Robotics

Day 49 - Tuesday, March 3, 2020 - Build Day 40

Blog Type:  Robotics Date Posted:  Tuesday, March 3, 2020

Objectives:

  • Test both side shooters at the same time
  • Finish building control panel assembly
  • Test conveyor/intake with time
  • Start preparing wires/pneumatics for the control panel motors/cylinders

Description:  

  • Tested in class both shooters at the same time at around 12-13 feet and we were getting around 2-4 balls using just joystick values
    • Need to use PID Control for finer accuracy
  • Worked on tuning limelight a little bit
  • In practice, Dario worked on getting the robot to intake and store 4 balls. 
    • Added a ceiling and a upside down ramp to prevent the balls from popping out
  • Koen continued working on the control panel
    • Assembled the frame

Images/Sketches/Videos:

Action Items:

  • Tune and use PID for the shooter
  • Do autonomous and get that working
  • Finish building the control panel assembly
    • Mount it and wire it
  • Hard mount the ceiling and upside down ramps 

Day 48 - Monday, March 2, 2020 - Build Day 39

Blog Type:  Robotics Date Posted:  Monday, March 2, 2020

Objectives:

  • Test shooter directions and shooting based on limelight distance
  • Test intake/conveyor procedure with sensors and time
  • Test autonomous
  • Weight the robot
  • Finalize intake wheel placements

Description:  

  • Did some tweaks on the conveyor 90-degree drive
  • Moved the shooter rails forward around half an inch
  • Added surgical tubing to the shooter rails
  • Tested all configurations

Images/Sketches/Videos:

Testing our Shooting Mechanisms:

Action Items:

  • Test both side shooter at the same time
  • Finish building control panel assembly
  • Test conveyor/intake with time
  • Start preparing wires/pneumatics for the control panel motors/cylinders

Day 47 - Saturday, February 29, 2020 - Build Day 38 & Destination Einstein Visit 2

Blog Type:  Robotics Date Posted:  Saturday, February 29, 2020

Objectives:

  • Practice @ DE Fields
  • Mount the rest of the shooter and encoders
  • Fix intake height

Description: 

  • At the DE field, we practiced and noticed a few problems
    • The part made to prevent the 9- degree drive from popping up needs to get tweaked a slight bit so it works correctly
    • The wire powering the PCM is not going into the PDB - needs to get fixed somehow
    • The intake/conveyor software wasnt working as intended
  • During practice
    • Fixed the 90 degree bracket to prevent pop up
    • Set up new battery and fixed some old ones
    • May need to get new batteries
    • Finished mounting shooters and encoders
    • All wired
    • Remounted limelight

Images/Sketches/Videos:

Action Items:

  • Test shooter directions and shooting based on limelight distance
  • Test intake/conveyor procedure with sensors and time
  • Test autonomous
  • Weight the robot
  • Finalize intake wheel placements

Day 46 - Friday, February 28, 2020 - Build Day 37

Blog Type:  Robotics Date Posted:  Friday, February 28, 2020

Objectives:

  • Using the new screws, finish making and assembling the parts to keep the 90 degree drive from popping up. (30 min) - Donnie and Ben - HIGH PRIORITY: NEEDS TO GET DONE
  • Test conveyor with time (30 min) 
  • Tune limelight (30 min)
  • Test conveyor with 4 balls (45 min)
  • Finish tuning limelight (30 min)
  • Mount right side shooter and test (75 min) - Ben

Description: 

  • Ben and Donnie finished making the parts to keep the 90-degree drive from popping up. Dario was able to get the timed conveyor system to work and the limelight xError to work and was also able to read the x distance from the limelight.
  • Dario and Koen mounted the back side of the shooter
  • Donnie mounted intake stoppers to keep the intake from going down too low

Images/Sketches/Videos:

Action Items:

  • Mount the rest of the shooter and encoders
  • Fix intake height

Day 45 - Thursday, February 27, 2020 - Build Day 36

Blog Type:  Robotics Date Posted:  Thursday, February 27, 2020

Objectives:

Fix problems encountered @ DE Field

Test mecanum wheels on the intake

Add a delay on stopping the conveyor motors

Test conveyor and intake system all together

Prepare spacers for the shooter

Figure out a way to keep intake up w/o the ropes

Add collars to the conveyor 90-degree drive

Description: 

