal tee system of  FIG. 5 ; 
         FIG. 7  is a perspective view of one embodiment of a tee system having the vertical tee system of  FIG. 1  coupled to the horizontal tee system of  FIG. 5 ; 
         FIG. 8  schematically illustrates various operational features of the horizontal tee system of  FIG. 5 ; and 
         FIG. 9  is a flowchart illustrating one embodiment of the operation of the tee system of  FIG. 7 . 
     
    
    
     DESCRIPTION 
     Batters participating in tee work will typically position a ball holder of a batting tee based on individual preferences for comfort or hot zones. Balls are repeatedly placed on the ball holder, hit, and replaced. This repetitious hitting of balls positioned at the same spot creates muscle memory or a proprioceptive-neurological pathway that locks in a motor muscular swing path or groove to a particular spot within the strike zone. In baseball, batters have milliseconds to perceive an incoming pitch and square up by positioning their arms and hands to meet the center of the ball with the barrel of the bat. When batters require motor muscular flexibility in the game to meet an incoming pitch, their swing path will automatically and involuntarily be driven to a positional spot where a baseball has been hit hundreds or thousands of times during tee work. Hence, the swing path becomes pre-programmed, seemingly more robotic than robots themselves. 
     When using a tee, typically the ball will be repetitively replaced on the ball holder positioned at the same height even where the height of the ball holder may be adjusted by grasping the neck and physically extending or shortening the neck. In these instances, the batter is repeatedly hitting the ball in the same spatial plane, which provides little resolution to train to the fullest flexibility within the strike zone. Furthermore, to represent various locations in the strike zone, typically, the tee must be manually moved to and from the inner (e.g., left), outer (e.g., right), front, or back portions of the strike zone. Such manual movement may be inconvenient, which tends to cause the tee to not be moved (or moved very infrequently). In these instances, the batter is repeatedly hitting the ball at the same area in the strike zone, which also provides little resolution to train to the fullest flexibility within the strike zone. 
     Without being bound to theory, it is believed that the brain works in a paradoxical manner with respect to hitting. That is, while the brain prefers repetition (utilizing brain pathways most often used or of least resistance) it can only learn when it is stretched (fostering neural plasticity) or presented with unfamiliar or novel experiences (“opening” and “activating” dormant or unused neural pathways). In this respect, traditional tee usage may actually inhibit rather than foster hand-eye coordination. 
     A tee system is described herein which may be used to teach consistent good contact, with consistent good form, anywhere in the strike zone, not just where a batter feels most proficient. The tee system may be configured to position a ball holder at various heights along a vertical axis (i.e., z-axis). Movement of the ball holder between the height positions along the vertical axis may be automated (robotic). The selection of the height positions may also be automated. For example, a control system may be programmed with height position data used to execute selection of height positions. The height position data may include one or more sequences of height positions. The height position data may include one or more generated sequences of random height positions. The number of height positions in a sequence or number of sequences may be large enough such that a batter is unlikely to perceive or unconsciously key in on height positions as to anticipate repetition over multiple exposures to the sequence. Sequences may be associated with ranges of heights, which may be selected by a user. In some instances, the control system may be configured to skip height positions within a sequence that are outside a range set by a user. The control system may also be programmed to generate height position data comprising random height positions within a range of height positions. 
     The tee system may also (or alternatively) be configured to position a ball holder at various positions along two horizontal axes, such as an in-out axis (i.e., x-axis) and a front-back axis (i.e., y-axis). Movement of the ball holder between the positions along the horizontal axes may be automated (robotic). The selection of the horizontal (i.e., in-out, front-back) positions may also be automated. For example, a control system may be programmed with horizontal position data used to execute selection of horizontal positions. The horizontal position data may include one or more sequences of horizontal positions. The horizontal position data may include one or more generated sequences of random horizontal positions. The number of horizontal positions in a sequence or number of sequences may be large enough such that a batter is unlikely to perceive or unconsciously key in on the horizontal positions as to anticipate repetition over multiple exposures to the sequence. Sequences may be associated with ranges of horizontal positions, which may be selected by a user. In some instances, the control system may be configured to skip horizontal positions within a sequence that are outside a range set by a user. The control system may also be programmed to generate horizontal position data comprising random horizontal positions within a range of horizontal positions. 
     The tee system and components for use with tee systems are described further below with reference to  FIGS. 1-9 , wherein like numerals are used to identify like features. 
     With reference to  FIGS. 1-3 , in various embodiments, the tee system  2  includes a vertical tee system  3  configured to position a ball holder  12  at various heights along a vertical axis  16 . The vertical tee system  3  includes a body  4  comprising a housing  8 , a neck  10  extendable and retractable from the housing  8 , and a ball holder  12  positioned on the neck  10 . 
     The vertical tee system  3  is preferably configured to be man-portable (e.g., weighing 12 pounds or less, in some embodiments) yet stable enough to prevent falling over due to a mishit from a batter. For example, the bottom portion  6  of the housing  8  may provide a stable platform for mounting of the neck  10 , ball holder  12 , and other components without adding unnecessary weight to the vertical tee system  3 . The housing  8  may include a handle (not shown) dimensioned to be gripped by a user for transporting the vertical tee system  3 . The housing  8  may have a footprint of between 12 inches and 24 inches around the center of the neck  10 . In some embodiments, the bottom portion  6  of the housing  8  may be wider than the remainder of the housing  8 , longer than the remainder of the housing  8 , or both to provide stability. The bottom portion  6  may include a rubber-like lower surface to increase friction with the ground surface upon which the body  4  of the vertical tee system  3  may be placed. 
     The neck  10  may be formed of a rigid material that is durable to withstand mishits. For example, the neck  10  may be constructed of metals or hard plastics (e.g., a combination of metal and HDPE plastic tubes). In one embodiment, the neck  10  includes a topple feature wherein a strong mishit causes the top of the neck  10  to pivot downward to prevent breaking the neck  10  or toppling the vertical tee system  3 . 
     The neck  10  extends between the housing  8  at a first end and mounts the ball holder  12  at a second end. The neck  10  is movable along the vertical axis  16  (indicated by a double arrow). Extension or retraction of the neck  10  with respect to the housing  8  may be robotically driven. For example, the vertical tee system  3  may include a robotically extendable and retractable neck  10  with respect to the housing  8  operable to adjust the height of the ball holder  12  and, hence, a ball  13  when positioned on the ball holder  12 . Extension or retraction of the neck  10  may also be manual. For example, the user may manually extend or retract the neck  10  using physical force. In various embodiments, the body  4  includes a housing  8  that can completely encase the neck  10  after use. For example, the neck  10  may include a telescopic piston that may be folded or enveloped into the housing  8  for storage. In other embodiments, a portion of the neck  10  may remain outside of the housing  8  after use. 
     As is illustrated in  FIG. 2 , the neck  10  may comprise telescoping sections  38  that move along the vertical axis  16 . These telescoping sections  38  (e.g.,  38   a ,  38   b ,  38   c ) may cause the length of the neck  10  to increase (thereby increasing the distance between the ball holder  12  and the housing  8 ) when the ball holder  12  is moved to a higher vertical position, or they may cause the length of the neck  10  to decrease (thereby decreasing the distance between the ball holder  12  and the housing  8 ) when the ball holder  12  is moved to a lower vertical position. 
     The neck  10  may include any number of telescoping sections  38 . As is illustrated, the neck  10  includes three telescoping sections  38 . The innermost telescoping section  38   a  may be coupled to the ball holder  12 , thereby mounting the ball holder  12  to the body  4  of the vertical tee system  3 . In some embodiments, the innermost telescoping section  38   a  may be an inner molded  80 A silicone rubber tube. The middle telescoping section  38   b  may be coupled to the innermost telescoping section  38   a  at a first end, and may be further coupled to an outermost telescoping section  38   c  at a second end. In some embodiments, the middle telescoping section  38   b  may be an inner molded  80 A silicone rubber tube. The outermost telescoping section  38   c  may be coupled to the middle telescoping section  38   a  at a first end, and may be further coupled to the housing  8  at a second end. In some embodiments, the outermost telescoping section  38   c  may be an inner molded  80 A silicone rubber tube. 
