Improve Ball Indexing
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Dal 7/3/2020.
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Descrizione
Magazine currently has a failure state where it will create an air pocket as it "skips" a ball because the magazine ran and the ball didn't come in. There are 2 main ways I see to improve this:
- Mitigate failure state by tuning in IRs better, so they don't trigger when a ball isn't in position.
- When failure state occurs, detect it using the intermediary IR sensors(for example, TFTF would mean a hole, FTTF would be goal for 2 balls) and run magazine (slowly) backwards until hole is eliminated. Make sure there isn't another failure state where this happens cyclically.
If anybody has a better solution please write it out, but I think you either do the above, or you implement some weird timing logic, which would slow down whole system.
Implement both, test your solution originally by hand feeding, then eventually with balls added in by intake. Start with magazine speed slow and then turn it up as your system works.
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