1511Wookiee - User contributions [en]

2010:Robot Design Details

2010-02-06T17:14:57Z

Angry: Fixed numbering of auto modes

= 2010 Main Robot Design =

* 
* 
* 

 '''CURRENT TOTAL WEIGHT ESTIMATE:''' 80lbs(without lifter factored in) 

= Drivetrain Design =

*4 Direct Drive CIM Motors
*16:1 Banebots Transmissions
*2 Traction Wheels in the Front
*2 Omni Wheels in the back

'''Main Goals:'''

*Be able to go over the bumps
*Be manueverable
*Keep Balls from going underneath the robot

'''WEIGHT ESTIMATE:''' 50lbs

= Mechanical 1 Design - Lift & Structure =

*Using a mechanical 4 section telescope driven by pushing a cable up a tube to lift a hook
*Designed to lift the robot from either side off of the bump
*Has a pivoting mechanism that angles the telescope to the left or right depending on which side of the tower the robot is on
*Hook has a shepards crook design to be able to easily grab the high bar
*Winch pulls the telescoping tube back towards the robot to lift the robot off the ground
*Should be able to lift above needed height in under 5 seconds
*Using 1 CIM Motor,

'''Main Goals:'''

*Lift Robot above platform height as fast as possible (faster than 5 seconds)
*Extend lift and capture bar in under 5 seconds.
*Create an upper structure that supports the lift mechanism
*Create an upper structure that deflects balls
*Create an upper structure that potentially deflects balls towards the front of the robot

'''WEIGHT ESTIMATE:''' (tbd)lbs

= Mechanical 2 Design - Kicker & Beater Bar =

*Using 2 window motors and an electromagnet release
*Uses a "thunderfoot" kicker springloaded with surgical tubing to kick the ball
*Kicker will have variable positioning to kick ball different distances
*Beater bar is a simple spinning bar in the front of the robot that just spins to pull the balls into the robot and hold them while turning

'''Main Goals:'''

*Be able to kick the ball at distances from all 3 locations on the field (near, middle, far)
*Be able to score the ball when in the near zone
*Be able to control/possess balls while driving around the field

'''WEIGHT ESTIMATE:''' 30lbs

= Electrical System =

*7 Jaguar Speed Controllers (main drive motors, lifting arm winch, lifting arm tilt, front spinner)
*Power Distribution Board
*120 amp Circuit Breaker
*Digital I/O sidecar
*Linksys Router
*3 Spike Relays (2 for kicker motors, 1 electromagnet)
*cRIO (1 analog module, 2 digital modules) with 2 Digital Side Cars
*Indicator Light
*Camera & mount (just tilt servo) 
*Wires
*Magic

'''        Main Goals:'''

*To Give all mechanical components power
*To give sensor readbacks that programming and operators need
*Make sure that the magic smoke that makes up all electrical components does not escape

 '''WEIGHT ESTIMATE:''' 11.5 lbs

= Motors List =

*4 CIM Motors - Drivetrain, driven by 4 Jaguars
*1 CIM Motor - Lifter: Winch & Pushing cable, driven by Jaguar
*1 Window Motor - Pivoting Mechanism, driven by Jaguar 
*2 Window Motors - Kicker, driven by 2 spike relays
*1 Fisher Price Motor - Beater Bar, driven by Jaguar
*1 Camera Servo
*1 Locking Servo for telescopic arm

 

'''Remaining Motors'''

*1 Fisher Price, 1 Window motor, and 2 Mabuchi motors remaining

= Sensors List =

*4 Banebots Encoders - Drivetrain
*1 magnetic rotation sensor - Determine relative posistion of kicker pull back mechanism
*1 BeamBreak Sensor - Ball Kicker
*2 limit switches for kicker motors
*Gyro
*Camera
*1 analog sensor - winch for lift
*2 limit switched for lift (?)

