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Here we simply set signals that actuate both flippers for a time period so that the pinball machine launches the ball. If this time is too short both flippers will still actuate, but the pinball machine won't launch the ball.

Control Top Flipper

This region simply triggers the top flipper whenever there is a ball detected to be close to its range. Hitting the ball with the top flipper is often benefitial but never critical. So in order to save resources there is less computational effort put into it, i.e. no prediction is performed and the range is not precisely defined. It is implemented as a single state with a during action, since the work of detecting, whether there is a ball near the top flipper, is performed by the image processing, which sets a flag in the respective case.