Shooting: Electrical Design
The electrical design of the launcher consisted of two simple circuits: The first circuit controls the launcher motor and the second circuit is a servo which acted as a gate for the balls.
At the end of the second round, it is possible to reload 5 balls into the shooter. This is done by flashing infrared LEDs at a frequency of 25 Hz with a 25% duty. The following circuit also includes a green LED in series with an IR LED to indicate proper functioning of the circuit.
Additionally, Sir Robot has the capability to detect the goal IR-emitting beacon. The circuit below filters out background radiation and sends a clean square wave signal to our microcontroller when the beacon is detected.