I Pity the Foos Automated Table
Ball Tracking
We decided to go with color tracking in order to follow the ball's movement. In order to achieve this we are using the Pixy2 color tracking camera (pictured on the right). With this camera, you are able to train it to recognize specific colors, and tell the location of these colors on a x,y plane along with their width and height. It takes 60 readings per second, so using this information will be able to calculate the speed and direction of the ball. In order to determine the speed, we will first need to determine how many pixels on the camera correspond with a set real world distance. Once we have figured this out, we can use the change in distance between each reading in order to calculate the speed. Since it takes 60 readings per second, the ∆t between readings will be 1.67ms. ∆d/∆t = speed.
Coding
Rod Linear Movement
Rod Rotational Movement
Motor and Encoder:​
The motor shown is what is used on the table to drive the linear motion of the men. It has a rated torque of 28 oz.in and a max rpm of 6000.
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The encoder used to keep track of the linear position is shown on the right. It is a AMT102-V encoder.
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Motor and sensor :
The motor shown is what is used on the table to drive the kicking motion of the men. It has a rated torque of 6.25 oz.in and a max rpm of 1000.
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The sensor shown is a TCRT5000 inferred optical sensor. It is used to detect when the players feet are down.
Rod assembly
Here is a solid works model of the design of the rod used by the table. Below that is a photo of the actual rod being assembled.