     As is illustrated, the telescoping sections  38  may be nestable. As an example of this, when the neck  10  is retracted downwards toward the housing  8 , all or a portion of the middle telescoping section  38   b  may retract inside the outermost telescoping section  38   c , and/or all or a portion of the innermost telescoping section  38   a  may retract inside the middle telescoping section  38   b  (and the outermost telescoping section  38   c ). In some embodiments, the outermost telescoping section  38   c  may not move relative to the housing  8 . That is, it may remain fixed in place while the innermost telescoping section  38   a  and/or the middle telescoping section  38   b  move relative to the outermost telescoping section  38   c . In other embodiments, the outermost telescoping section  38   c  may move relative to the housing  8 . 
     In other embodiments, the neck  10  may not include telescoping sections  38 . As an example, of this, the neck  10  may include a single section  38  that moves upward and downward relative to the housing  8  (thereby increasing or decreasing the distance between the ball holder  12  and the housing  8 ). In such an example, the length of the neck  10  may remain the same. when the neck  10  is actuated along the vertical axis  16  to move upward or downward. This may cause the distance between the ball holder  12  and the housing  8  to be proportional to the length of the neck  10  retracted into and extended from the housing  8 . 
     The ball holder  12  may hold the ball  13 , such as a baseball or softball. The ball holder  12  may be constructed of a durable plastic or rubber-like plastic or polymer, such as thermoplastic polyurethane (TPU). In various embodiments, the ball holder  12  may include three or more prongs that may hold the ball  13 . In one example, the prongs are adjustable to modify the size of the ball holder  12  to provide holding capabilities for larger and smaller balls. In some embodiments, the ball holder  12  is modular such that it may be removed and replaced to replace worn components or customize the ball holder  12 . The ball holder  12  may therefore be interchangeable with other ball holders  12 . In some embodiments, a first ball holder  12  may be used to hold a baseball, and a second ball holder  12  may be used to hold a softball. These first and second ball holders  12  may be interchangeable, so as to allow a user to practice with either a baseball or a softball. In other embodiments, the ball holder  12  may be sized (or configured) to hold both a baseball and a softball. As such, the ball holder  12  may not need to be changed in order to practice with either a baseball or softball. As described in more detail below, in some embodiments, the ball holder  12  may include sensors. As such, a user may interchange ball holders  12  to mount a ball holder  12  that adds, upgrades, or removes features. In some embodiments, certain ball holders  12  may not be interchangeable in-whole or in-part. 
     The vertical tee system  3  may be coupled to a power source to provide power to the vertical tee system  3 . For example, the vertical tee system  3  may be powered by a power source comprising one or more batteries, an a/c outlet, or combination thereof. In the illustrated embodiment, the vertical tee system  3  includes an onboard (associated with or mounted on the body  4 ) rechargeable battery  20  of the SLA or LiPo type. This rechargeable battery  20  may be removed, re-charged, and replaced (or changed to an entirely new battery), in some embodiments. In other embodiments, the body  4  may include a socket or plug configured to couple to an a/c outlet to recharge the battery  20 . 
     The vertical tee system  3  may also include an actuator  30  that may move the neck  10  along the vertical axis  16 . The actuator  30  may be any type of system that may move the neck  10  along the vertical axis  16 . For example, the actuator  30  may be a mechanical system, an electro-mechanical system, a hydraulic system, a pneumatic system, or any other system that may move the neck  10  along the vertical axis  16 . As an example of this, the actuator  30  may include a pneumatic or hydraulic chamber and a piston movable through the chamber when hydraulic fluid or gas is pumped (via a pump) into or out of the chamber. The neck  10  may extend from or otherwise be coupled to the movement from the piston to thereby move the neck  10  along the vertical axis  16 . An another example, the actuator  30  may include a motor that transmits rotational or linear force to the neck  10 , causing the neck  10  to move along the vertical axis  16 . 
       FIG. 2  illustrates another example of an actuator  30  according to one embodiment. As is illustrated, the actuator  30  may include one or more motors  32 , a spool  34 , and one or more linkages  36 . The motors  32 , spool  34 , and linkages  36  may be housed in the housing  8 . The motor(s)  32  may be any powered motor. For example, the motor(s)  32  may comprise an electric, hydraulic, or pneumatic motor. As is illustrated, the motor  32  includes a reversible electric motor. The motor(s)  32  may transmit a force onto the spool  34 , causing the spool  32  to rotate. The spool  32  may be coupled to the one or more linkages  36 , and the linkages  36  may be coupled to the neck  10 . As is illustrated in  FIG. 2 , the linkage(s)  36  are coupled to the innermost telescoping section  38   a  of the neck  10 . The spool  34  may be any type of spool that rotates when a force is applied by the motor(s)  32 . For example, the spool  34  may be a motor anchored flex tape spool. The linkage(s)  36  may be any type of linkage(s) that may be coupled to both the neck  10  and the spool  34 . As is illustrated, the linkage(s)  36  may include plastic tape (e.g., semi-flexible plastic tape coupled to the spool  34 , and rigid center tube tape coupled to the innermost telescoping section  38   a ). In such an example, the actuator  30  may be a tape drive system. In other examples, the linkages  36  may include gearing that interfaces with gears of the spool  34 . 
     In operation, when the spool  32  rotates (due to being driven by the motor  32 ) in a first direction (e.g., clockwise), the linkages  36  may push upward on the innermost telescoping section  38   a , causing the innermost telescoping section  38   a  to move upward relative to the housing  8 . When the spool  32  rotates in a second direction (e.g., counter-clockwise), the linkages  36  may pull downward on the innermost telescoping section  38   a , causing the innermost telescoping section  38   a  to move downward relative to the housing  8 . These movements may cause the neck  10  to telescopically extend and retract when engaged by the actuator  30  (e.g., similar to a powered telescoping antenna). 
     The actuator  30  may be operable to move the neck  10  along the vertical axis  16  within a range extending approximately 20 inches, approximately 25 inches, approximately 30 inches, approximately 35 inches, or more. For example, the actuator  30  may be operable to move the neck  10  within a height range taken between the lower side of the bottom portion  6  and the top side of the ball holder  12  of approximately 17 inches (but not to exceed approximately 20 inches, in some embodiments) when the neck  10  is fully retracted, to approximately 44 inches when the neck  10  is fully extended. The actuator  30  may move the neck  10  at any speed. For example, the actuator  30  may move the neck at a speed of approximately 4 inches per second, although other actuation rates may be used. In some embodiments, the actuator  30  may move the neck  10  at a speed that allows the neck  10  to reach the next random height position within approximately 5 seconds of the ball being hit off the ball holder  12 . 
     Referring again to  FIG. 1 , in various embodiments, the vertical tee system  3  includes a control system  40  operable to control the operations of the vertical tee system  3 . With further reference to  FIG. 4 , schematically illustrating features of the control system  40  according to various embodiments, the control system  40  may provide for actuation (motor control) of the movement of the neck  10  along the vertical axis  16 , sensing using sensors  42 , and a user interface  44  for interfacing the user with the operations of the control system  40 . For example, the control system  40  may include sensors  42  comprising position sensors  46  (or be configured to receive, via wired or wireless communication, position data from one or more position sensors  46 ) positioned to collect position data that may be used by the control system  40  to determine a position corresponding to the position of the neck  10  or ball holder  12 . In some embodiments, the control system  40  and actuator  30  comprise a servomechanism. In one embodiment, the position sensor  46  includes a potentiometer to monitor the rotation of a disc drive of the motor  32  which corresponds to the neck  10  height position. The potentiometer may be a multi-turn potentiometer, for example, providing for simple determination of the height of the neck  10  or ball holder  12  at any point in time after being powered ON. In this or another embodiment, the control system  40  incorporates a stepper motor or servomotor configured with position control incorporating an encoder or potentiometer in a closed loop. In some embodiments, a slotted disc may be placed on the drive pin of the motor  32 , before the gear reduction. A photointerruptor may sense the slots of the disc, thus creating a motor encoder. The output of this motor encoder may be used to provide feedback to the classical control loops regulating motor speed and tee height. The control system  40  may also include a PID controller, for example, to receive and interpret the position data and provide corresponding control signals to control operation of the actuator  30 . 
