Abstract:
A multiple eye paintball loader motor controller having a container and an outfeed tube to direct paintballs to a marker. Ball sensors are in the loader outfeed tube to predict incoming paintballs and the rate of supply. A controller is connected to the ball sensor to sense the incoming balls to control or adapt the operation of the loader in accordance with the supply rate. Secondary sensors may also be utilized to provide additional information. Secondary sensors may be placed in the outfeed tube, placed to provide supplemental side information, or a combination of these placements. Various placements provide feed rate information and may also detect jammed ball positions in the transition area at the end of the outfeed tube.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and is a continuation of U.S. application Ser. No. 12/011,777 filed on Jan. 29, 2008, now abandoned which claims priority to and is a continuation-in-part of U.S. provisional application Ser. No. 60/897,948, filed Jan. 29, 2007, entitled MULTIPLE EYE PAINTBALL LOADER MOTOR CONTROL. 
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not Applicable. 
     REFERENCE TO A MICROFICHE APPENDIX 
     Not Applicable. 
     RESERVATION OF RIGHTS 
     A portion of the disclosure of this patent document contains material which is subject to intellectual property rights such as but not limited to copyright, trademark, and/or trade dress protection. The owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure as it appears in the Patent and Trademark Office patent files or records but otherwise reserves all rights whatsoever. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to the field of paintball. In particular, the present invention relates specifically to a high speed paintball loader using outfeed tube sensing and/or pulse type motor control. 
     2. Description of the Known Art 
     The game of paintball has enjoyed great success in recent years. In the game, each of two or more teams tries to capture the opposing team&#39;s flag. The players on the teams carry a compressed air-powered marker that shoots paintballs (i.e., gelatin-covered spherical capsules which contain a colored liquid) a considerable distance. When a player is hit with a paintball fired from a marker, the paintball ruptures and leaves a colored mark on the hit player; the hit player must leave the game. As the game of paintball has grown in sophistication, semi-automatic paintball markers (i.e., markers that sequentially fire individual paintballs as fast as the trigger can be repeatedly pulled) have become more prevalent. The high firing rate capability of semi-automatic paintball markers has necessitated the use of bulk paintball loaders in conjunction with such markers. In addition, these markers can demand paintball feed rates that exceed the abilities of a gravity feed system. Thus, powered loaders have been developed. 
     A conventional bulk paintball loader typically comprises a housing positioned above and slightly to one side of the paintball marker. The housing is adapted to internally store a relatively large number of paintballs and has a bottom outlet opening through which the stored paintballs can sequentially drop. Connected to the housing&#39;s bottom outlet opening, and extending downwardly therefrom, is an outfeed tube that is connectable to the paintball marker&#39;s hollow infeed tube. 
     During normal operation of the loader, paintballs dropped through the bottom outlet opening of the housing form a paintball stack within the outfeed tube and marker infeed tube. When the paintball at the bottom of the stack is dropped into the firing chamber of the paintball marker, it is replaced, at the top of the stack, from the supply of paintballs remaining in the loader housing, thereby replenishing the stack. In replenishing the stack of paintballs, however, jams sometimes occur within the loader housing, above its bottom outlet opening. Paintball jams of this nature prevent normal gravity-fed delivery of paintballs downwardly through the bottom outlet opening, with the result that the paintball stack can be totally depleted after several shots of the paintball marker. 
     One solution for clearing paintball jams involves forcibly shaking the paintball marker and attached loader to dislodge the paintballs that are causing the jam within the loader housing. This solution has proved undesirable as it interrupted the proper aiming of the paintball marker and correspondingly interrupted the paintball marker user&#39;s ability to shoot the paintballs continuously and rapidly. 
     Another solution is presented in U.S. Pat. No. 5,282,454, which is incorporated herein by reference. The &#39;454 patent incorporates a jam clearing system into the paintball loader device. The jam clearing system includes an agitator disposed within the housing near the outlet, and an optical circuit for detecting the absence of paintballs at a specified location within the outfeed tube (i.e., a depleted stack). Upon detection of the absence of a paintball at the specified location within the outfeed tube, the optical circuit would close a switch to turn on a motor, which would cause the agitator to rotate. Agitator rotation usually would eliminate the paintball jam within the loader, allowing paintballs to resume gravity feed into the outfeed tube. This, in turn, would replenish the paintball stack and cause the optical circuit to open the switch and turn off the motor, thus arresting the agitator. While improving delivery of paintballs to the paintball marker, the agitator solution of the &#39;454 patent is not optimal because the agitator simply shuffles paintballs within the loader housing, which are fed only by gravity to the outfeed tube. 
     Yet another solution for clearing paintball jams is presented in U.S. Pat. No. 5,816,232, which is also incorporated herein by reference. In the “active feed” loader of the &#39;232 patent, a switch controlling a motor-driven impeller is turned on and off by an optical paintball detector in a manner similar to the agitator control in the &#39;454 patent. The impeller of the &#39;232 patent is situated in a surrounding well at the bottom of the loader housing and has curved arms that sequentially move paintballs one-by-one toward the outfeed tube. Similar active-feed paintball loaders are disclosed in U.S. Pat. No. 6,213,110 and U.S. Patent Publication No. US 2002/0014230 A1. In all of these active-feed loaders the impeller is made of a relatively stiff, unyielding material. If the impeller should turn when there is a paintball jam, or when the stack of paintballs in the outfeed tube is static (marker not firing), the stiff impeller can squeeze and undesirably break one or more paintballs in the loader housing. This latter situation can occur if the motor does not shut off due to a malfunction, or during normal operation if motor/impeller rotation is not arrested quickly enough. U.S. Patent Publication No. US 2002/0092513 A1 recognizes this impeller over-running problem, but the solution proposed is a complex and seemingly costly spring mechanism built into the impeller. 
