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Robot Hardware / Spare Parts
« Last post by Saharsh Y on February 11, 2018, 01:45:49 PM »
  • Coasters
  • Snowblower Motor
    • We Already have a lot of these, but we donít know of they work
  • ⅜ Keyed Shaft
    • 3/32 Key Way(Standard)
    • Hi-Carbon Steel
    • 3 Feet
      • Will Cut Down To Size
  • Seat Motor
    • Have 1 Spare Already
    • Currently being used in 2 places on the robot
      • Number of places being used might increase
        • Claw might need more torque
        • Very versatile, so it won't be surprising of they are used somewhere else
    • Need to get 2 more
      • Just in case
Robot Software / Re: Robot Hardware Testing Tasks
« Last post by Louis L on February 11, 2018, 01:18:04 PM »
What about using the current to stall the motor to keep the arm in place (donít know if Iím describing this quite right)?

The current plan is to NOT do this; let the PID do the job of holding position. It'll probably bounce.
Robot Software / Re: Hardware interface map
« Last post by Louis L on February 11, 2018, 10:56:58 AM »
Removed the two potentiometers tied to the MXP board. These are routed to an SRX for PID use so we can read their values back over the CAN bus if we need to. Replace them with 2 additional sonars.
Robot Software / Re: Robot Hardware Testing Tasks
« Last post by Vanshika C on February 10, 2018, 04:29:15 PM »
What about using the current to stall the motor to keep the arm in place (donít know if Iím describing this quite right)?
Robot Software / Robot Hardware Testing Tasks
« Last post by Matt S on February 10, 2018, 03:37:18 PM »
This thread is meant for discussing the different test cases or tasks that we will use for testing the robot hardware.

  • Find the maximum and minimum potentiometer values of the arm and extension
  • Find extension for home
  • Find extension for intake
  • Check accuracy of home angle, intake angle, switch angle, low scale angle, high scale angle, and climber angle
  • Run fine-tuning, and test it for full range (have wrist retracted when home), and adjust speed if necessary.   Make sure that arm also does not exceed 16 inch boundary
  • Move arm to all major positions, and make sure that the PID holds the arms position (adjust as needed)
  • Do cube tests later with claw
  • Check that home position is working as intended
  • Check leveling at various positions
  • Check that the wrist can fold back fully with arm at various angles
  • Check that the wrist can change positions with a cube
  • Check that gripper limit switches work as intended (fully open, fully closed)
  • Check that gripper can grab a cube and stall the motor
  • Check that the gripper can drop a cube
  • Check that gripper can grab a cube in various positions
Our District Events are 3 days on paper but really have 2 days of actual competition. The first day is really just 5 hrs whereby a team can set up their pit, do some work on their robot, get it inspected and maybe get on the field to tune/align/calibrate/test/practice.

This year, no team will have their autonomous L/R message processing tested in-house prior to the competition. The only way to test it will be at a week-zero event or during load-in. This makes the load-in even more important.

People who need to be at the Load-in (not in any order)
  • Drive team (Peter, Isha, Sarah, Xilonen, Matt)
  • Software team (Ben K, Matt)
  • Pit setup (Zach)
  • Other (Stav)
Robot Software / Re: Hardware interface map
« Last post by Louis L on February 09, 2018, 10:24:17 AM »
Removed the pressure sensor from the Gripper. Steffen's testing showed it would be difficult to use due to the uneven surface on the milk crate Cube. The sensor requires that an additional contact surface be used but that would still have to be properly mated to the sensor to have it work just right.
Imagery / Re: Team Avatar
« Last post by Louis L on February 07, 2018, 10:24:41 PM »
Since we had no takers, I made one using a piece of our logo.
Arcadia / Re: 2017-2018 Implementation
« Last post by Saharsh Y on February 06, 2018, 08:42:42 PM »
Here are some of the notes that were taken during the content meeting.

We were also planning on recording students speak out some of the content, maybe even record their faces and not just audio.

I attached a link to the document where notes were taken because when I copy paste the information, the forum removes formatting.
Robot Software / Re: Task Breakdown
« Last post by ohad z on February 06, 2018, 12:53:45 AM »
Task list and status of the Arm mechanism software:
1. Validate geometry assumptions: This was done with Ed, and it looks like the Final arm assembly will be partially extended in the cube pickup position and would need to be retracted before it can move to other positions. Software would need to accommodate retracting to not violate rules (prior to arm changes, it was going to be fully retracted at pickup). This task is done
2. Basic commands (command building blocks to control individual pieces of the arm/extension/claw): Commands are placed in commands.arm package. Command implementation in progress. Commands left to implement include the gripper commands
3. Extension mode programming: Math and strategies for arm extension have been discussed. Arm extension strategies implementation is done, testing for strategies is done.
4. Manual operation of arm: This would included the fine tuning of the arm manually up and down including the extension controls, using the joystick. This is done
5. PID controls for arm stall current: this will apply PID logic to the arm up/down motor to keep arm from sagging. Implementation is done though not yet verified in real life
6. Gyro programming: This would add mode to the claw movement to put it in horizontal position. Not done
7. Gripper modes: TBD. Not done
8. Stall current detection: Add stall current detection to motors as necessary. Not done
9. Change Software PID to hardware PID for arm and extension to accommodate new wiring of POT. This is not done

External dependencies and unknowns:
- PID testing to see if arm can be kept in place (if this is not working as expected user control through stick is planned)

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