     In various embodiments, the control system  40  includes a control module  48 . The control module  48  may include a processor configured to execute instructions, which may be hardwired into the processor. The control module  48  may also include memory for storing instructions executable by the processor. For example, the control module  48  may comprise a microcontroller chip with general purpose I/O. Operational embedded software may be programmed to detect the presence of balls using sensor data, generate random heights to position the neck  10  through the closed-loop control system  40 , and allow user interaction via the user interface  44 . The control module  48  may also include a microcontroller board to interface with the actuator  30 , sensors  42  and input devices, and perform high level control of the vertical tee system  3 . The control system  40  may also include a height selection switch. For example, the neck  10  may be actuated along the vertical axis  16  within a height range. A 3-way/5-way position switch, for example, may be used as an input device to select an appropriate height zone. This switch may be connected to the microcontroller board and the software may be programmed to generate random positions within the height zone selected by a user at the user interface  44  or using a predetermined zone range. Other switch mechanisms may be used. In one embodiment, the height range may be between 17″ to 48″ (and more particularly between 20″ and 44″) taken between the ball holder  12  and bottom portion  6  of the housing  8 . 
     The user interface  44  may include a local user interface  50  providing operations such as height range selector switch, default movement, etc. In one example, a user, at the local user interface  50 , may specify a height zone within the range within which the control system  40  is to actuate the neck  10  (e.g., random heights within the range). The user interface  44  may include 4 capacitive touch buttons to assist in specifying the height zone for a particular user. The user may touch an UP and DOWN button to move the neck  10  up and down. When the neck  10  is in the desired location, the user may touch a SET STRIKE ZONE button to indicate that this point should be the bottom of the strike zone. Similarly, the user will be able to move the stand to another point and set that as the top of the strike zone using the SET STRIKE ZONE button. The set strike zone may be saved for that user. This saved strike zone may be retrieved whenever the user is using the vertical tee system  3 . For example, the user interface  44  may allow a user to select a particular user account from a list. In some embodiments, RFID tags and a reader may be used by the vertical tee system  3  to identify particular users and retrieve the saved strike zone for a particular user. 
     The local user interface  50  may include a display  52  (shown in  FIG. 3 ). The display  52  may include LED indicators to inform the user about the operational state of the vertical tee system  3 , for example a red LED may indicate actuation (e.g., when the neck  10  is about to move, is moving, or both), and a green LED may indicate the neck  10  is properly positioned or the neck  10  is properly positioned along with the ball in the ball holder  12 . Additional LEDs may indicate the status of the battery  20  (e.g., full, low) 
     The control system  40  may also include a communication port  54 , which may include multiple communication ports  54 . The communication port  54  may include a receiver, transmitter, transceiver, etc. The communication port  54  may be configured to allow communication between the control system  40  and other devices, such as sensors  42 , external or remote devices or interfaces  44  (e.g., an accessory device, wired or wirelessly coupled to the communication port  54 , such as a remote). For example, the communication port  54  may comprise a transceiver configured for wired communication, wireless communication, or both. In one embodiment, the communication port  54  is configured for wireless communication such as Bluetooth, IR, Wi-Fi, radio, etc. The communication port  54  may transmit operational data to a remote device such as a computer, laptop computer, tablet, smart phone/device, or dedicated remote device to provide a remote interface  56 . 
     The communication port  54  may be configured for communicating with external or remote devices using Bluetooth. For example, the communication port  54  may include Bluetooth communication hardware to wirelessly pair the control system  40  with an external or remote device such as a remote controller, smart phone, hearing device, tactile-vibration feedback device, or combination thereof. Thus, the user, using a mobile application running on a mobile device may use the remote interface  56  to remotely set the minimum and maximum height, or range, within which the actuator  30  will randomly move the neck  10 . Similarly, a user may use the local interface  50  on the body  4  to set the minimum and maximum height, or range, that the actuator  30  will move the neck  10 . In one embodiment, the remote user interface  56  or local user interface  50  is configured to allow a user to program a particular sequence of heights. 
     A randomization software package may be embedded in the control system  40  so that the actuator  30  does not move the neck  10  to the same position consecutively. The software package may include a random height generator operable to generate random heights within a defined range. As noted above, in one embodiment, the control system  40  may be programmed with random height sequences that may be executed during operation of the vertical tee system  3 . In one embodiment, the control system  40  will not allow a user to keep the neck  10  at the same height for more than one hit with the idea that a batter should not hit a ball in the same consecutive spot. 
     In one embodiment, the user interface  44  may be programmed to suggest a batter not keep the body  4  in any one position for more than a certain number or range of balls (e.g., 5 to 10 hit balls). The batter may input how many balls he may want to hit with the body  4  in any one position. Once that number of hits is reached, the control system  40  may emit a signal to the batter to move the body  4  to another position around the plate to get maximum resolution within the cubical area of a batters particular strike zone. In some embodiments, a user may utilize the local user interface  50  or the remote user interface  56  (e.g., a smart phone application) to create a pre-set number of positions for the ball holder  12 . In such an example, the control system  40  may randomly circulate through the pre-set positions (as opposed to generating random positions). 
     In some embodiments, a user may utilize the local user interface  50  or the remote user interface  56  (e.g., a smart phone application) to control the position of the ball holder  12 . In such an example, the position may not be random. Instead, the position may be input by the user into the local user interface  50  or the remote user interface  56  (e.g., pressing the UP or DOWN buttons, entering a particular height, downloading or entering a set of heights, etc.), thereby allowing the user to select the position of the ball holder  12 . The ball holder  12  may then be moved to that position by the vertical tee system  3 . In some embodiments, the user may select the position (and cause the ball holder  12  to be moved to that position) at any time. For example, the user may select the position (and cause the ball holder  12  to be moved to that position) after the ball has been hit from the ball holder  12 , while the ball is still on the ball holder  12 , or at any other time. 
     In various embodiments, the control system  40  includes sensors  42  positioned to detect ball data. Example sensors  42  may include sensors  42  to detect ball position, ball hit, or vibration for estimating the speed of the ball. In a further example, such detection may be achieved through an embedded processor integrated with an accelerometer and an IR proximity sensor. One or more of the sensors  42  may be located along the neck  10  or ball holder  12 , for example. The sensors  42  may be wired to the control module  48  or may be configured for wireless communication with the control module  48 . For example, in one embodiment, a microprocessor module is integrated with one or more of the sensors  42  and a Bluetooth interface and is configured for communication with the control module  48 . When received by the control module  48 , which may be located in the body  4 , the ball data may be used by the control module  48  to signal placement of a new ball on the ball holder  12  or to initiate movement of the neck  10  to the next position. The control module  48  may also display data obtained from the ball data on display  52  of the local user interface  50  or transmit the data to an external or remote device, such as a paired mobile device or computer running an application of the vertical tee system as a remote user interface  56 . 
