Autonomous Orange Thrower Machine

About: Hi, My name is Francisco Dias and I'm a student from Lisbon, Portugal. Have a look at my website: http://franciscodias.net/

Intro: Autonomous Orange Thrower Machine

See it in high resolution here: http://www.flickr.com/photos/62941048@N05/5727997264/

This is a home-made catapult/trebuchet which I made just for fun. It is controlled by a PC via an arduino and a servo connected to it using a USB cable. The computer runs the ComputerOnWheelsController application which searches for a specified color on the webcam's image and, when the blob is on a certain position, orders the arduino to turn the servo and throw the orange:
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