     U.S. Pat. No. 6,502,567 (“the &#39;567 patent”) issued to Christopher, et al. on Jan. 7, 2003 teaches a rapid feed paintball loader for use upon a conventional paintball marker. The rapid feed paintball loader includes a container for holding a plurality of paintballs. At a bottom portion of the container is a rotatable drive cone having a plurality of vertical fins. Each fin forms a gap with an adjacent fin large enough to accommodate a paintball. At the bottom of the container is an exit tube which exits from the bottom portion of the container and leads to an inlet tube of the paintball marker. A tube extension is mounted on an interior surface of the container adjacent to the sloped exit portion of the exit tube. The tube extension is mounted at a height which is above the top feed surface of the fins, and which is approximately equal to the radius of a paintball. A pivotable deflector is also mounted on an interior surface of the container adjacent the tube extension to prevent paintball jams from occurring within the interior of the container. The deflector is positioned above the top feed surface of the fins and below the height of the tube extension. The paintball loader also includes a microprocessor to variably control the rotational speed of the drive cone. 
     U.S. Pat. No. 6,725,852 issued to Yokota et al. on Apr. 27, 2004 teaches an ammunition magazine for dispensing uniformly-sized spherical projectiles such as paintballs into a marker adapted to shoot said projectiles that has a generally oblong, closed container having a channel defined in its bottom from a distal axial end to an outlet port located in a lowermost, median portion of the container. The proximal portion of the container floor defines a slanted platform which extends above and beyond the outer port so that projectiles are urged by the platform toward the distal end of the channel from where they roll under the platform and into the outlet port. A helicoidal stirring arm projects from a distal area of the platform obliquely over the exposed part of the channel. The steering aim is driven by an electrical motor controlled by a switch conveniently mounted on the side of the magazine. The arm spins in a ball-uplifting direction to break any jamming of the balls above the channel. The outlet port extends into a tubular section having radial fins which allow the escape of blown-back gases between the tubular section and the internal wall of the marker projectile inlet. 
     Another solution is presented in U.S. Pat. No. 6,889,680 (“the &#39;680 patent”) issued to Christopher, et al. on May 10, 2005 which is directed to a ball feed mechanism for use in a paintball loader. The ball feed mechanism includes a feeder which conveys or impels balls toward a feed neck, and a drive member which is concentric with the impeller. The feeder is coupled to the drive member through a spring. The spring is configured to store potential energy which is used to rotate the feeder and, thus, drive the balls toward the feed neck. An electric motor is used to rotate the drive member to wind the spring. The feed mechanism includes sensors which detect the motion of the feeder and the drive member. A controller determines the spring tension based on the relative motion of the feeder and drive member, and actuates a motor when necessary. 
     Another solution is presented by U.S. Pat. No. 7,021,302 (“the &#39;302 patent”) issued to Neumaster, et al. on Apr. 4, 2006. The &#39;302 patent teaches an impeller for an active-feed paintball loader with resilient arms that engage paintballs in the lower portion (well) of the loader and advance them to and through the outfeed tube. The resilient arms are sufficiently stiff to move unobstructed paintballs located between the arms, and sufficiently flexible to yield when forced against stationary paintballs so as not to rupture the paintball shells, the arms substantially returning to their original shape when the obstruction is removed. Accordingly, when the motor is shut off, the arms will simply flex backward as they encounter stationary paintballs. Should a paintball jam occur in the vicinity of the impeller, the arm(s) can flex around the jammed ball without breaking it, and help to dislodge it so as to clear the jam. 
     A need therefore exists for a simple and economical active-feed paintball loader that reliably feeds paintballs to the outfeed tube to ensure a rapid and steady supply of paintballs to the marker, while preventing (or at least greatly reducing the likelihood of) paintball breakage in the loader. 
     SUMMARY OF THE INVENTION 
     The present invention is directed to a motor control system for an active-feed paintball loader. In accordance with one exemplary embodiment of the present invention, an outfeed tube is provided using sensors for predictive ball sensing and paintball jam clearing of loaders. Of particular note is the use of multiple motor control schemes using outfeed tube sensing as predictive indicators of ball positioning for faster paintball loading operation. 
     In one embodiment, the invention is a loader defining a container and a feeder system that are configured to store and load paintballs from a loader to a marker. The loader includes an outfeed tube flowably connected to the marker with at least one ball sensor positioned in the outfeed tube of the loader. The sensor is connected to a controller that monitors the output of the sensor to control the motor in transferring paintballs from the loader to the marker. 
     The present invention utilizes an active feed mechanism to mechanically transfer paintballs from the loader to the marker. In active feed mode, the present invention consumes battery power in transferring paintballs from the loader to the marker. The present invention allows a user to turn the active feed mechanism on or off. 
     When the active feed mechanism is turned on, a user can select which mode the active feed mechanism should operate. In one embodiment of the present invention, the active feed mechanism operates in a continuous feed mode, reactive mode, or a pulse mode. The continuous feed mode allows users to choose a setting in which the motor continuously runs. The continuous mode uses significant battery power. In sensor mode, the motor runs only when the sensor does not detect a paintball obstructing the pathway of the paintball stack. The sensor mode uses power only when reacting to ball movement within the stack. When using the sensor, the loader functions in a reactive manner that activates the feeder to transfer paintballs from the loader to the marker once a gap is detected. 