     In various embodiments, the sensors  42  include a ball presence sensor  58  to detect presence of the ball. The sensor  58  may be used to determine when a ball has been hit to know when to move the neck  10  to the next random location. The ball presence sensor  58  may incorporate any suitable sensor technology. For example, the ball presence sensor  58  may detect vibration or movement of the ball holder  12 , movement of a ball from the ball holder  12 , weight of or weight change with respect to the ball holder  12 , light or optical sensors, sound sensors, or other suitable sensors. In one embodiment, the ball presence sensor  58  may include an IR proximity line-of-sight sensor used to detect the presence of a ball on the ball holder  12 . In some embodiments, the ball presence sensor  58  may include an IR range finder constructed from an IR LED and IR photodiode. In such an embodiment, the ball presence sensor  58  may be housed in a soft TPU container with holes for the LED and photodiode, and it may be mounted in the innermost telescoping section  38   a . The ball presence sensor  58  can also be used to detect idle/no activity time, in which the vertical tee system  3  may switch off or go into a low power sleep mode to conserve power. The ball presence sensor  58  may also be able to detect false positives (e.g., a user waving their hand over the ball holder  12 , as opposed to a ball being positioned on the ball holder  12 ). To do so, the ball presence sensor  58  (or the control module  48 ) may wait approximately 0.5 seconds before registering the presence of the ball. 
     In one embodiment, the sensors  42  include a tilt detection sensor  60 . The tilt detection sensor  60  may include an accelerometer, for example, to detect tilt data. The tilt detection sensor  60  may be mounted in the body  4 . When the control module  48  receives tilt data from the tilt detection sensor  60  that indicates that the tee has fallen over, the control system  40  may be configured to stop the motor  32  from moving the neck  10  to avoid damage to the actuator  30 . The control system  40  may also be configured such that the vertical tee system  3  is operational only when the body  4  is upright. 
     In some embodiments, sensors  42  may include more than one position sensor  46 , more than one ball presence sensor  58 , and/or more than one tilt detection sensor  60 . For example, sensors  42  may include two position sensors  46 , two ball presence sensors  58 , and/or two tilt detection sensors  60 . The additional sensors  42  may provide a fail-safe system that allows the control system  40  to still receive data even when a sensor  42  fails. For example, if a first ball presence sensor  58  fails, the second ball presence sensor  58  may still detect the presence of the ball and transmit that detection data to the control system  40 . The additional sensors  42  may be the same type of sensor  42  as the first, or they may be different. For example, both ball presence sensors  58  may be IR proximity line-of-sight sensors. In another example, the first ball presence sensor  58  may be an IR proximity line-of-sight sensor, and the second ball presence sensor  58  may be a weight sensor or a vibration sensor. 
     In one embodiment, the vertical tee system  3  is a compact, standalone, one axis, robotic tee having a telescoping neck  10 . The telescoping neck  10  is configured to extend to a minimum height of 18 inches and a maximum height of 48 inches off the ground. The vertical tee system  3  is low weight for easy positioning and transport. The control system  40  controls the actuator  30  such that the telescoping neck  10  may be moved to a particular random height that is set between the minimum and maximum height that is pre-programmed into the control system  40  at the user interface  44 . The user places a ball on the tee and hits. An appropriate ball presence sensor  58  collects ball presence data which is used by the control module  48  to determine that the ball was hit. The control module  48  then initiates the actuator  30  to move the neck  10  along the vertical axis  16  to another random spot. Once a session is finished, the control system  40  or actuator  30  may move the telescopic neck  10  down the vertical axis  16  to become fully or partially encased in the housing  8 , creating ease of usage, set up, storage, and portability. 
     As is discussed above with regard to  FIGS. 1-3 , the bottom portion  6  of the housing  8  (itself) may provide a stable platform for mounting of the neck  10 , ball holder  12 , and other components. That is, the bottom portion  6  may provide stability to the vertical tee system  3 , so as to prevent the vertical tee system  3  from falling over due to a mishit from a batter. 
     In some embodiments, the vertical tee system  3  may be coupled to a tee stand  7  (as is illustrated in  FIGS. 1 and 3 ). The tee stand  7  may provide additional stability to the vertical tee system  3 , so as to further prevent the vertical tee system  3  from falling over due to a mishit from a batter. 
     The tee stand  7  may have any shape and/or size that allows it to provide additional stability to the vertical tee system  3 . For example, the tee stand  7  may be shaped as a square, rectangle, a circle, a baseball or softball home plate, any other shape, or any combination of the preceding. The tee stand  7  may be wider than the housing  8 , longer than the housing  8 , or both to provide additional stability. The tee stand  7  may include a rubber-like lower surface to increase friction with the ground surface upon which the tee stand  7  may be placed. 
     The vertical tee system  3  may be coupled to a tee stand  7  using one or more connectors  9 . The connectors  9  may be any type of connector that may couple the vertical tee system  3  to the tee stand  7 . For example, the connectors  9  may be a clip system, a magnetic connector system, bolts and nuts, a threaded connector system that allows the vertical tee system  3  to be screwed into the tee stand  7 , adhesives, bolts, compression fittings, brackets, a rail and groove system, a clamp system, any other type of connector, or any combination of the preceding. 
     As is illustrated, the connectors  9  are a quick release clip system. The quick release clip system may include a latch  11   a , a first bracket  11   b , and a second bracket  11   c . To connect the vertical tee system  3  to the tee stand  7 , the second bracket  11   c  may be positioned in a groove (not shown) in the bottom portion  6  of the housing  8 . Also, the first bracket  11   b  may be positioned underneath the latch  11   a , and the latch  11   a  may then be closed over the first bracket  11   b . This may allow the vertical tee system  3  to snap into connection with the tee stand  7  with relative ease and stay locked even under forces hitting the tee until the mechanical release is actuated. To release the vertical tee system  3  from the tee stand  7 , the above process may be reversed. As is illustrated, the latch  11   a  and the second bracket  11   c  are included on the tee stand  7 , while the first bracket  11   b  is included on the body  4  of the vertical tee stand  3 . In other embodiments, the latch  11   a  and the second bracket  11   c  may be included on the body  4  of the vertical tee stand  3 , while the first bracket  11   b  may be included on the tee stand  7 . 
     In some embodiments, the connectors  9  may releasably couple the vertical tee system  3  to the tee stand  7 . In such embodiments, the vertical tee system  3  may be temporarily coupled to the tee stand  7 , and then the vertical tee system  3  may be removed from the tee stand  7 . This coupling and removal may occur any number of times. In some embodiments, when the vertical tee system  3  is removed, it may be used by itself (i.e., without the tee stand  7  or any other external device). That is, a user may place the bottom portion  6  of the housing  8  of the vertical tee system  3  on a ground surface, and the vertical tee system  3  will remain stable while in use. In other embodiments, the vertical tee system  3  may only be used (i.e., it may only remain stable) when the vertical tee system  3  is coupled to the tee stand  7  (or other external device). In some embodiments, the connectors  9  may further releasably couple the vertical tee system  3  to a horizontal tee system  64 , as is discussed below. 
     As is illustrated in  FIGS. 5-7 , the tee system  2  may further include a horizontal tee system  64 . The horizontal tee system  64  is configured to position the ball holder  12  of the vertical tee system  3  (and the remainder of the body  4  of the vertical tee system  3 ) at various positions along two horizontal axes: the in-out axis  66  (i.e., x-axis) and the front-back axis  68  (i.e., y-axis). As is illustrated, the horizontal tee system  64  includes a body  69  comprising a base  70 , a housing  71 , an in-out carriage  72  movable along the in-out axis  66  (shown in  FIG. 6 ) relative to the base  70 , and a front-back carriage  74  movable along the front-back axis  68  (shown in  FIG. 6 ) relative to the base  70 . 
