Sensors

   In order for the robot to know what's going on, it needs sensors to monitor certain conditions about its environment.

   The main sensor used is an AXIS network camera which provides "eyes" for the robot. The robot controller does on board vision processing to determine which robot trailer track. After acquiring the target, the controller can automatically tell the turret to track the target and shoot balls.

   A potentiometer, also known as a variable resistor, is attached to both the pan and tilt of the turret. With this potentiometer we can set the limits of the turret so it does not harm itself and it also works with the camera to help the turret track the target.

   We have found that for certain distances, it is better to shoot one ball at a time compared to continuous shooting. For this, we have installed a limit switch on the robot which will let the robot controller know when a ball has been shot and when to stop the next one from loading.