     Finally, the pulse mode operates the motor in timed pulses that allows the loader to be proactive in transferring paintballs from the loader to the marker. The controller activates the motor to transfer paintballs from the loader to the marker even if a sensor detects a paintball. The controller may also perform the function of variably controlling the speed of the motor and the rotational speed of the feeder. In conjunction with a sensor (electro-mechanical actuator switch, infrared sensor, etc.) within the outfeed tube, the controller varies the speed of the motor to support the demand for paintballs. For example, if the outfeed tube is not full, more paintballs need to be supplied for entry into the paintball marker. The controller then sends a command to the motor to increase the RPM, thus increasing the supply of paintballs to the marker. If the outfeed tube is full, as detected by the sensor, the motor is stopped by the controller. As the demand for paintballs increases, the controller commands the incremental increase in power to the motor, resulting in an increase in RPM of the feeder. In existing devices, there are only two speeds associated with the motor, full speed or zero speed. With the use of the controller, the motor can be variably controlled to supply paintballs according to the demand of the marker operator. The use of the controller to variably control the speed of the motor may be utilized on any paintball marker loader requiring the use of a motor to feed paintballs to the paintball marker. 
     In the preferred embodiment of the present invention, the controller changes the speed of the motor by varying the duty cycle available to the motor. The duty cycle available to the motor is varied by pulse width modulation, which is a technique well known in the art of electronics. For example, the duty cycle is increased to increase the speed of the motor. Likewise, the duty cycle is decreased by the controller to decrease the speed of the motor. The power utilization of the motor is more efficient by utilizing pulse width modulation to vary the speed of the motor. With low power remaining in a battery, which may be sensed by the controller, the duty cycle may be decreased. This decrease in duty cycle available to the motor allows a battery to provide power to the motor for a longer period of time. Additionally, by utilizing pulse width modulation, any dc electrically powered motor may be used. Thus, an expensive multiple winding variable speed motor is not necessary to operate the paintball loader. 
     It is an object of the present invention to increase the speed with which a paintball loader transfers paintballs to a paintball marker. 
     It is also an object of the present invention to decrease the amount of power needed to operate a paintball loader while increasing the speed with which the loader transfers paintballs to a marker. 
     It is also an object of the present invention to proactively feed paintballs to a marker. 
     It is also an object of the present invention to prevent jams from occurring within the loader. 
     These and other objects and advantages of the present invention, along with features of novelty appurtenant thereto, will appear or become apparent by reviewing the following detailed description of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       In the following drawings, which form a part of the specification and which are to be construed in conjunction therewith, and in which like reference numerals have been employed throughout wherever possible to indicate like parts in the various views: 
         FIG. 1  is a side elevational view of one embodiment of the present invention operatively attached to a representative paintball marker; 
         FIG. 2  is a perspective view of one embodiment of the present invention; 
         FIG. 3  is an exploded view thereof; 
         FIG. 4  is an internal view thereof; 
         FIG. 5  is a diagrammatic representation of a flowchart illustrating the control program thereof; 
         FIG. 6  is an internal view of an outfeed tube of one embodiment of the present invention; 
         FIG. 7  is an internal view of the outfeed tube; 
         FIG. 8  is an internal view of the outfeed tube; 
         FIG. 9  is an internal view of the outfeed tube; 
         FIG. 10  is an internal view of the outfeed tube; and 
         FIG. 11  is an internal view of the outfeed tube. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       FIGS. 1 through 5  of the drawings show various views of a loader and its operation associated with several embodiments of the present invention. 
       FIG. 1  shows a side elevational view of a paintball loader  100  operatively attached to a representative paintball marker  114  illustrated in phantom. The paintball marker  114  includes a main body, a barrel, a grip, and a trigger. An infeed tube  112  of the paintball marker  114  is provided for connection to the outfeed tube  110  of the paintball loader  100 . A compressed gas cylinder is attached to the marker  114 . The paintball marker  114  also includes an inlet tube leading to a firing chamber (not shown) in the interior of the paintball marker  114 . The compressed gas cylinder normally contains CO2, or compressed air, although any compressible gas may be used. 
     As shown in  FIGS. 1 and 2 , a paintball loader  100  includes a housing forming an interior chamber for receiving paintballs. The interior chamber leads to an outfeed tube  110 . The outfeed tube  110  is positioned to feed paintballs to the infeed tube  112  of the paintball marker  114 . The paintball loader  100  is coupled to the paintball marker  114  by inserting the outfeed tube  110  into the interior passageway of the infeed tube  112  such that an outer side surface of the outfeed tube  110  frictionally engages an inner side surface of the infeed tube  112  and the respective interior passageways thereof are in communication with each other. Paintballs are housed in the interior space of the paintball loader  100  until they are supplied, in a manner to be more fully described below, to the outfeed passageway  148  of the outfeed tube  110 . The paintballs then drop through the outfeed passageway  148  of the outfeed tube  110  and the infeed tube  112  and into the firing chamber of the paintball marker  114 . 
     Mounted on a rear end of the main body portion of the paintball loader  100  is a loader lid  104  that is removably attached such that the loader lid  104  can be opened to provide access into the interior area of the main body portion or closed to seal paintball loader  100 . The loader lid  104  may also be pivoted around a hinge structure  102  to allow access to the interior area of the loader  100 . Paintballs stored in the interior space of the loader  100  may be loaded through the rear end of the loader after the loader lid  104  has been opened. 
     Referring next to  FIGS. 3 and 4 , the paintball feed mechanism will now be described in greater detail. As may now be seen, top wall  119 , ball ramp  120 , first interior side wall formed by left shell  116 , second interior side wall formed by right shell  118 , front wall  115 , the loader lid  104 , the raceway  128 , and the outfeed passageway  148  defines the active feed area of the loader  100 . The paintballs placed in the interior area of the paintball loader  100  move through raceway  128 , through outfeed passageway  148 , finally through outfeed exit  154  of loader  100 . 