     The horizontal tee system  64  is preferably configured to be man-portable (e.g., weighing 12 pounds or less, in some embodiments, without the vertical tee system  3 ). Furthermore, the horizontal tee system  64  may include a handle (not shown) dimensioned to be gripped by a user for transporting the horizontal tee system  64 . The base  70  may provide stability to the horizontal tee system  64 , thereby preventing the horizontal tee system  64  (and the attached vertical tee system  3 ) from falling over due to a mishit from a batter. The base  70  may be shaped as a square, rectangle, a circle, a baseball or softball home plate, any other shape, or any combination of the preceding. The base  70  may have a footprint that does not exceed approximately 34″ long and 24″ wide, in some embodiments. The base  70  may include a rubber-like lower surface to increase friction with the ground surface upon which the horizontal tee system  64  may be placed. 
     In some embodiments, the horizontal tee system  64  may include a base plate  76  that is releasably coupled to the base  70 . The base plate  76  may be shaped as a baseball or softball home plate. In use, the base plate  76  may be placed on the ground surface or atop an existing home plate. The base plate  76  may be removed from the base  70 . When this occurs, the base  70  may be placed atop an existing home plate (or adjacent the home plate, or on a ground surface). 
     The horizontal tee system  64  may further include the housing  71 . The housing  71  may be coupled to the base  70 , and may house one or more electronic and/or mechanical components of the horizontal tee system  64 . For example, one or more motors, drivers, processing units, memory units, and battery units may be enclosed (fully or partially) within the housing  71 . 
     The horizontal tee system  64  may further include the in-out carriage  72  configured to hold the front-back carriage  74  (which is configured to hold the vertical tee system  3 ). This holding causes the in-out carriage  72  to support (i.e., carry) the front-back carriage  74  and prevent the front-back carriage  74  from falling off the horizontal tee system  64 . 
     The in-out carriage  72  may be moveably coupled to the base  70 , and is movable along the in-out axis  66  relative to the base  70 . This allows the in-out carriage  72  to move back and forth between the left-side of the strike zone and the right-side of the strike zone. By connection, it also allows the front-back carriage  74 , the ball holder  12  of the vertical tee system  3 , and hence the ball  12 , to move back and forth between the left-side of the strike zone and the right-side of the strike zone. Movement of the in-out carriage  72  may be robotically driven. For example, the horizontal tee system  64  may include a robotically movable in-out carriage  72  operable to adjust the left-and-right position (i.e., the inside-and-outside position) of the ball holder  12  and, hence, the ball when positioned on the ball holder  12 . Movement of the in-out carriage  72  may also be manual. For example, the user may manually move the in-out carriage  72  using physical force. 
     The in-out carriage  72  may be moveably coupled to the base  70  in any manner that allows the in-out carriage  72  to move along the in-out axis  66 . For example, as is illustrated, the in-out carriage  72  may be moveably coupled to the base  70  by a rail system (e.g., a first rail positioned adjacent the front of the base  70  and a second rail positioned adjacent the back of the base  70 ). This rail system may be connected to the base  70 . The in-out carriage  72  may slide along the length of the rail system back and forth along the in-out axis  66 . 
     The horizontal tee system  64  may further include the front-back carriage  74  configured to hold the vertical tee system  3 . This holding causes the front-back carriage  74  to support (i.e., carry) the vertical tee system  3  and prevent the vertical tee system  3  from falling off the horizontal tee system  64 . 
     The front-back carriage  74  may be moveably coupled to the in-out carriage  72 , and is movable along the front-back axis  68  relative to the base  70  (and in the in-out carriage  72 ). This allows the front-back carriage  74  to move back and forth between the front-side of the strike zone and the back-side of the strike zone. By connection, it also allows the ball holder  12  of the vertical tee system  3 , and hence the ball  12 , to move back and forth between the front-side of the strike zone and the back-side of the strike zone. Movement of front-back carriage  74  may be robotically driven. For example, the horizontal tee system  64  may include a robotically movable front-back carriage  74  operable to adjust the front-and-back position of the ball holder  12  and, hence, the ball when positioned on the ball holder  12 . Movement of the front-back carriage  74  may also be manual. For example, the user may manually move the front-back carriage  74  using physical force. 
     The front-back carriage  74  may be moveably coupled to the in-out carriage  72  in any manner that allows the front-back carriage  74  to move along the front-back axis  68 . For example, as is illustrated, the front-back carriage  74  may be moveably coupled to the in-out carriage  72  by a rail system (e.g., a first rail positioned adjacent the left side of the in-out carriage  72  and a second rail positioned adjacent the right-side of the in-out carriage  72 ). This rail system may be connected to the in-out carriage  72 . The front-back carriage  74  may slide along the length of the rail system back and forth along the front-back axis  68 . 
     As is discussed above, the front-back carriage  74  may be held by the in-out carriage  72  (e.g., via the moveable coupling). This may cause the front-back carriage  74  to move when the in-out carriage  74  moves. That is, the front-back carriage  74  may ride on or in the in-out carriage  72  as the in-out carriage  72  moves along the in-out axis  66 . As such, the front-back carriage  74  moves along the in-out axis  66  (as a result of being carried by in-out carriage  72 ), and the front-back carriage  74  also moves along the front-back axis  66  (as a result of the moveable coupling). In connection, this allows the ball holder  12  of the vertical tee system  3 , and hence the ball  12 , to move back and forth between the left-side of the strike zone and the right-side of the strike zone, and to also move back and forth between front of the strike zone and the back of the strike zone. 
     Although the in-out carriage  72  is described as holding the front-back carriage  74  and the front-back carriage  74  is described as holding the vertical tee system  3 , in some examples their roles and positioning may be reversed. For example, the front-back carriage  74  may hold the in-out carriage  72  (and also may be moveably coupled to the base  70 ), and the in-out carriage  72  may hold the vertical tee system  3  (also may be moveably coupled to the front-back carriage  74 ). 
     The horizontal tee system  64  may be coupled to a power source to provide power to the horizontal tee system  64 . For example, the horizontal tee system  64  may be powered by a power source comprising one or more batteries, an a/c outlet, or combination thereof. In the illustrated embodiment, the horizontal tee system  64  is powered via a powered connection between the horizontal tee system  64  and the vertical tee system  3 . For example, the horizontal tee system  64  may include a pogo-pin connection (not shown), such as a 4 pin independent pogo-pin connection, that connects to the vertical tee system  3 . This pogo-pin connection may be used to supply power from the vertical tee system  3  to the horizontal tee system  64  when the vertical tee system  3  is mounted on the horizontal tee system  64 . 
     The horizontal tee system  64  may also include an in-out actuator  78  operable to move the in-out carriage  72  along the in-out axis  66  relative to the base  70 . This allows the in-out carriage  72  (and hence the ball holder  12  of the vertical tee system  3  and the ball  13 ) to move back and forth between the left-side of the strike zone and the right-side of the strike zone. The in-out actuator  78  may be any type of system that may move the in-out carriage  72  along the in-out axis  66 . For example, the in-out actuator  78  may be a mechanical system, an electro-mechanical system, a hydraulic system, a pneumatic system, or any other system that may move the in-out carriage  72  along the in-out axis  66 . As is illustrated, the in-out actuator  78  may be a mechanical belt system that moves the in-out carriage  72  along the in-out axis  66 . This mechanical belt system may include a belt (such as a timing belt) connected to two or more rotating shafts. The movement of the mechanical belt system may be automatically driven by one or more motors  79  (shown in  FIG. 8 ). 
     The in-out actuator  78  may be operable to move the in-out carriage  72  along the in-out axis  66  a maximum of approximately 20 inches, approximately 22 inches, approximately 25 inches, or more. In some embodiments, this movement along the in-out axis  66  may allow the ball holder  12  and the ball  13  to move to a location that overhangs the home plate profile by approximately 2 inches, on either the left or right sides of the home plate (and any location in-between). The in-out actuator  78  may move the in-out carriage  72  at any speed. For example, the in-out actuator  78  may move the in-out carriage  72  at a speed of approximately 4 inches per second, although other actuation rates may be used. In some embodiments, the in-out actuator  78  may move the in-out carriage  72  at a speed that allows the in-out carriage  72  to reach the next random in-out position within approximately 5 seconds of the ball being hit off the ball holder  12 . 
