Programmed our Amp scoring mechanism successfully. Uses a 2 DOF arm plus a wrist motor using our harmonic gearbox.
We started the project for a harmonic gearbox over the summer and posted it here:
This is the variant in the design we are using:
Shooter passes Note into a passive capture mechanism and wrist is use to position ring flat against the amp wall.
This isn’t quite automated yet but once we get a bit more work in vision, should be able to drop this off automatically.