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I started thinking about ball juggling machines in the year 2015. I wrote about my first few attempts at creating them in this blog post from the year 2017. In 2018 I wrote another post about my then newest build. We’re now in the year 2020. And finally, the quest to get a machine to juggle a ping pong ball reliably has come to an end (as this current build is able to keep the ball bouncing for hours.)

This machine requires the following things to work:

1x Teensy 4.0 Microcontroller running this code
4x StepperOnline DM442S stepper motor drivers
4x Nema 17 Stepper Motors with 5:1 planetary gearbox
1x 48V 8A power supply
1x e-con Systems See3CAM_CU135 camera
1x Windows Computer with OpenCV installed on it
All the parts defined in this Fusion360 project
This custom Windows Application (made with Unity)”

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