Pepperoni Bot: Difference between revisions
→Application of Sauce
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=== Application of Sauce ===
The robot is capable of moving around an applicator for pouring sauce on the pizza. With the rate of flow regulated, the robot would only need to move in a back-and-forth sweeping pattern so the whole area becomes covered in a uniform layer of sauce. A circular instruction with points that increase in distance from the center every 360 degrees would be ideal.
=== Resume Function ===
If the robot is rebooted halfway through a pizza and the program were to start again, it would start to lay pepperoni over the pizza from the beginning. Consider how a digital input may used to disable the lines of code that set offsets back to zero at the beginning. In reality, this would be triggered by a connected PLC or HMI, where an operator is prompted with the choice to resume where it left off.
Additionally, if power was lost mid-pizza, it is likely the air was shut off (which is often tied to the master control relay) and the pepperoni it was holding has fallen off. It would need to resume from the beginning of the pick operation!
=== Pepperoni Error Correction ===
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