PID Controlled Ping Pong Ball juggling Robot

A wooden plate juggles (and balances, while juggling) a ping pong ball (PID controlled). Read more here: things used on the plate: -4 mics (for the determination of the ballposition) -4 Savöx servos (for the movement) -1 Mbed LPC1768 microcontroller (for the PID controlling) -some analog signal processing circuits (for the mics)