     The horizontal tee system  64  may also include a front-back actuator  80  operable to move the front-back carriage  74  along the front-back axis  68  relative to the base  70 . This allows the front-back carriage  74  (and hence the ball holder  12  and the ball  13 ) to move back and forth between the front-side of the strike zone and the back-side of the strike zone. The front-back actuator  80  may be any type of system that may move the front-back carriage  74  along the front-back axis  68 . For example, the front-back actuator  80  may be a mechanical system, an electro-mechanical system, a hydraulic system, a pneumatic system, or any other system that may move the front-back carriage  74  along the front-back axis  68 . As is illustrated, the front-back actuator  80  is a mechanical belt system that moves the front-back carriage  74  along the front-back axis  68 . This mechanical belt system may include a belt (such as a timing belt) connected to two or more rotating shafts. The movement of the mechanical belt system may be automatically driven by one or more motors  81  (shown in  FIG. 8 ). 
     The front-back actuator  80  may be operable to move the front-back carriage  74  along the front-back axis  68  relative to the base  70  a maximum of approximately 10 inches, approximately 13 inches, approximately 15 inches, or more. Furthermore, in some embodiments, the front-back actuator  80  may be operable to move the front-back carriage  74  to a location that is forward of the home plate profile by approximately 10 inches. The front-back actuator  80  may move the front-back carriage  74  at any speed. For example, the front-back actuator  80  may move the front-back carriage  74  at a speed of approximately 4 inches per second, although other actuation rates may be used. In some embodiments, the front-back actuator  80  may move the front-back carriage  74  at a speed that allows the front-back carriage  74  to reach the next random front-back position within approximately 5 seconds of the ball being hit off the ball holder  12 . 
     Each of the in-out actuator  78 , the front-back actuator  80 , and the actuator  30  may allow for movement independent of each other. For example, the in-out actuator  78  may be able to move the in-out carriage  72  without either the neck  10  or the front-back carriage  74  being moved by their respective actuators  30 ,  80 . To do so, each of the in-out actuator  78 , the front-back actuator  80 , and the actuator  30  may include individual motors that only drive their respective actuator  78 ,  80 ,  30 . 
     The tee system  2  (and the horizontal tee system  64  and the vertical tee system  3 ) may also include one or more connectors  9  that may couple the vertical tee system  3  to the horizontal tee system  64 . That is, the connectors  9  may allow the vertical tee system  3  to be mounted on the front-back carriage  78  of the horizontal tee system  64 . 
     The connectors  9  may be any type of connector that may couple the vertical tee system  3  to the horizontal tee system  64 . For example, the connectors  9  may be a clip system, a magnetic connector system, bolts and nuts, a threaded connector system that allows the vertical tee system  3  to be screwed into the horizontal tee system  64 , adhesives, bolts, compression fittings, brackets, a rail and groove system, a clamp system, any other type of connector, or any combination of the preceding. 
     As is illustrated in  FIGS. 5-7 , the connectors  9  are a quick release clip system. The quick release clip system may include a latch  11   a , a first bracket  11   b  (shown in  FIG. 1 ), and a second bracket  11   c . To connect the vertical tee system  3  to the horizontal tee system  64 , the vertical tee system  3  may be positioned on the front-back carriage  74  so that the second bracket  11   c  is positioned in a groove (not shown) in the bottom portion  6  of the housing  8  of the vertical tee system  3 . Also, the first bracket  11   b  may be positioned underneath the latch  11   a , and the latch  11   a  may then be closed over the first bracket  11   b . This may allow the vertical tee system  3  to snap into connection with the horizontal tee system  64  with relative ease and stay locked even under forces hitting the tee until the mechanical release is actuated. To release the vertical tee system  3  from the horizontal tee system  64 , the above process may be reversed. As is illustrated, the latch  11   a  and the second bracket  11   c  are included on the front-back carriage  74  of the horizontal tee system  64 , while the first bracket  11   b  is included on the body  4  of the vertical tee stand  3 . In other embodiments, the latch  11   a  and the second bracket  11   c  may be included on the body  4  of the vertical tee stand  3 , while the first bracket  11   b  may be included on the front-back carriage  74  of the horizontal tee system  64 . 
     In some embodiments, the connectors  9  may releasably couple the vertical tee system  3  to the horizontal tee system  64 . In such embodiments, the vertical tee system  3  may be temporarily coupled to the horizontal tee system  64 , and then the vertical tee system  3  may be removed from the horizontal tee system  64 . This coupling and removal may occur any number of times. In some embodiments, when the vertical tee system  3  is removed, it may be used by itself. That is, a user may place the bottom portion  6  of the housing  8  of the vertical tee system  3  on a ground surface, and the vertical tee system  3  may remain stable while in use. In some embodiments, when the vertical tee system  3  is removed, it may be used with the tee stand  7  (discussed above). That is, a user can couple the vertical tee system  3  to the horizontal tee system  64  when the user desires movement (e.g., random movement) in three axes. Then, the user can remove the vertical tee system  3  and use it alone (or use it with the tee stand  7 ) when the user desires only movement (e.g., random movement) in the vertical axis  16 . 
     The horizontal tee system  64  may further include a control system  82  operable to control the operations of the horizontal tee system  64 . With further reference to  FIG. 8 , schematically illustrating features of the control system  82  according to various embodiments, the control system  82  may provide for actuation (motor control) of the in-out carriage  72  along the in-out axis  66 , actuation (motor control) of the front-back carriage  74  along the front-back axis  68 , sensing using sensors  84 , and communicating with other devices (e.g., the control system  40  of the vertical tee system  3 ) using the communication port  90 . For example, the control system  82  may include sensors  84  comprising in-out position sensors  86  and front-back position sensors  88  (or the control system  82  may be configured to receive, via wired or wireless communication, position data from one or more in-out position sensors  86  and front-back position sensors  88 ) positioned to collect position data that may be used by the control system  82  to determine a position corresponding to the position of in-out carriage  72  and the front-back carriage  74 . In some embodiments, the control system  82  and actuators  78  and  80  comprise servomechanisms. In one embodiment, the position sensors  86  and  88  include a potentiometer to monitor the rotation of a disc drive of the motors  79  and  81  which correspond to the in-out position of the in-out carriage  72  or the front-back position of the front-back carriage  74 . The potentiometer may be a multi-turn potentiometer, for example, providing for simple determination of the in-out or front-back position of the carriages  72  and  74  (and hence the ball holder  12 ) at any point in time after being powered ON. In this or another embodiment, the control system  82  incorporates one or more stepper motors or servomotors configured with position control incorporating an encoder or potentiometer in a closed loop. In some embodiments, a slotted disc may be placed on the drive pin of the motor  79 ,  81 , before the gear reduction. A photointerruptor may sense the slots of the disc, thus creating a motor encoder. The output of this motor encoder may be used to provide feedback to the classical control loops regulating motor speed and tee position. The control system  82  may also include a PID controller, for example, to receive and interpret the position data and provide corresponding control signals to control operation of the in-out actuator  78  and front-back actuator  80 . 
     In some embodiments, sensors  84  may include more than one in-out position sensor  86  and/or more than one front-back position sensor  88 . For example, sensors  84  may include two in-out position sensors  86  and/or two front-back position sensors  88 . The additional sensors  84  may provide a fail-safe system that allows the control system  82  to still receive data even when a sensor  84  fails. 
