Uploaded July 2026 | Updated September 2026, 3 hours ago
I'm relieved to be able to say that Ball Butler V0 is finally, actually, DONE! There have also been some other exciting updates over the last month and I'm excited to share them with you.
Filmed on July 13th, 2026
=========== Links Specific to This Stream ===========
🔗 Latest Version of Ball Butler CAD:
cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/w/58a21fff0c13c6549ee3697c/e/5104799fd810ebb1022a8885
🔗 Ball Butler Github Repo:
github.com/Project-DeepBlue-Juggling/BallButler
🔗 Jetson - Teensy UDP Protocol:
github.com/Project-DeepBlue-Juggling/Jugglebot/blob/mvp-trajectory-bringup/docs/teensy-udp-protocol.md
🔗 MobaXTerm Features:
mobaxterm.mobatek.net/features.html
🔗 Ball Butler Accuracy Tuning Report:
htmlpreview.github.io/?https://raw.githubusercontent.com/Project-DeepBlue-Juggling/BallButler/main/logbook/chapters/01-v0-throw-accuracy.html
🔗 Reddit Holonomic Rover:
reddit.com/r/robotics/comments/1tyijur/omnidirectional_ground_robot_with_outdoor
🔗 Ball Butler Rover Onshape Model (Including Lifter Mechanism):
cad.onshape.com/documents/a452792bbdc2f23d748d0e71/w/5c515e161354921847f2860e/e/498d5b5b79125166f72aa27f
🔗 Siteswap Wikipedia Page:
en.wikipedia.org/wiki/Siteswap
🔗 Airtime Siteswap Simulator:
jugleer.github.io/airtime
================= 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
---
00:00 - Intro Countdown
00:46 - Stream Starts
02:38 - CAN Bus(es) Update
13:17 - My Development Workflow
22:11 - Ball Butler is DONE!
31:28 - Demo of Ball Butler's Precision
37:15 - A Gripe with the Catching Cone
47:06 - Simplifying Jugglebot's Control Stack a Little
1:01:11 - Ball Butler V1 (Mobile Robot) Begins??
1:17:41 - My Plan Moving Forward
1:19:52 - Airtime Siteswap Simulator
1:35:48 - Camera Ball
1:37:52 - Closing Remarks (And Last-Minute Mention of Sim Environments)
I'm relieved to be able to say that Ball Butler V0 is finally, actually, DONE! There have also been some other exciting updates over the last month and I'm excited to share them with you.
Filmed on July 13th, 2026
=========== Links Specific to This Stream ===========
🔗 Latest Version of Ball Butler CAD:
cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/w/58a21fff0c13c6549ee3697c/e/5104799fd810ebb1022a8885
🔗 Ball Butler Github Repo:
github.com/Project-DeepBlue-Juggling/BallButler
🔗 Jetson - Teensy UDP Protocol:
github.com/Project-DeepBlue-Juggling/Jugglebot/blob/mvp-trajectory-bringup/docs/teensy-udp-protocol.md
🔗 MobaXTerm Features:
mobaxterm.mobatek.net/features.html
🔗 Ball Butler Accuracy Tuning Report:
htmlpreview.github.io/?https://raw.githubusercontent.com/Project-DeepBlue-Juggling/BallButler/main/logbook/chapters/01-v0-throw-accuracy.html
🔗 Reddit Holonomic Rover:
reddit.com/r/robotics/comments/1tyijur/omnidirectional_ground_robot_with_outdoor
🔗 Ball Butler Rover Onshape Model (Including Lifter Mechanism):
cad.onshape.com/documents/a452792bbdc2f23d748d0e71/w/5c515e161354921847f2860e/e/498d5b5b79125166f72aa27f
🔗 Siteswap Wikipedia Page:
en.wikipedia.org/wiki/Siteswap
🔗 Airtime Siteswap Simulator:
jugleer.github.io/airtime
================= 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
---
00:00 - Intro Countdown
00:46 - Stream Starts
02:38 - CAN Bus(es) Update
13:17 - My Development Workflow
22:11 - Ball Butler is DONE!
31:28 - Demo of Ball Butler's Precision
37:15 - A Gripe with the Catching Cone
47:06 - Simplifying Jugglebot's Control Stack a Little
1:01:11 - Ball Butler V1 (Mobile Robot) Begins??
1:17:41 - My Plan Moving Forward
1:19:52 - Airtime Siteswap Simulator
1:35:48 - Camera Ball
1:37:52 - Closing Remarks (And Last-Minute Mention of Sim Environments)
