Secretary of State Machines Emanuel Mendiola Bayian Yahya

Secretary of State Machines Emanuel Mendiola, Bayian Yahya, Adam Desmuke, Chenyao Yu

Ball Shooting Mechanisms Example of compressed gas ball launcher Example of flywheel ball launcher Example of catapult

Ball Shooting Mechanisms Catapult Launching Mechanism Compressed Gas Launcher Pros Cons Pros Simple design Low accuracy High accuracy Limited fuel supply Little to no spin Power consumption Low Cost Slow shooting rate Friction losses minimized during launch Harder to control the speed of ball High accuracy Complex design Vertical Trajectory control No Horizontal Degree of Freedom Control of vertical and horizontal trajectories High cost Relatively easy installation Cons Flywheel Launching Mechanism High cost Pros Cons

Robot Navigation Hardware IR Floor Sensors Navigate along the black tape Ultrasonic Sensor Determine distance from towers Way to cross-reference perceived location from tape navigation $2. 50 model has a resolution of 1 cm and a working range from 2 cm-500 cm IR Beacon Sensors Used for localization in the Safe Space

Motion Planning 1. 2. 3. 4. Localization a. Rotate 360° to determine direction of the IR beacon, use sonar to orient itself perpendicular to the wall. b. Turn around and find 3 -way tape intersection. Line up the shot: a. Follow tape until centered at the 4 -way intersection. b. Turn left, move forward until the end of tape. c. Shoot ball until 25% duty cycle. d. If first criterion is met, back up to 4 -way intersection, turn right. Repeat Part 2 until second criterion is met. If it runs out of balls, return to safe space.