Full Electrical System
Our electrical system integrates robust components to ensure smooth and accurate operation of the backboard. NEMA 23 stepper motors and DM556 microstep drivers provide precise movement, while the Kinect sensor simplifies 3D positioning.
We chose the Nema 23 motors because they provide enough torque to lift the backboard at its physical limits.
Design Decision: It is a fully digital driver with advanced control algorithms, offering smooth operation and optimal torque. Its micro-stepping capability allows for fine control of motor movement by dividing each full step into smaller increments, improving positioning accuracy. We found microstepping by 400 per revolution (the least steps available on this driver) is plenty for our coordinate accuracy and maximizes motor speed.
The Kinect is a low cost system that gives 3D point information. This greatly simplifies the software by eliminating the need for a two-camera setup.
A single 16.6A power supply can power 4 stepper motors in parallel, each with a max draw of 4 amps.
It is a fully digital driver with advanced control algorithms, offering smooth operation and optimal torque. Its micro-stepping capability allows for fine control of motor movement by dividing each full step into smaller increments, improving positioning accuracy. We found microstepping by 400 per revolution (the least steps available on this driver) is plenty for our coordinate accuracy and maximizes motor speed.
A computer was used to do the image processing and ball detection because of real-time speed demands. We also initially tried a Raspberry Pi 4, but the Kinect library wasn't supported.
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