Breakfast Bot
Pancake Subsystem Controls
A minimum jerk trajectory planning was used to reduce harsh accelerations of the upper griddle and prevent instability in the system
Position control was accomplished through PID on the error between current and goal positions
Electromechanical Design
Arduino mega microcontroller was used to control the pancake making action
Pancake microcontroller connected to main computer through serial communication
Relay board was used to control the griddle on/off and thus reduce power consumption when not in use