A photo of how the matrix wall is positioned in front of the robot. The matrix is filled by a pattern that you choose via the robo TXT software on the PC screen.
The holes have been drilled 3 times. First, pre-drill all the holes with 12mm, Then, with a 14 mm milling cutter, measure neatly. In order to prevent the steel balls from falling out of the opening on their own, another drill has been drilled but now 1 mm has been shifted downwards but 3 mm less depth. The holes are on a 16 mm grid.
On the left there is the input for the steel balls and slightly upwards, the ouput for the outlet. There are also 2 reflection sensors added to allow control of whether a steel ball is actually present. On the arm of the robot there is another sensor to scan the filled matrix. This is necessary if the matrix is to be emptied automatically. After powerup it is possible to first perform a scan to empty the matrix.