pic: KRUNCH 16 Hanging at Orlando

[Andrew Schreiber]

They run down the hopper with help from the belting. They are held out of the shooter by polycarb fingers. The plunger cylinder kicks them through there then there is a firing cylinder that propels them into the shooter wheels. It's an annoyingly complicated process which is why there were misfires and jams a couple times early in the regional. 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. This drastically simplifies the driver operation. We're working out some bugs with the code between now and DC.

With the exception of the hang system pulling us up the whole system runs at 30psi to conserve air.

At Orlando the shooter wheels were running full open loop control but the driver had a cross hair on the driver station to help line up. However, we found shooting from only a few choice spots was better for accuracy.