  • Mary and David worked on the Chairman’s material
  • Ben mounted the second tank and changed a few pneumatics
  • Paul worked on modifying the limelight camera mount
  • Donnie and Declan worked on making a part to keep the 90-degree drive from popping up
    • Need longer screws - arriving tomorrow
  • Bryce got familiar with FRC programming and set up VSCode and WPILIB on his chromebook
  • Dario worked on fixing the code errors that were experienced yesterday
  • Tested the limelight
  • It responded to the command but PID values are off

Images/Sketches/Videos:

 

Action Items:

  • Using the new screws, finish making and assembling the parts to keep the 90 degree drive from popping up.
  • Test conveyor with time
  • Tune limelight
  • Test conveyor with 4 balls
  • Finish tuning limelight
  • Mount right side shooter

Day 44 - Wednesday, February 26, 2020 - Build Day 35 & Destination Einstein Visit 1

Blog Type:  Robotics Date Posted:  Wednesday, February 26, 2020

Objectives:

  • Finish making metal piece out of laser cut template
  • Mount limelight and wire it.
    • Add 2nd camera
  • Test conveyor and intake together with the ToF sensors
  • Make motor encoder assembly
  • Prepare spacers to mount shooter
  • Test autonomous routines and limelight camera @ the DE field

Description: 

  • Ben finished making the encoder mounting plate and assembled the shooter motor encoder assembly
  • Dario and Donnie assembled and mounted the “screw” intake wheels and tested them
    • Works very well at high speeds and not much compression
  • Paul and Koen worked on making the limelight camera mount
  • Tested the ToF sensors and work perfectly
  • Mary and David worked on the Chairman’s material
  • DE Field
    • Wheel screws coming loose
      • Need to tighten them and apply Loctite
    • Intake bars are loose and bearings need to be switched around and tightened
    • Limelight tracking was not working and needs to be fixed
    • Autonomous not acting like it was a month ago

Images/Sketches/Videos:

 

Action Items:

  • Fix problems encountered @ DE Field
  • Test mecanum wheels on the intake
  • Add a delay on stopping the conveyor motors
  • Test conveyor and intake system all together
  • Prepare spacers for the shooter
  • Figure out a way to keep intake up w/o the ropes
  • Add collars to the conveyor 90-degree drive

Day 43 - Tuesday, February 25, 2020 - Build Day 34

Blog Type:  Robotics Date Posted:  Tuesday, February 25, 2020

Objectives:

  • Finish wiring shooter motor controller wires
  • Wire ToF sensors
  • Assemble shooter motor encoders

Description: 

  • Dario and Katherine wired the shooter encoder wires and cleaned up the wiring done on Monday.
    • Passed the wires in the black rounting cable
  • Robert and Declan solders the power wires and the CAN wires on the ToF sensors
  • Mario worked on helping Dario’s groups and Robert’s group.
  • Towards the end, Mario took the laser cut template and started making it out of metal
    • Shooter encoder mount
  • Eli attached the CAN and power wires when Robert was finished to the robot VRM and the CAN star 4 drop
  • Donnie and David worked on the chairman’s video script
  • Bryce worked on pit interactive setup

Images/Sketches/Videos:

Action Items:

  • Finish making metal piece out of laser cut template
  • Mount limelight and wire it
    • Add 2nd camera
  • Test conveyor and intake together with the ToF sensors
  • Make motor encoder assembly
  • Prepare spacers to mount shooter

Day 42 - Monday, February 24, 2020 - Build Day 33

Blog Type:  Robotics Date Posted:  Monday, February 24, 2020

Objectives:

Bore out shooter wheel using drill press and different speeds

Wire shooter motor wires and encoder wires

assemble shooter motor side

Description:

  • Dario and Ben were able to drill out all 4 shooter wheel bores
  • Dario assembled the shooter motor side assembly’
  • Dario moved the first ToF sensor 
  • Mary started working on chairman’s video/presentation material
  • Koen and Paul mounted the ToF sensors under the shooters on each side
  • Koen and Paul also removed the mecanum wheel intake axle and removed all the mecanum wheels
  • Dario, David, and Katherine wired the shooter motors

Images/Sketches/Videos:

Action Items:

  • Finish wiring shooter motor controller wires
  • Wire ToF sensors
  • Assemble shooter motor encoders

Day 41 - Saturday, February 22, 2020 - No Practice

Blog Type:  Robotics Date Posted:  Saturday, February 22, 2020

Several of our team members also participate in FTC on Team 9785 Cronos. The team qualified for the Georgia FIRST FTC State Championship today. Due to several students being on that team and our mentors being at the competition, we didn't have practice today. Cronos finished 5th in their division and was the 4th Alliance Captain. They lost in the first round but we are proud of them making further than either of our FTC teams have ever made it in our history.

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