Investigate 2 or 3 sensors for intake subsystem

[GabbyGenereux]

We will be receiving a prototype from hardware that has slots allocated for us to test whether we need two or three sensors between the intake and the shooter.

The goal behind two sensors is to have one at the intake, and one near the shooter, at the point where we want the note to stop before it gets loaded into the shooter. When the intake sensor is triggered, the intake motors will slow down, allowing the note to enter into the intake without going too far. The note will go until the second sensor is triggered, when the intake stops entirely. The concern is that the intake will be going too fast for us to reliably stop the note before it gets into the shooter.

The goal behind 3 sensors is to have one at the intake, which functions similar to the previous case. When the sensor is triggered, the intake stops, allowing the note to continue into the intake. The goal is to get the note in a position such that only the middle sensor detects a note. If the sensor by the shooter detects a note, it has gone too far, and the intake would reverse, allowing us to move the note slowly back to the correct position (when the sensor at the shooter no longer detects the note, and the one in the middle does). There is concern that this is overly complicated.

The main questions that need to be answered are the following:

• Will the intake be spinning fast enough such that by the time the first sensor detects the note, the note will already be too far into the intake?
• Will we be able to use a sensor by the shooter to stop the note from going into the intake?
• Will we be able to use the sensor by the shooter to reverse the intake to move the note away from the shooter?