The first version of Flowbot presented in a class live demo:

1. Identified the ingredient cup and product cup using Computer vision

2. Grasped and dropped one ingredient cup into the product cup with optimal path planning and inverse kinematics without utilizing a controller which produced a large amount of error when executing plans

As shown the robot successfully completed the following tasks:

1. Identified the ingredient cups and product cup using Computer vision

2. Grasped and poured several ingredient cups into the product cup with optimal path planning, inverse kinematics, and forward kinematics smoothed out by a PID controller

3. Utilized feedback from the Arduino scale to identify when to stop pouring

4. Returned ingredient cups into their initial position