     The paintball loader  100  also includes a ball ramp  120  which projects downwardly to the raceway  128 . A rotatable feeder  124 , which is one component of a paintball feed mechanism, is positioned within the raceway  128 . An area between the raceway  128  and the loader base  144  stores the remaining components of the paintball feed mechanism. The remaining components include a motor  130  which drives the rotatable feeder  124 , a power supply  135 , for example, a 9 volt battery, which provides electric power for the motor  130 , a controller  131  for activating the motor  130 , and at least one sensor  150  for selectively activating the motor  130 . 
     The feeder  124  is mounted above the raceway  128 . Feeder  124  is coupled to the motor  130  such that motor  130  rotates feeder  124 . The feeder  124  includes a central body portion from which a series of feeder arms  126  outwardly radiate, i.e. extend towards the side walls of raceway  128  such that paintballs will be held in recesses between a pair of adjacent feeder arms  126  and the side walls of raceway  128 . For example, a paintball is held in a recess located between adjacent feeder arms  126 . Preferably, a cover over the feeder  124  is generally dome-shaped to channel paintballs towards the recesses between feeder arms  126 . In one embodiment, the feeder arms  126  are straight. In another embodiment, the feeder arms  126  are shaped to the curvature of the paintballs so that the recesses have a semi-circular shape and the feeder arms  126  are spaced sufficient distance apart to readily hold a paintball therebetween. As the feeder  124  rotates, the feeder arms  126  forcibly direct the paintballs towards an outfeed passageway  110  leading to outfeed exit  154 . 
       FIG. 3  shows an exploded view of the present invention. The loader  100  includes a left shell  116  and a right shell  118 . The loader  100  includes a loader lid  104  that is connected at hinge  102 . Found inside loader  100 , ball ramp  120  guides paintballs to the feeder  124 . As the paintballs progress through the ball ramp exit  146  of ball ramp  120 , the paintballs reach raceway  128  where the paintballs contact feeder arms  126  of feeder  124 . As motor  130  rotates feeder  124 , feeder arms  126  transfer paintballs through raceway  128  to the outfeed passageway  148 . Ball guide  122  assists feeder arms  126  in transferring paintballs from the raceway  128  to the outfeed passageway  148 . A power supply  135  is connected to battery harnesses  136 ,  138  to supply power to controller  131  and motor  130 . In one embodiment, power supply  135  is two 9-Volt batteries. Secondary PC Board  134  is mounted to Mount Adapter  142  where it is installed to Loader base  144 . Secondary PC Board  134  allows the user to select the mode, continuous feed mode, reactive feed mode, or pulse mode, in which the present invention operates. 
     The present invention provides users with the ability of switching between a number of modes of operating the active feed mechanism. A user can select between continuous feed, reactive feed, and pulse mode. The continuous feed mode allows users to choose a setting in which the motor  130  continuously rotates feeder  124 . In reactive feed mode, the motor  130  rotates feeder  124  while the sensor  150  does not detect a paintball obstructing the pathway. In pulse mode, the motor  130  does not continuously rotate feeder  124 . Instead, controller  131  activates and deactivates the motor  130  in pulses according to input to the controller  131  from at least one sensor  150 . 
     The feed mechanism is turned on by manipulating the mode toggle  108 . When the mode toggle  108  is manipulated such that the feed mechanism is activated, the motor  130  is activated according to communications received by the controller  131  from at least one sensor  150 . The sensor  150  consists of an emitter for generating a beam of infrared light and a receiver for detecting the beam. The emitter and the receiver are positioned on opposite ends of the outfeed passageway  148  formed within the outfeed tube  110 . For example, the sensor  150  may be mounted to an outer side surface of the outfeed passageway  148  such that infrared light generated by an emitter may pass through a first aperture across the outfeed passageway  148  and through a second aperture where it is detected by the sensor  150 . 
     The present invention allows a user to turn the active feed mechanism on or off. When the active feed mechanism is turned on in the embodiment shown, a user can select continuous feed mode, reactive feed mode, or pulse mode. The user selects the mode for the active feed mechanism by manipulating the mode toggle  108 . In one embodiment, a user must hold the mode toggle  108  down to activate the active feed mechanism. The user can then select reactive feed mode or pulse mode by manipulating the mode toggle  108 . Mode indicator  106  informs a user as to whether the active feed mechanism is on and the mode of operation of loader  100 . To turn the active feed mechanism off again, a user holds the mode toggle  108  down for a period of time. 
     In reactive feed mode, the motor  130  continuously rotates feeder  124  while the sensor  150  does not detect a paintball obstructing the pathway of the paintball stack. The loader  100  functions in a reactive manner that activates the feeder  124  to transfer paintballs from the loader  100  to the marker  114  once a gap is detected. The reactive feed mode will be described in greater detail below. 
     The pulse mode operates the motor  130  in timed pulses that allows the controller  131  to adjust the speed in which the feeder  124  rotates to transfer paintballs from the loader  100  to the marker  114 . In pulse mode, the controller  131  activates the feeder  124  to transfer paintballs from the loader  100  to the marker  114  even if a sensor  150  detects a paintball. A controller  131  activates and deactivates the motor  130  in pulses according to input received by the controller  131  from at least one sensor  150 . The pulse mode will be described in greater below. 
     In the off mode, the present invention no longer consumes battery power to transfer paintballs to the marker  114 . Instead, the slope of ball ramp  120  and the raceway  128  of the present invention gravitationally transfer the paintballs to the marker  114 . 