= Autonomous Modes =

    0.  Do nothing

#Near Zone: score 1 ball with dead reckoning
#*ball placed in corner of 9x9 grid near goal
#*robot placed against bump and angled to create straight line between it, the ball and the goal
#*move to ball, move ball closer to goal (if needed), kick ball into goal, backup out of the way
#Near Zone: score 1 ball with camera guidance
#*ball placed in corner of 9x9 grid near goal
#*robot placed against bump and angled to create straight line between it, the ball and the goal
#*move to ball, move ball closer to goal (if needed), align with target, kick ball into goal, backup out of the way
#Near Zone: score 1 ball with camera guidance and look for more balls
#*same as "Near Zone: score 1 ball with camera guidance"
#*search for more balls: pivot right and left looking for ball, drive to ball, align with target, kick ball into goal, backup
#Middle Zone: score 2 balls with dead reckoning
#*ball 1 placed in corner of 9x9 grid near bump & center line
#*ball 2 placed in center
#*robot placed against bump and angled to create straight line between it, ball 1 and the goal
#*move to ball 1, kick ball 1, turn towards ball 2, move to ball 2, turn back towards goal, kick ball 2, backup out of the way
#Middle Zone: score 2 balls with camera guidance
#*ball 1 placed in corner of 9x9 grid near bump & center line
#*ball 2 placed in center
#*robot placed against bump and angled to create straight line between it, ball 1 and the goal
#*move to ball 1, align with target, kick ball 1, turn towards ball 2, move to ball 2, align with target, kick ball 2, backup out of the way
#Far Zone: kick 3 balls with dead reckoning
#*balls placed along edge of field (in front of each other on 9x9)
#*robot goes against ramp in front of goal, not angled, to create a straight line between it, all 3 balls and the goal
#*move to ball 1, kick ball 1, move to ball 2, kick ball 2, move to ball 3, kick ball 3

 In all cases:

*Will allow for a delayed start
*Tilt down camera prior to tele-op mode

= Archive =

[[Robot Design Details|2009 Robot Design Details]]

2009:Mouse details

2009-02-08T02:53:48Z

Angry: Updated mouse calculations to reflect the current ball mouse

USB Ball Mouse -

power from PC to mouse is +5vdc.

Pulse Rate = 5 micro second (top two lines)

Long Pulse--->Long Pulse = 200 micro seconds (bottom length) 

Image:Pulse lengths

[[Image:Dell ball mouse pulse protocal.JPG]]

 

1/200uS = 5000cycles/sec - - - this is the maximum detectable rate

sensor wheel = 60 counts per revolution (CPR)

Calculate maximum detectable ground speed:

     5000cps/60CPR = 83.3 max revolutions per second (rps)

     diameter of mouse ball = 0.875"

     circumference of mouse ball  = Pi * d = 2.7489" circumference

                 measured counts per foot on current mouse on robot - 1210, or ~100 counts per inch

     83.3rps X 0.875" = 72.9 inches per second (ips)

     72.9ips/12 = 6.07 feet per second (fps) = maximum detectable linear ground speed

     6.07fps = 4.1 miles per hour (just in case you were curious)

 

It appears the phototransistor may be an "EverLight" Device...  Check out something "[http://www.everlight.com/upload/product_pdf/PT2559B-L2-F_1789.pdf similar]".

 

PS/2 Ball Mouse -

USB Optical Mouse -

2009:Programming 1.14.2009

2009-01-15T04:16:39Z

Angry:

Team Members helping:   Mike, Andy, Shauna, Calvin, Bear, Jeff, Eric, Rick January 14, 2009  Start: 5:30pm,  Finish:9:00 PM 

Accomplished:

#Corrected motor direction.   Reduced power for slow and regular modes.
#Researched traction control mechanisms. 
#Changed hard-coded upper mechanism code to more flexible codes
#Got basic acceleration limit working - increase ramp up time to 3sec or so

 

Next Tasks to Do

#Implement traction control
#Get Christian to implement control code
#Move sensor reading/storage to a single, separate class out of ThunderDrive - many classes need access to encoders, pots, etc.  Perhaps ThunderSense.cpp?
#Finish Autonomous pseudocode 
#Structure the Autonomous() function - deciding between modes, how to call/run a mode, etc.

