My team has been tackling pin/cup orientation detection for a little while using optical sensors. We have pins down very consistently, however we have not figured out a method for cups. No matter what we try, we have failed to find a way to distinguish between each side of the cup with optical. They both return a yellow color of roughly the same saturation (yes I know they dont look yellow). The hues are roughly the same, the saturations are roughly the same, the brightness/reflectivity varies due to the frosted sides.
Any help/advice would be awesome!