Programming

The only component that actually involved coding/programming was the catapult. Two different codes were involved: an automated code and a user interface. The overall coding process was long and difficult, as the code was an original code. The catapult's motor was programmed to detect the marble using the velocity sensor. At first, we developed a formula that would cause the motor to react in a small amount of time since the ball's motion has been detected. The formula caused too much uncertainty and error. We decided to set a timer in the code instead, where the catapult was set to wait a few seconds after the marble was detected, giving it enough time to land in the catapult's platform. After the ball has been launched, a point in the catapult touched the touch sensor above the motor. When touched, the touch sensor signaled the code that the catapult has launched the marble. Once this has been signaled, the catapult was set to go back to its initial state and wait for the next marble. We then designed a joystick to manually control the motor's power; when the joystick is activated with its own touch sensor, the user interface code overrides the automated code. Nothing in the user interface code changes the automated code, it only gives the user control over the motor's power.