2009:Programming 1.14.2009

2009-01-15T04:16:17Z

Angry: Additional notes by Angry

Team Members helping:   Mike, Andy, Shauna, Calvin, Becca,  Bear, Jeff, Eric, Rick January 14, 2009  Start: 5:30pm,  Finish:x:00 PM 

Accomplished:

#Corrected motor direction.   Reduced power for slow and regular modes.
#Researched traction control mechanisms. 
#Changed hard-coded upper mechanism code to more flexible codes
#Got basic acceleration limit working - increase ramp up time to 3sec or so

 

Next Tasks to Do

#Implement traction control
#Get Christian to implement control code
#Move sensor reading/storage to a single, separate class out of ThunderDrive - many classes need access to encoders, pots, etc.  Perhaps ThunderSense.cpp?
#Finish Autonomous pseudocode 
#Structure the Autonomous() function - deciding between modes, how to call/run a mode, etc.

2009:Robot Design Details

2009-01-15T03:51:05Z

Angry: Added fancy box

== Main Robot Design ==

General layout design of the robot, Dimensions ARE NOT exact.

[[Image:Scoring 1.jpg|424x300px]] [[Image:Empty Cell 1.jpg|247x225px]] [[Image:Collecting_1.jpg|236x225px]] 

== Drivetrain ==

*4-wheel drive
*Banebots Transmissions
*4 2.5" CIM motors
*Victor 884 [Drive] Speed Controllers
*Fixed wheels (slip-style steering) 
*Banebots encoders on each wheel (http://banebots.com/pc/ELECTRONICS/EN-G0561-KT) -- mounted at transmission outputs.
*27.25” LONG x 37.25” WIDE 
*Rear wheel axis at 5.625 from most rear surfaces (adjustable down to 4.625 corner brace regime permitting) 
*Front wheel axis at 11.625 from front most surfaces (adjustable ± 2.00”)

 
<div style="border: 2px solid rgb(255, 0, 0); padding: 4px; width: 80%; margin-left: auto; margin-right: auto; background-color: rgb(255, 221, 221); text-align: left;">
*Still need to determine a few hardware items but I think we could use a few PEM fasteners to further minimize fastener system weight
*We will need to design a few spacers “on the fly” as we determine the best approach while building
*The 6-hole patterns in the wheels need to be tapped for 10-32 Depth TBD
*Need to add the stiffener element between the wheels (1/side 1”x1” ext. Al stock is light and will work well and can be welded)
*Need to cut necessary smaller frame elements from stock
*Need to design in provisions for front “dummy wheels” biased 1/8” up for roll over protection
</div>
 

[[Image:Drivetrain 01-08-2009.jpg|Current Drivetrain design as of 01/08/2009]] 

 

== Front Ball Entry/Exit ==

* Ball intake/expulsion power provided by "chicken pluckers" on front conveyor - see conveyor.
* Passage controlled by "door" (TBD - need details)
* Powered by TBD
[[Image:Red_flag.gif|Please Update!]]

 

== Ball Hopper ==

*Open top entry for human player introduction
*Entry from conveyor at top of robot; entry controlled by upper ejector
*Exit is a "trap door" at the bottom of the hopper down to the area behind the lower ball collector and at the base of the conveyor system.
*Trap door and Lower collection blocker powered by Nippon Denso Window motor (possibly a rack & pinion arrangement?)
*Two Limit Switches sensors to tell when door is in open/closed position
*Jaguar speed controller

