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Re: Stall detection
Seeing we jam after we shoot, and we shoot when the rpm of the wheel is 5% of the target speed, we condition the jam detection that we have shot, and the wheel encoder is less than 150 rpm. Only allowing to detect when you shoot, masks all of the startup issues.
After the jam is detected, we reverse our flipper motor and shooter wheel. The flipper motor will retrip the home photoeye, and stop the shoot routine. The shooter wheel is run reverse at full power for 1.5 seconds, then allowed go back to normal shoot mode.
Code works, we will test at Livonia in a couple of days if it actually can correct a jam condition.
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The sooner we get behind schedule, the more time we have to catch up.
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