     The operation of the paintball loader  100  in providing a reactive feed of paintballs to the paintball marker  114  will now be described in greater detail. Starting from a fully loaded condition where a stack of paintballs extends through the interior passageways of the infeed tube  112  and the outfeed tube  110 , at least one paintball of the paintball stack blocks the infrared beam generated by the emitter from reaching the sensor  150 . The sensor  150  will notify the controller  131  that a paintball has been detected. Therefore, the controller  131  deactivates the motor  130 . As the paintball marker  114  is fired, paintballs in the stack will be dropped, in sequence, into the firing chamber. As depletion of the stack of paintballs begins, the paintball blocking the infrared beam from reaching sensor  150  will drop lower into the stack and, since no additional paintballs are being forced through the outfeed passageway  148  and into the outfeed tube  110 , the sensor  150  will detect the infrared beam being generated by the emitter. The controller  131  will activate the motor  130  after receiving the input from sensor  150 . The motor  130  will cause the feeder  124  to rotate and start timing how long it takes a ball to drop into a position. The feeder  124  can rotate either in a clockwise or counterclockwise direction so that if a jam occurs and it takes too long for a ball to drop, the feeder  124  can be reversed and then moved forward again to clear the jam. 
     As the feeder  124  rotates, paintballs retained in the recesses between a pair of adjacent feeder arms  126  and the raceway  128  are forcibly directed out of the raceway  128  and into the outfeed passageway  148 . As the paintballs enter the outfeed passageway  148 , additional paintballs drop into the recently vacated recesses between the feeder arms  126  where the paintballs are retained and forcibly directed towards the outfeed passageway  148  by continued rotation of the feeder  124 . When the infrared beam is again blocked, the controller  131  deactivates the motor  130  and stops the feeder  124  from further rotation. 
     Referring to  FIGS. 4 and 5 , the operation of the paintball loader  100  in a pulse mode will now be described in greater detail. A paintball loader  100  including a feed mechanism according to one embodiment of the present invention includes a controller  131  in communication with at least one sensor  150  for controlling the operation of the paintball loader  100 . The controller  131  and center optic  150  and edge optic  152  are shown in  FIGS. 3 and 4 . A sensor  150  may be placed at a preselected location in the loader  100 , such as, for example, adjacent or in the outfeed passageway  148 . The sensor  150  for detecting the presence or absence of a paintball, or the movement of a paintball stack, and may be a mechanical, contact, piezoelectric, optical, infrared, or other type of sensor, and may include an emitter and a receiver. The sensor  150  is in communication with the controller  131 , which can send a signal to either activate the motor  130  (when paintballs are required by the paintball marker  114  to which the loader  100  is attached), to deactivate the motor  130  (when a paintball stack is stationary and/or the paintball marker  114  is not firing), or to reverse the motor  130  (when a paintball jam occurs). The controller  131  can also be set to control other operations of the paintball loader  100 , such as varying the speed of the motor  130  in either a forward or reverse operation of the motor  130 . 
     A sensor  150  is located in the outfeed tube  110  of a loader  100  to detect the progress of at least one paintball through the outfeed tube  110  and into the infeed tube  112  of the marker  114 . An additional sensor  152  is located at a second preselected location in the loader housing, such as the outfeed tube  110  of the loader  100 . The two sensors detect transitions of paintballs as the paintballs progress through the loader  100  and into the marker  114 . The center optic  150  and edge optic  152  detect transitions caused by an empty gap in the paintball stack or paintball movement through the present invention. As the paintballs travel through the loader, each sensor  150 ,  152  detects the transitions of the paintballs through the loader. 
     In controlling the motor  130 , the present invention utilizes center optic  150  and edge optic  152  to determine placement of paintballs in the outfeed tube  110  of the loader  100 . In one embodiment of the invention, the center optic  150  and edge optic  152  are placed at different preselected locations of the outfeed tube  110 . In one embodiment of the present invention, a first sensor  150  is placed in the center of the outfeed tube  110 , the center optic,  150 . A second sensor  152  is placed on the edge of the outfeed tube  110 , the edge optic  152 . The center and edge optics  150 ,  152  communicate with the controller  131  to determine the operation of the motor  130 . 
     As shown in  FIG. 5 , one embodiment of the control scheme of the present invention will be described. The control scheme is initiated at main loop  158 . In the first iteration of the loop, all variables are initialized to 0. Center status bit, edge status bit, newedge bit, edgetrans, and transcount are set to 0. Center status bit indicates that the center optic  150  detects a paintball. The present invention assigns a value to edge status to indicate that the edge optic  152  detects a paintball. In addition, when edge optic  152  detects a paintball, the present invention assigns newedge bit a value to denote that the edge optic is blocked. Edgetrans indicates transitions of paintballs through outfeed tube  110  during the main loop  158  of the control scheme of the present invention. As the edge optic  152  continues to detect paintball transitions through outfeed tube  110 , the present invention increments transcount to represent the number of transitions of paintballs. 
     For the first step of the main loop  158  of the control scheme of the present invention, the present invention initiates the check center optics subroutine  160  to detect whether a paintball is currently detected by center optic  150 . The present invention utilizes a center status bit to indicate whether the center optic  150  detects a paintball. If the center optic  150  is blocked by a paintball at center optic query  162 , the controller  131  sets the center status bit to 1 to indicate that center optic  150  detects a paintball at set center status bit  164 . If the center optic  150  is not blocked by a paintball at center optic query  162 , the controller sets the center status bit to 0 to indicate that the center optic  150  does not detect a paintball at set center status bit  166 . 