== Ball Conveyor ==

*Two conveyors opposite each other, working together to move balls from ball intake and/or below the ball hopper up to the upper ball ejector/hopper entry point.
*Front conveyor also acts as collector to bring outside balls in via "chicken pluckers" on lower roller of conveyor
*Powered by two independent motors (RS-545 Banebots motors with [http://banebots.com/pc/MP-36XXX-545/MP-36025-545 25:1 reduction gearboxes])
*Likely NOT direct drive, will likey be chain/sprocket to save space and move weight back on robot
*Banner Sensors (photoelectric): 42SMR-7100 Reciever and 42SML-7100 Source Mounted at the top of conveyor to detect ball "ready to fire"
*Jaguar speed controller

 

== Upper Ball Ejector ==

*Spinning ejector directs, based on direction, balls out of robot or in to hopper entry point.
*Powered by Fischer Price 00968-2910 motor with plastic gearbox removed and TBD Transmission to be added
*Likely NOT direct drive, will be chain/sprocket to save space and move weight back on robot
*Jaguar speed controller

2009:Programming 1.13.2009

2009-01-15T01:25:14Z

Angry: added notebook entry

Team Members helping:Rick, Peter, Mike, Andy, Shauna, Calvin, Becca, Bear, Jeff, Eric January 13, 2009 Start: 6:30 AM, Finish:9:00 PM

Accomplished:

1. Looked at traction control systems and algorithms (Rick and Mike) 2. Fixed some ThunderDrive issues (Andy and Bear) 3. Tested slow/normal/turbo mode in ThunderDrive (Eric/Jeff) 4. Tested all 4 encoders - work forward and backward

 Next Tasks to Do

1. Test Acceleration control with the real drivetrain and tweak settings. 2. Implement traction control 3. Get feedback from test drivers and tune driving speed and control curves to their preference. 4. Implement other driving controls: Override switch and LED, Wheel Slip LED, Driving Mode switches. 5. Tweak constants for slow/normal mode - they are way too fast

2009:Correct Dashboard Update Function

2009-01-14T01:20:56Z

Angry: Initial checkin

= This function should be used if/when WPILib is updated =
<pre>#include "WPILib.h"
#include "ThunderDrive.h"
#include "DashboardDataFormat.h"
#include "AnalogModule.h"
#include "DigitalModule.h"
#include "iomap.h"

//This function requires you to modify WPIlib/DigitalModule.h and
// make m_fpgaDIO a public member instead of private. The reason is
// that there are no publicly accessible ways of reading the value of
// a digital output or the output enables. Exposing m_fpgaDIO lets you use
// the ChipObject functions readDI, readDO, and readOutputEnable. The bitmasking
// of the DI and DO vectors versus the OE ensure that DIO's that are not inputs are
// not falsely set because those specific bits are actually outputs, and vice versa.
//
// The same lack of ability to get() the status of the relayFWD and relayREV bits
// requires exposing m_fpgaDIO to use the readSlowValue_Relay[Fwd|Rev] function
void UpdateDashboard(void)
{
tRioStatusCode status = 0;
UINT16 channum = 0; //analog/digital channel number
AnalogModule *amodule = AnalogModule::GetInstance(1);
DigitalModule *dmodule = DigitalModule::GetInstance(4);
for (channum = 1; channum <= SensorBase::kAnalogChannels; channum++)
{
dashboardDataFormat.m_AnalogChannels[0][channum-1] = amodule->GetValue(channum);
}

for (channum = 1; channum <= SensorBase::kPwmChannels; channum++)
{
dashboardDataFormat.m_PWMChannels[0][channum-1] = dmodule->GetPWM(channum);
}

unsigned short digin = 0, digout = 0, dio = 0;
unsigned short dio_oe = dmodule->m_fpgaDIO->readOutputEnable(&status);

digin = dmodule->m_fpgaDIO->readDI(&status);
digin &= ~dio_oe;
digout = dmodule->m_fpgaDIO->readDO(&status);
digout &= dio_oe;

dio = digin | digout;

dashboardDataFormat.m_DIOChannels[0] = dio; //cast from ushort to UINT16
dashboardDataFormat.m_DIOChannelsOutputEnable[0] = dio_oe; //another ushort to UINT16 cast
dashboardDataFormat.m_RelayFwd[0] = dmodule->m_fpgaDIO->readSlowValue_RelayFwd(&status);
dashboardDataFormat.m_RelayRev[0] = dmodule->m_fpgaDIO->readSlowValue_RelayRev(&status);
//no solenoid feedback - we're not using it.
dashboardDataFormat.PackAndSend();
}

