Use Altair Embed to design and prototype an air hockey robot control system implemented on a Raspberry Pi 3B microcontroller.  The control system uses real time camera video to estimate the hockey puck location as it moves on the table.  Puck centroid estimation is accomplished using blocks from the Embed Open Vision library.  The control algorithm actuates the robot mallet using two high speed stepper motors and an DRV8825 stepper motor controller IC to strike the puck in either a defensive or offensive manner.  Goal keeping is accomplished using an IR beam break sensor.  

Air Hockey Robot Control Simulation

Air Hockey Robot Camera Simulation

Air Hockey Motor Simulation