Capstone 2

This build was a Phase 3 Capstone 2 design project. The final product allows the client to independently control, aim, and fire an off-the-shelf baseball launcher from a distance using voice commands and/or physical inputs. At the end of Capstone 2, the Phase 3 team delivered the product to the client to showcase its performance and new functionality.

Dynamic Stand

The linear actuator and servo from the previous two phases were preserved and mounted to a custom fit framing system referred to as the Dynamic Stand. The base plate allows the Dynamic Stand to be fastened to a two-wheeled wheelbarrow, and the mounting point at the top allows for quick connect/disconnect of the launcher for transportability. The servo allows the launcher to rotate 180°, and the linear actuator constrains the motion of the arms from 9.4° below the horizontal to 67.8° above the horizontal. This range of motion is more than sufficient to launch the desired ground balls, pitches, and pop flies.

Modified ZS740

The final product is powered by a single, rechargeable 12 V battery. As such, the internal battery of the ZS740 was removed to allow room for custom electronics. An Arduino Mega 2560 is used to interpret information received over Bluetooth to control the linear actuator and servo. The Arduino is also connected to a set of relays internally wired to the built-in Zooka electronics board for the buttons on the side of the launcher. These connections allow the Arduino to effectively "press" a button via its relay. Two of the buttons are used to modify the pitch speed, and the others are used to turn the launcher on/off with the appropriate access code. The electronics are secured to a 3D printed mount that is surrounded by foam to prevent damage to the electronics during use and transport.

Control Module

The Control Module has its own Arduino Mega 2560 to process input from the various electronics and operate the launcher over Bluetooth. The baseball cap contains a 9-DOF IMU to obtain head tilt angles to aim the launcher, a speech control module to interpret voice commands, and a small speaker to provide audio feedback to confirm user inputs. For physical inputs, the Phase 3 team utilized 3.5 mm jacks to allow the client to connect two custom microlight switches that he frequently uses: one on his wrist and the other behind the headrest of his wheelchair. All inputs are sent from the master HM-10 Bluetooth node in the Control Module to the receiver HM-10 Bluetooth node inside the launcher. The software, wiring diagrams, and documentation for this project can be found on GitHub.