2019-09-21 (Sa) PillarGame

My homing routine was still full of bugs. I tried to write a method that would count the number of encoder segments in a complete revolution, but I kept getting two wildly different numbers. There shouldn’t have been any trouble sensing the magnet on the pillar’s base.
Large, easy-to-attach magnet

I knew there should be roughly 100 segments, but the numbers 17 and 81 kept coming up, one after the other. When I watched the pillar spin, it seemed like the homing routine was acknowledging the point where the magnet first came into sensor range AND when it left sensor range. It should only have been recognizing one or the other.
Screenshot of problematic homing routine

The problem was not that my magnet was weak, the problem was that the strong magnet was producing a field that triggered the reed switch twice. I swapped out the beefy magnets for a stack of them which were smaller in diameter. The resulting field was more contained, but I had to trim the foam brushes, or they would sweep away the puny magnets.
Small, precise magnets and trimmed foam brushes

First time here?

Completed projects from year 1
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Completed projects from year 3
Completed projects from year 4
Completed projects from year 5
Completed projects from year 6

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