| Writing the software clutch
- Recently, there has been a hardware clutch on the bapper motor to prevent smoking it. However, it was made of aluminum and would wear very easily.
- Instead of replacing the clutch every time it wore down, Laura decided to try to write a software clutch.
- By seeing if the encoder counts have changed recently, we can determine if the bapper is currently stuck on a ball, or if it is still moving. If it is stuck, the code will move it backwards until it is not stuck. The clutch works very well and Laura is happy we will not burn out any motors or have to switch the clutch anymore.