pic: KRUNCH 16 Hanging at Orlando

[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.