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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.)

Components
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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