     In various embodiments, the control system  82  includes a control module  92 . The control module  92  may include a processor configured to execute instructions, which may be hardwired into the processor. The control module  92  may also include memory for storing instructions executable by the processor. For example, the control module  92  may comprise a microcontroller chip with general purpose I/O. Operational embedded software may be programmed to generate random in-out positions to move the in-out carriage  72  to, and to generate random front-back positions to move the front-back carriage  74  to. The control module  92  may also include a microcontroller board to interface with the actuators  78  and  80 , sensors  86  and  88 , and the control system  40  of the vertical tee system  3 , and perform high level control of the horizontal tee system  64 . 
     As is illustrated, the control system  82  may not include a user interface. Instead, a user may utilize the local user interface  50  of the vertical tee system  3  or the remote interface  56  (e.g., using an application on a mobile device) to input data for the horizontal tee system  64 , as is discussed below. Although the control system  82  may not include a user interface, it may include a power switch that turns the horizontal tee system  64  ON and OFF. In other embodiments, the control system  82  may include a user interface similar to that discussed herein with regard to the vertical tee system  3 . This user interface may be used to input data for the horizontal tee system  64 , the vertical tee system  3 , or both. 
     The control system  82  may also include a communication port  90 , which may include multiple communication ports  90 . The communication port  90  may include a receiver, transmitter, transceiver, etc. The communication port  90  may be configured to allow communication between the control system  82  and other devices, such as sensors  84 , external or remote devices or interfaces  44  (e.g., an accessory device, wired or wirelessly coupled to the communication port  90 ), or the vertical tee system  3  (e.g., the control system  40  of the vertical tee system  3 ). For example, the communication port  90  may comprise a transceiver configured for wired communication, wireless communication, or both. In one embodiment, the communication port  90  is configured for wireless communication such as Bluetooth, IR, Wi-Fi, radio, etc. 
     In the illustrated embodiment, the communication port  90  receives a portion of the operational data from the control system  40  of the vertical tee system  3 . For example, the vertical tee system  3  may send strike zone data for a particular user to the communication port  90  and the control system  82 . This strike zone data may specify an in-out strike zone (e.g., the maximum left position of the strike zone and the maximum right position of the strike zone) for the particular user, and may further specify a front-back strike zone (e.g., the maximum front position of the strike zone and the maximum back position of the strike zone) for the particular user. The control system  82  may then utilize this strike zone data to move the carriages  72 ,  74  to positions within the strike zone. 
     A user may utilize the local user interface  50  (of the vertical tee system  3 ) or the remote interface  56  (e.g., using an application on a mobile device) to specify the strike zone for the particular user. For example, when the vertical tee system  3  is mounted on the horizontal tee system  64 , the user interface  44  of the vertical tee system  3  may allow a user to specify the strike zone for the horizontal tee system  64 . As an example of this, after the user has specified a height strike zone (discussed above), the user may have the option to specify an in-out strike zone. The user may touch an UP and DOWN button to move the in-out carriage  74  to the left. When the in-out carriage  74  is in the desired location, the user may touch a SET STRIKE ZONE button to indicate that this point should be the left-most position of the strike zone. Similarly, the user will be able to move the in-out carriage  74  to another point and set that as the right-most position of the strike zone using the SET STRIKE ZONE button. This may then be repeated in a similar way for the front-back strike zone. The set strike zone may be saved for that user. It may also be transmitted to the horizontal tee system  64  to be saved and used. 
     As another example of operational data, the vertical tee system  3  may send user identity data to the communication port  90  and the control system  82 . This may allow the control system  82  to identify the user that is using the tee system  2 , and to retrieve the saved strike zone data for that user. 
     As a further example of operational data, the vertical tee system  3  may send stop data to the communication port  90  and the control system  82 . This may allow cause the control system  82  to stop all movement of the carriages  72  and  74 . In some embodiments, the stop data may be transmitted in response to the vertical tee system  3  determining that tee system  2  has tipped over, based on data from the tilt detection sensor  60 . As such, the horizontal tee system  64  may not need (or even have) a tilt detection sensor. Instead, the horizontal tee system  64  may only move when instructed to by the vertical tee system  3 . In other embodiments, the horizontal tee system  64  may include a tilt detection sensor. 
     As another example of operational data, the vertical tee system  3  may send movement data to the communication port  90  and the control system  82 . This may cause the horizontal tee system  64  to move the carriages  72  and  74  (and hence the ball holder  12  of the vertical tee system  3 ) to a new position. As an example of this, the vertical tee system  3  may send movement data in the form of positional data. This positional data may cause the horizontal tee system  64  to move the carriages  72  and  74  (and hence the ball holder  12 ) to the position specified by the positional data. As another example, the vertical tee system  3  may send movement data in the form of movement commands. These movement commands may cause the horizontal tee system  64  to start moving the carriages  72  and  74  (and hence the ball holder  12 ) until a stop command is received from the vertical tee system  3  or until the boundary of the strike zone is met. For example, the movement command may cause the in-out carriage  72  to move to the left until a stop command is received from the vertical tee system  3  or until the left-most position of the strike zone for that user is met. 
     As a further example, the vertical tee system  3  may send movement data in the form of a randomization command. This randomization command may cause the control system  82  to generate a random in-and-out position and/or a random front-and-back position within the strike zone data for that user, and may then cause the control system  82  to cause the carriages  72 ,  74  to move to those random positions. The control system  82  may include a randomization software package so that the actuators  78 ,  80  do not move the carriages  72 ,  74  to the same position consecutively. The software package may include a random position generator operable to generate random positions within a defined range. As noted above, in one embodiment, the control system  82  may be programmed with random position sequences that may be executed during operation of the horizontal tee system  64 . In one embodiment, the control system  82  will not allow a user to keep the carriages  72 ,  74  at the same position for more than one hit with the idea that a batter should not hit a ball in the same consecutive spot. In some embodiments, a user may utilize the local user interface  50  or the remote user interface  56  (e.g., a smart phone application) to create a pre-set number of positions for the ball holder  12 . In such an example, the control system  40  may randomly circulate through the pre-set positions (as opposed to generating random positions). 
     In some embodiments, a user may utilize the local user interface  50  or the remote user interface  56  (e.g., a smart phone application) to control the position of the ball holder  12 . In such an example, the position may not be random. Instead, the position may be input by the user into the local user interface  50  or the remote user interface  56  (e.g., pressing the UP or DOWN buttons, entering a particular position, downloading or entering a set of positions, etc.), thereby allowing the user to select the position of the ball holder  12 . The ball holder  12  may then be moved to that position by the vertical tee system  3  and/or the horizontal tee system  64 . In some embodiments, the user may select the position (and cause the ball holder  12  to be moved to that position) at any time. For example, the user may select the position (and cause the ball holder  12  to be moved to that position) after the ball has been hit from the ball holder  12 , while the ball is still on the ball holder  12 , or at any other time. 
     As is discussed above, the vertical tee system  3  may send movement data to the communication port  90  and the control system  82 . This transmittal of movement data may be in response the control system  40  of the vertical tee system  3  determining that a ball has been hit, based on data from the ball presence sensor  58 . As such, the horizontal tee system  64  may not need (or even have) a ball presence sensor. Instead, the horizontal tee system  64  may only move when instructed to by the vertical tee system  3 . In other embodiments, the horizontal tee system  64  may include a ball presence sensor. 
     In addition to transmitting movement data to the communication port  90  and the control system  82 , the control system  40  of the vertical tee system  3  may also cause the neck  10  to move. As such, the neck  10  may move upward or downward at approximately the same time as the carriages  72 ,  74  are moving left or right and/or front or back. This may cause the ball holder  12  to move in three axes to a new position (e.g., a new random position) after the ball is hit. In some embodiments, the ball holder  12  does not always move in three axes to a new position. For example, the new position may have the same height and same in-out position, but may have a new front-back position. In such an example, the ball holder  12  may only move in one axis to the new position. In other examples, the ball holder  12  may only move in two axes to the new position. 
