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

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

3. 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

4. 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)

5. 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.