     After completing the check center optic subroutine  160 , the present invention initiates the check edge optic subroutine  168 . During the check edge optic subroutine  168 , the present invention determines whether the edge optic  152  is blocked by a paintball. The present invention also assigns a value to edge status, newedge, newedge, edgetrans, and transcount during check edge optic subroutine  168 . The present invention utilizes an edge status bit to indicate whether the edge optic  152  detects a paintball. If the edge optic  152  is blocked by a paintball at edge optic query  170 , the present invention progresses to the set edge status  172 . At set edge status  172 , the controller  131  sets the edge status bit to 1 to indicate that the edge optic  152  detects a paintball. At set edge status  172 , the present invention also sets the newedge bit to 1. If the edge optic is not blocked by a paintball, the present invention progresses to set edge status  174 . At set edge status  174 , the controller sets the edge status bit to 0 to indicate that the edge optic  152  does not detect a paintball and assigns newedge bit to 0 to indicate that the edge optic  152  does not detect a paintball. 
     If the newedge bit changes during the loop, the controller  131  sets the edgetrans bit to 1 during the check edge optics subroutine  168 . If the newedge bit does not change, the controller  131  sets the edgetrans bit to 0. As long as the edgetrans bit is equal to 1 on each cycle of the loop, transcount is incremented. However, if edgetrans equals 0 during three iterations of the loop, the controller resets transcount to 0. Other embodiments of the present invention require edgetrans to equal 0 for at least two iterations of the loop before the controller resets transcount to 0. 
     The present invention then initiates the set operation status subroutine  176 . One embodiment of the present invention allows three different mode of operation: a full operation, a partial operation, and a stopped operation. The three different mode of operation allow the feeder  124  to operate in three different manners. The present invention utilizes three queries to determine the mode in which the controller  131  should operate the motor  130 , full operation query  178 , partial operation query  196 , and stopped operation query  208 . In the full operation query  178 , the present invention detects whether the paintballs are moving through the outfeed tube  110  and whether storage space remains for additional paintballs to be transferred to the outfeed tube  110 . During full operation query  178 , the present invention determines whether both the center status bit and edgetrans equal 0. If full operation query  178  is true, the present invention sets the mode to full operation at set full operation  180 . The partial operation query  196  of the present invention determines if the paintball stack is continuous, but moving through the outfeed (center status bit equals 1 and transcount is greater than 1). If partial operation query  196  is true, the present invention sets the mode to partial operation at set partial operation  198 . The stopped operation query  208  determines if the paintball stack is full and not moving (center status bit is set to 1 and that edgetrans is equal to 0). If stopped operation query  208  is true, the present invention sets the mode to stopped operation at set stopped operation  210 . The present invention then initiates the run status subroutine  182 . 
     If the present invention is in full operation mode at full operation status query  184 , the controller  131  operates the motor  130  in full operation. In one embodiment of the present invention, the full operation mode operates the motor at 100% duty cycle at 500 Hz as shown at set motor to full operation step  186 . After activating the motor  130 , the present invention initiates the check center optics subroutine  188 . If the center optic  150  is blocked at center optic query  190 , the present invention continues to operate the motor in full operation mode. The controller program then transitions to check center optics subroutine  160  at the beginning of the main loop  158 . 
     In one embodiment, the controller  131  may also be used to monitor jams within the paintball loader  100 . If the center optic  150  is not blocked at center optic query  190 , the present invention detects whether the loader  100  is jammed at jammed query  192 . The present invention monitors paintball jams by either monitoring the current of motor  130  or detecting paintball transitions over time. In the embodiment of the present invention that utilizes monitoring of the current, a sensor monitors the current of the motor to detect rises in the current. If paintballs jam within the paintball loader  100 , the motor  130  experiences additional resistance in rotating the feeder  124 . The additional resistance produces increased torque on the motor  130  and a rise in electrical current. The rise in electrical current is detected by controller  131  at jammed query  192 . Upon detection of the rise in electrical current, the controller  131  reverses the motor  130  and continues the pulse width modulation to clear paintball jams occurring within the loader  100  at reverse motor step  194 . The program will progress to the check center optics subroutine  188  and continue the loop until the center optic  150  is blocked at center optic query  190  as shown in  FIG. 5 . Once the center optic is blocked at center optic query  190 , the present invention initiates the check center optics subroutine  160 . 
     If the controller  131  does not detect a rise in electrical current at step  192 , the controller  131  continues to operate the motor  130  in full operation mode. The present invention progresses to check center optic subroutine  188  of the programming diagram and continue the loop until the center optics  150  is blocked at step  190 . Once the center optic  150  is blocked at center optics query  190 , the present invention initiates the check center optics subroutine  160 . 
     The controller  131  also variably controls the speed of the motor  130  and the rotational speed of the feeder  124 . If the present invention has set the mode to partial operation at partial operation status query  200 , the controller  131  does not activate the motor  130  to run at full speed. In conjunction with a sensor  150  (electro-mechanical actuator switch, infrared sensor, etc.) within the outfeed passageway  148 , the controller  131  varies the speed of the motor  130  to support the demand for paintballs. For example, if the outfeed passageway  148  is not full, more paintballs need to be supplied for entry into the paintball marker  114 . The controller  131  then sends a command to the motor  130  to increase the RPM, thus increasing the supply of paintballs to the marker  114 . 
     In the preferred embodiment of the present invention, the controller  131  changes the speed of the motor  130  by varying the duty cycle available to the motor  130 , rather than changing the voltage delivered to the motor  130 . The duty cycle available to the motor is varied by pulse width modulation, which is a technique well known in the art of electronics. For example, the duty cycle is increased to increase the speed of the motor  130 . Likewise, the duty cycle is decreased by the controller  131  to decrease the speed of the motor  130 . The power utilization of the motor  130  is more efficient by utilizing pulse width modulation to vary the speed of the motor  130 . With low power remaining in power supply  135  which may be sensed by the controller  131 , the duty cycle may be decreased. This decrease in duty cycle available to the motor  130  allows a power supply  135  to provide power to the motor  130  for a longer period of time. Additionally, by utilizing pulse width modulation, any dc electrically powered motor may be used. Thus, an expensive variable speed motor is not necessary to operate the paintball loader  100 . 
