pic: KRUNCH 16 Hanging at Orlando

[apalrd]

Originally Posted by Andrew Schreiber

We have sensors in place to help us automate the process but we didn't feel the autoload code was up to par yet so we ran manual operation. When the autoload system works it always keeps a disc in the chamber ready to fire if we have one.

Andrew, you just need a good state machine and a lot of calibration. We ended up with 2 sensors (plus gun speed and gun speed accel)

I wanted to attach a picture of our old state machines, but it won't let me.

[Andrew Schreiber]

Originally Posted by apalrd

Andrew, you just need a good state machine and a lot of calibration. We ended up with 2 sensors (plus gun speed and gun speed accel)

I wanted to attach a picture of our old state machines, but it won't let me.

That's pretty close to what we had. I wasn't happy with how the system behaved at the edge cases (no matter how rare they were) and our operator was able to operate within acceptable tolerances so we didn't worry about it. Basically, we made the decision to be slightly slower at firing in exchange for not relying on software that wasn't 100% tested.