Chicken Cooking

The following steps were taken in terms of the cooking algorithm.

1. Place chicken breast on griddle
2. Use load cell to measure initial weight of chicken breast
3. Constantly measure weight of chicken breast
4. Once weight is 80% of initial weight, initiate stepper motors to transport spatula along griddle
5. Once IR sensor detects edge of chicken breast, make 300 more steps to ensure chicken is entirely on spatula
6. Use servos to flip chicken with spatula
7. Return spatula to initial position
8. Continue to monitor chicken weight
9. Once chicken is ~68% of initial weight, chicken is done cooking

This algorithm intentionally slightly overcooks the chicken (which is typically finished cooking at ~73% of its original weight) for food safety purposes. Data was collected empirically in order to determine ideal cooking times. The following graphs shows data collected from cooking 10 chicken breasts. We used this data as a starting point in order to implement our final code for cooking the perfect chicken.