     In one embodiment of the partial operation mode of the present invention, the control program initiates the check edge optics subroutine  202 . As described above, the check edge optics subroutine  202  determines whether the edge optic  152  is blocked by a paintball and detects paintball transitions. If a paintball is detected by edge optic  152  at check edge optics subroutine  202 , the present invention sets edge status bit and newedge bit to 1. If a paintball is not detected by edge optic  152  at check edge optics subroutine  202 , the present inventions sets edge status bit and newedge bit to 0. The controller  131  then determines whether a paintball transition has occurred. If the newedge bit changes during the loop, the controller  131  sets the edgetrans bit to 1. If the newedge bit does not change, the controller  131  sets the edgetrans bit to 0. As long as the edgetrans bit is equal to 1 on each cycle of the loop, the present invention increments transcount by 1. However, if edgetrans equals 0 during three iterations of the loop, the controller  131  resets transcount to 0. At transition query  204 , the present invention determines whether paintball transitions are occurring within loader  100 . If transcount is greater than 1, the paintball stack is moving, but it is not moving quickly. Thus, the present invention reduces the motor speed. The present invention can then reduce the speed of the motor  130  to operate at 500 Hz, 75% duty cycle. The present invention will then run check edge optics subroutine  202 . If transcount is not greater than 1 at transition query  204 , the present invention returns to check center edge optics subroutine  160 . 
     If the mode of the present invention is set to stopped operation at stopped operation query  212 , the controller  131  stops the motor at stop motor  214 . After stopping the motor  130 , the controller  131  proceeds to check center optic subroutine  160 . 
     In another embodiment, the present invention utilizes a controller  131  in communication with a sensor to activate the motor  130  at particular fixed speeds. The sensor communicates with controller  131  to operate the motor at one of its multiple speeds. In this embodiment, the sensor detects transitions of the paintball stack through the outfeed passageway  148 . The controller  131  utilizes a clock to determine the number of paintball transitions during a particular clock cycle. By detecting the number of transitions during a particular clock cycle, the loader predicts the paintball usage over time in order to activate the motor  130  in a proactive manner instead of reactive. As the number of paintball transitions increases during a clock cycle the controller activates the motor at an increased duty cycle. As the number of paintball transitions decreases, the controller decreases the duty cycle. In one embodiment, if the sensor detects a paintball transition per clock cycle, the controller  131  activates the motor  130  at 33% duty cycle. If the sensor detects two paintball transitions per clock cycle, the controller  131  activates the motor  130  at 66% duty cycle. If the sensor detects three paintball transitions per clock cycle, the controller  131  activates the motor  130  at 100% duty cycle. In other embodiments, the clock cycle, the number of speeds at which the motor is operated, as well as the number of transitions per cycle required to determine the speed at which to operate the motor can vary according to a particular user&#39;s needs. 
     In another embodiment, if the sensor  152  does not detect paintball transitions after several clock cycles, the controller  131  activates the motor at 100% duty cycle to force paintballs through the outfeed passageway  148 . If the sensor  152  does not detect a paintball transition after a number of clock cycles, the controller  131  determines that a jam has occurred and reverses the motor  130  to clear the jam. If the sensor  152  continues to not detect paintball transitions, the controller  131  determines that there are no more paintballs in the loader and stops running the motor. 
     In another embodiment, the present invention utilizes a full stack sensor to determine the stack condition. In this embodiment, the full stack sensor can be a second sensor such as an optical sensor or a motor current sensor that detects increased current to the motor caused by jams in the present invention. The present invention continues to operate in a similar manner described above by operating the motor  130  at a duty cycle according to the number of detected paintball transitions. The full stack sensor allows the present invention to determine the current status of the stack instead of depending upon the clock as described above. 
     In the embodiment in which the full stack sensor is a second sensor similar to the first sensor, the full stack sensor detects the presence of a paintball. As long as the first sensor continues to detect paintball transitions, the present invention does not detect a jam. Once the sensor fails to detect paintball transitions, the controller communicates with the full stack sensor, in this embodiment, the second sensor, to determine the status of the stack. If the full stack sensor detects a paintball, the outfeed passageway  148  is full. Therefore, the present invention will not operate the motor  130  until the sensor detects a paintball transition. If the full stack sensor does not detect a paintball, outfeed passageway  148  is not full and the paintball stack is not full. Therefore, the motor  130  will continue to rotate feeder  124  to feed paintballs to outfeed passageway  148 . 
     In another embodiment, the full stack sensor is a motor current sensor. The motor current sensor determines paintball jams by detecting the current of the motor  130 . As long as the sensor continues to detect paintball transitions, the present invention will not detect a jam. When the present invention fails to detect paintball transitions, the present invention communicates with the full stack sensor, in this embodiment, the motor current sensor. If the motor current sensor does not detect a rise in the motor current, a jam has not occurred and the present invention will continue to run the motor  130  because the motor current sensor has not detected a full paintball stack. If a rise in the motor current does occur, the present invention detects a full paintball stack and will slow or stop motor  130 . 
       FIG. 6  is an internal view of the outfeed tube  110  of the present invention. As shown in  FIG. 6 , the center optic  150  and the edge optic  152  are located so that center optic  150  and edge optic  152  detect paintballs as they pass through outfeed passageway  148 . In  FIG. 6 , neither the center optic  150  nor the edge optic  152  detect a paintball. Therefore, controller  131  will assign center status bit to 0, edge status bit to 0, and newedge bit to 0. 