     In one embodiment, the tee system  2  is a compact, three axes, robotic tee. The tee system  2  is low weight for easy positioning and transport. The control system  40  of the vertical tee system  3  controls the actuator  30  such that the telescoping neck  10  may be moved to a particular random height that is set between the minimum and maximum height that is pre-programmed into the control system  40  at the user interface  44 . Similarly, the control system  82  of the horizontal tee system  64  controls the in-out actuator  78  such that the carriages  72 ,  74  may be moved to a particular random in-out position that is set between the left-most and right-most strike zone that is pre-programmed into the control system  40  at the user interface  44 , and further controls the front-back actuator  80  such that the front-back carriage  74  may be moved to a particular random front-back position that is set between the front-most and back-most strike zone that is pre-programmed into the control system  40  at the user interface  44 . The user places a ball on the tee and hits. An appropriate ball presence sensor  58  collects ball presence data which is used by the control module  48  to determine that the ball was hit. The control module  48  then initiates the actuator  30  to move the neck  10  along the vertical axis  16  to another random spot. Furthermore, the control module  48  causes the control module  92  to initiate the actuators  78 ,  80  to move the carriages  72 ,  74  along the in-out axis  66  and/or front-back axis  68  to another random spot. This allows random movement in three axes. Once the session is finished, the vertical tee system  3  may be detached from its mounting on the horizontal tee system  64 . The vertical tee system  3  may then be used on its own, used with a tee stand  7 , or stored away until its next use. 
       FIG. 9  is a flowchart depicting an example operation  100  of the tee system  2  according to various embodiments. As shown in  FIG. 9 , and with further reference to  FIGS. 1-8 , the control system  40  initially receives strike zone selections  103  from a user, which may be entered or selected at a user interface  44  and includes a minimum and maximum height, a left-most and right-most position of the strike zone (i.e., in-out position), and/or a front-most and back-most position of the strike zone. The user may set the ranges locally at a local user interface  50  or remotely at a remote interface  56 , which is generally based on the height of the user, stance, and strike zone, such as major league strike zone rules. The actuators  30 ,  78 , and  80  may move the neck  10 , in-out carriage  72 , and front-back carriage  74  (and hence the ball holder  12 ) to a random position  104  within the set ranges. Position sensors  46 ,  86 , and  88  may detect position data and provide position feedback  106  to the control modules  48  and  92 , which determine if the position has been reached  108 . If the position has not been reached, an indicator display  52  emits a red light  110  and the actuators  30 ,  78 , and  80  are signaled  112  to move or continue to move the neck  10 , in-out carriage  72 , and front-back carriage  74  (and hence the ball holder  12 ). On the other hand, if the position has been reached, an indicator display  52  emits a green light  114 , indicating that the user may place the ball  116  on the ball holder  12 . A ball presence sensor  58 , an IR sensor  118  in the flowchart, may be used to detect ball presence data and provide the ball presence data to the control module  48 . If the ball presence data indicates that the ball has been hit  120 , the actuators  30 ,  78 , and  80  move the neck  10 , in-out carriage  72 , and front-back carriage  74  (and hence the ball holder  12 ) to the next random position  104  within the range set at  102 . If the ball presence data does not indicate that the ball has been hit  120 , the control module  48  idles  122  until ball presence data indicates the ball has been hit  120 . The operation loop may include interrupts (e.g., powering off, user indicating new program or session, etc.).  FIG. 9  includes two interrupts. At  124 , the tilt detection sensor  60  detects tilt data and provides it to the control module  48 . The control module  48  interprets the tilt data to determine if the body  4  has fallen  126 . If the control module  48  determines that the body  4  has fallen, the control module  48  signals the actuator  30  and the control module  92  (and hence actuators  78  and  80 ) to stop  128 . The control system  40  may also be configured to detect low battery power. If the control module  48  detects low batter power  130 , the control module  48  may display a blinking LED  132 , emit an audio beep  134  through a speaker, or both. 
     It will be appreciated that the embodiments described herein may include additional or fewer features and components, and may further include modifications. Similarly, the present disclosure is not intended to be limited by the specific embodiments described as those having skill in the art upon reading this disclosure will understand that the teachings herein may be applied to in various ways to batting tee systems. 
     For example, in some embodiments, the vertical tee system  3  and the horizontal tee system  64  may be formed as a single device. That is, they may not be detached from each other. As a further example, in some embodiments, the horizontal tee system  64  may not include two carriages  72  and  74 . Instead, the horizontal tee system  64  may include a single carriage that may be moved both along the in-out axis  66  and the front-back axis  68 . As an example of this, the horizontal tee system  64  may include a set of moveable arms that move a single carriage both along the in-out axis  66  and the front-back axis  68 . As another example, in some embodiments, the vertical tee system  3  coupled to the horizontal tee system  64  may not have an extendable neck  10 . Instead, it may have a ball holder  12  that remains at the same height. In such an example, the horizontal tee system  64  may have a user interface that allows data to be input into the horizontal tee system  64 . 
     As a further example, in some embodiments, the vertical tee system  3  may further include or incorporate a location indicator system that may project a light on a batting net illuminating a goal location toward which the batter is to attempt to direct the ball. This projection may be simultaneous to or close in time with each random positional movement of the ball holder  12 . Once the ball is hit, the ball holder  12  will move to another random spot along the axes  16 ,  66 , and/or  68 , and the light will be projected on another random spot on the net. This exercise will instruct situational hitting and further reinforce longer term learning through the randomization process. Further details regarding an example of the location indicator system are described in U.S. Pat. No. 10,112,097 entitled “Robotic batting tee system”, which is incorporated herein by reference. 
     Any references to “various embodiments,” “certain embodiments,” “some embodiments,” “one example,” “one embodiment,” “an example,” or “an embodiment” generally means that a particular element, feature and/or aspect described in the embodiment is included in at least one embodiment. The phrases “in various embodiments,” “in certain embodiments,” “in some embodiments,” “in one embodiment,” or “in an embodiment” may not necessarily refer to the same embodiment. Furthermore, the phrases “in one such embodiment” or “in certain such embodiments,” or “in one example,” while generally referring to and elaborating upon a preceding embodiment, is not intended to suggest that the elements, features, and aspects of the embodiment introduced by the phrase are limited to the preceding embodiment; rather, the phrase is provided to assist the reader in understanding the various elements, features, and aspects disclosed herein and it is to be understood that those having ordinary skill in the art will recognize that such elements, features, and aspects presented in the introduced embodiment may be applied in combination with other various combinations and sub-combinations of the elements, features, and aspects presented in the disclosed embodiments. It is to be appreciated that persons having ordinary skill in the art, upon considering the descriptions herein, will recognize that various combinations or sub-combinations of the various embodiments and other elements, features, and aspects may be desirable in particular implementations or applications. However, because such other elements, features, and aspects may be readily ascertained by persons having ordinary skill in the art upon considering the description herein, and are not necessary for a complete understanding of the disclosed embodiments, a description of such elements, features, and aspects may not be provided. As such, it is to be understood that the description set forth herein is merely exemplary and illustrative of the disclosed embodiments and is not intended to limit the scope of the invention as defined solely by the claims. 
     The grammatical articles “one”, “a”, “an”, and “the”, as used in this specification, are intended to include “at least one” or “one or more”, unless otherwise indicated. Thus, the articles are used in this specification to refer to one or more than one (i.e., to “at least one”) of the grammatical objects of the article. By way of example, “a component” means one or more components, and thus, possibly, more than one component is contemplated and may be employed or used in an implementation of the described embodiments. Further, the use of a singular noun includes the plural, and the use of a plural noun includes the singular, unless the context of the usage requires otherwise. Additionally, the grammatical conjunctions “and” and “or” are used herein according to their accepted usage. By way of example, “x and y” refers to “x” and “y”. On the other hand, “x or y” refers to “x”, “y”, or both “x” and “y”, whereas “either x or y” refers to exclusivity.