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

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 1cm and a working range from 2cm-500cm IR Beacon Sensors Used for localization in the Safe Space Small range (max of ~80 cm for $10 model)

Motion Planning Localization Rotate 360° to determine direction of the IR beacon, use sonar to orient itself perpendicular to the wall. Turn around and find 3-way tape intersection. Line up the shot: Follow tape until centered at the 4-way intersection. Turn left, move forward until the end of tape. Shoot ball until 25% duty cycle. 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.