       FIGS. 7 ,  8 , and  9  show the progression of the paintball stack  216  through outfeed passageway  148 . As seen in  FIG. 7 , the paintball stack blocks center optic  150 . However, edge optic  152  is not blocked by the paintball stack  216 . Therefore, the present invention will set the center status bit to 1, edge status bit to 0, and newedge bit to 0. 
       FIG. 8  shows paintballs  218 ,  220  in transition. Paintballs  218 ,  220  block center optic  150  and do not block edge optic  152 . Therefore, center optic  150  detects paintballs  218 ,  220  and edge optic  152  does not detect paintballs  218 ,  220 . The present invention will set center status bit to 1, edge status bit to 0, and newedge bit to 0. 
       FIG. 9  shows the transition of paintballs  218 ,  220  during the subsequent initiation of check edge optics subroutine  168  after the previous initiation of check edge optics subroutine  168  shown in  FIG. 8 . In  FIG. 9 , the center optic  150  and edge optic  152  are both blocked by a paintball  220  such that the center optic  150  and edge optic  152  detect paintball  220 . The present invention will set center status bit to 1, edge status bit to 1, and newedge bit to 1. During the transition of paintballs  218 ,  220  from  FIG. 8  to  FIG. 9 , the present invention assigns newedge to 1. As newedge bit changes from 0 to 1, the present invention assigns edgetrans to 1 and increments transcount by 1. 
       FIG. 10  shows an internal view of the downfeed tube  110  during the subsequent iteration of main loop  158  after the iteration shown in  FIG. 9 . In  FIG. 10 , center optic  150  and edge optic  152  detect paintball  222 . Therefore, the present invention sets center status bit to 1, edge status bit to 1, and newedge bit to 1. Because newedge bit was previously assigned a value of 1 in the iteration shown in  FIG. 9  and did not change from 0 to 1, the present invention assigns edgetrans to 0. Transcount remains the same value. 
       FIG. 11  shows the next iteration of the main loop  158  after the iteration found in  FIG. 10 . Center optic  150  and edge optic  152  do not detect paintball  222 . Therefore, the present invention sets center status bit to 0, edge status bit to 0, and newedge bit to 0. In the iteration from  FIG. 10  to  FIG. 11 , newedge bit changes from 1 to 0. The present invention sets edgetrans to 0 because of the change of newedge bit from 1 to 0. Further, the present invention does not increment transcount. If check edge optic subroutine  168  continues to fail to detect a paintball edge after initiating subsequent calls of check edge optic subroutine  168 , the present invention sets transcount to 0. In one embodiment of the present invention, the check edge optic subroutine sets transcount to 0 after detecting that edgetrans is set to 0 during three consecutive calls of the check edge optic subroutine. 
     Reference numerals used throughout the detailed description and the drawings correspond to the following elements:
     Paintball loader  100     Lid Hinge  102     Loader Lid  104     Mode Select Button  106     Active Feed Toggle  108     Outfeed Tube  110     Infeed Tube  112     Marker  114     Front wall  115     Left Shell  116     Right Shell  118     Top wall  119     Ball ramp  120     Ball Guide  122     Feeder  124     Feeder Arm  126     Raceway  128     Motor  130     Controller  131     Primary PC Board Assembly  132     Secondary PC Board  134     Power supply  135     Primary Battery Harness  136 ,  138     Secondary Harness  140     Mount Adapter  142     Loader Base  144     Feeder Bottom Exit  146     Active feed space  147     Outfeed passageway  148     Center Optic  150     Edge Optic  152     Outfeed Exit  154     Main loop  158     Check center optics subroutine  160     Center optics query  162     Center optics blocked  164     Center optics clear  166     Check edge optics subroutine  168     Edge Optic query  170     Set edge status  172     Set edge status  174     Set Operation Status Subroutine  176     Full Operation query  178     Set Full Operation  180     Run Status Subroutine  182     Full Operation Status query  184     Set Motor to Full Operation  186     Full Operation Check Center Optics Subroutine  188     Center Optic query  190     Paintball Jam query  192     Reverse Motor  194     Partial Operation query  196     Set Partial Operation  198     Partial Operation Status query  200     Partial Operation Check Edge Optics Subroutine  202     Transition query  204     Set Motor to Partial Operation  206     Stopped operation query  208     Set Stopped Operation  210     Stopped operation query  212     Stop Motor  214     Paintball stack  216     Paintball  218     Paintball  220     Paintball  222     

     From the foregoing, it will be seen that this invention is well adapted to obtain all the ends and objects herein set forth, together with other advantages which are inherent to the structure. It will also be understood that certain features and subcombinations are of utility and may be employed without reference to other features and subcombinations. This is contemplated by and is within the scope of the claims. Many possible embodiments may be made of the invention without departing from the scope thereof. Therefore, it is to be understood that all matter herein set forth or shown in the accompanying drawings is to be interpreted as illustrative and not in a limiting sense. 
     When interpreting the claims of this application, method claims may be recognized by the explicit use of the word ‘method’ in the preamble of the claims and the use of the ‘ing’ tense of the active word. Method claims should not be interpreted to have particular steps in a particular order unless the claim element specifically refers to a previous element, a previous action, or the result of a previous action. Apparatus claims may be recognized by the use of the word ‘apparatus’ in the preamble of the claim and should not be interpreted to have ‘means plus function language’ unless the word ‘means’ is specifically used in the claim element. The words ‘defining,’ ‘having,’ or ‘including’ should be interpreted as open ended claim language that allows additional elements or structures. Finally, where the claims recite “a” or “a first” element of the equivalent thereof, such claims should be understood to include incorporation of one or more such elements, neither requiring nor excluding two or more such elements.