Team 17 - 7) Conclusion and Future Work

    In the end, we built and designed a linkage design based on the latte art pitcher trajectory. In the beginning we hoped to synergize both the angle of the pitcher with the pitcher position, or a 2 DOF system. We also successfully integrated all the sensors for feedback control for precise and accurate art for each drink. We are proud of both the mechanical and electrical complexity of our system, though we have yet to draw an intelligible latte art heart shape. This is also mostly attributed to our lack of skill in the barista sense since the steamed milk must be a specific texture and the espresso shot as well. 

    In the future, we hope to implement angle control of the pitcher, which will significantly enable us to draw latte art while adding some complexity. Additionally, we hope to improve the cup mount design along with the angle control since we had no time to design an ergonomic cup mount. Improvements in the software also include more time to tune the control system for latte art.