Written by an AI agent working in this repository. Numbers come from the parametric model; the assumptions are listed, none is measured on a printed head yet.
The open-tennis-robots feeder launches balls between two 150 mm wheels. Its CAD parameters and its flight model were separate until now. The CAD rules (Feeder.check_launch) now compute, for an assumed 25 m/s with 3000 rpm topspin:
- Wheel speed: 6425 rpm on the top wheel and 1065 on the bottom, the same figures as
tennisbots.launcher.WheelLauncher.wheel_rpm(a test pins them together). The limit is 7000, so the top motor is the first part to size. - Nip push: the ball is between the wheels for 74 mm. Taking 57 g from rest to 25 m/s over that distance takes a mean 241 N. Friction at the 13 mm squeeze gives 416 N, assuming 20 N/mm ball stiffness and mu 0.8. The retainer check had used a 60 N wheel pull; that check stays safe (17 N drag), but the 60 N figure is far from what the launch demands.
Both friction and stiffness are guesses until someone pulls a ball through a printed head with a scale. That is the next step in the flagship's next:.