When the ball is traveling and no robot is near it, we use the intercept computations to determine whether we can intercept and return which robot can intercept it where. This is mostly used to determine which robot will become the harasser and where he has to got to.
The function breaks the whole ball path into smaller parts and per part determine whether any of our robots can be on that part of the line on time. If any of their robots in on that line, we determine whether we can be in between them and the ball on time, otherwise we stand between them and our goal.