The descibed system is an autopilot for the pinball machine "Mary Shelley's Frankenstein".
A Raspberry Pi with attached camera is mounted above the pinball machine and the computer is connected to the triggers of the pinball maschine to allow for their actuation.
The differnt parts of the system interact in the following way. From the live camera footage a ball position is extracted in a series of image processing steps (see Image Processing/Ball Detection).
This pixel position is then transformed into a World Coordinate System for further processing and passed to the SCChart Controller, wich is the main logic component of the system.
To allow for timely reactions the SCChart Controller calls the Ball Physics, which performes a ball trajectory prediction.
Overview
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