Uploaded September 2025 | Updated September 2026, 3 hours ago

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There was a lot of frustration this week. But at last, Ball Butler can finally throw, and I can see light at the end of the tunnel!


Filmed on September 12th, 2025

=========== Links Specific to This Stream ===========
🔗 Latest Version of Ball Butler CAD:
cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/1c95b11f9a628b3d8b6b1477/e/5104799fd810ebb1022a8885

🔗 Ball Butler Github Repo (Includes the Schematic):
github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/Ball%20Butler

🔗 AMT21 Encoder Datasheet:
au.mouser.com/datasheet/3/6118/1/amt21-v.pdf

================= General Links =================
🔗 Here's a link to the project's Github page:
github.com/Project-DeepBlue-Juggling/Jugglebot

🔗 Link to the main Onshape Assembly:
cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388

🔗 And to the project's Zulip site:
pdj.zulipchat.com

🔗 If you want to help support this project, the best way to do so is through my Patreon, here:
patreon.com/HarrisonLow

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00:00 - Intro Countdown
00:25 - Stream Starts
01:55 - ROS is Back! (Probably)
11:34 - AMT21 Wiring Gripe
17:04 - Getting the Hand to Throw...
44:40 - Misc. Problems
56:50 - Implications of a Longer Hand Stroke
1:01:12 - What About a (Semi) Mechanical Thrower?
1:05:50 - Ball Butler's Floppy Lid
1:14:55 - What if the Base Flexes?
1:20:00 - Yaw Inverse Kinematics
1:28:36 - Final Remarks