</pre>

2010:Programming

2009-01-14T01:18:23Z

Angry: Added link to real dashboard update function

== Programming Sub-pages and Links ==

*[[SVN Setup]]
*[http://www.svn.penfieldrobotics.com/ Online browsing of our SVN Tree]
*[http://usfirst.org/frccontrolsystem 2009 Control System Information at usfirst.org] 

 

== Programming Design Documents ==

*[[DriveFunctions]] - things the drive software must/might do.
*[[Drive control functions|Drive control functions]] - driver controls - inputs and outputs
*[[Autonomous Strategies]]
*[[Correct Dashboard Update Function]]

 

== Engineering Notebook ==

'''Week 1 -'''''42 Days Left!!'' 

[[Programming meeting 1/6/09|Programming meeting - Tuesday,  Jan 6, 2009]]

[[Programming meeting Wednesday Jan 7 2009|Programming meeting - Wednesday,  Jan 7, 2009]]

[[Programming meeting - Thursday, Jan 8, 2009|Programming meeting - Thursday,  Jan 8, 2009]]

[[Programming Meeting - Jan 10, 2009|Programming_Meeting_Saturday_Jan_10,_2009]]

[[Programming_Meeting_-_Jan_11,_2009|Programming_Meeting - Sunday,  Jan_11,_2009]] 

'''Week 2 - '''''35 Days Left!!'' 

Programming meeting - Tuesday Jan 13, 2009 

Programming meeting - Wednesday Jan 14, 2009 

----

'''''Please Label All Notebook Pages Programming X.XX.2009 to avoid confusion'''''.

2009:Programming 1.10.2009

2009-01-11T16:41:21Z

Angry: Added autonmous's team work for 1/10

1.10.2009

Start time: 10:00

End time: 08:00

Members present: Eric, Jeff, Shauna, Mike, Andy, Calvin, Bear, Peter, Becca 

 Tasks completed:

1.) Basic tank drive working

2.) Speed options created

[[Image:Robodriveoptions.GIF]]

 

3.) Internet Explorer was found to be not friendly with wiki images 

4.) Ball manipulator code tweaked to the new robot specs

5.) Discovered documentation to be made of FAIL

6.) Began writing pseudocode and documentation for autonomous modes ([[Media:AutonomousFieldLogistics.doc|Autonomous field layout and documentation]])

 Tasks to complete: 

1.) Get a robot... 

2.) Test some code on mach 1511

2010:Programming

2009-01-11T16:34:44Z

Angry: Fixed link for 1/10

2009:Electrical Controls CAD Files

2009-01-11T03:55:10Z

Angry: Fixed links to files

== Laptop Inventor Files: ==

[[Media:LaptopB.ipt|LaptopB.ipt]], [[Media:LaptopT.ipt|LaptopT.ipt]], [[Media:Laptop.iam|Laptop.iam]]

Main Page

2009-01-10T20:29:08Z

Angry:

== General Pages: ==

*[[Robot Design Details|Robot Design Details]]
*[[IO Map|Electrical Pin Map]]
*[[Integration Status|Integration Status (DRAFT PAGE - DO NOT USE YET)]] 

== Subteam Engineering Notebooks: ==

{| width="100%" cellspacing="1" cellpadding="15" border="1"
|-
|
[[Mechanical 1]]

[[Mechanical 2]]

[[Electrical Main]]

[[Electrical Controls]]

[[Programming]]

[[Drivetrain]]

[[Field/Crate]]

[[Awards]]

|
== At a Minimum EACH Engineering Notebook Entry should include the following: ==

1. Names of team members helping

2. DATE & Start & Stop Time

3. Task List Accomplished

4. Next Tasks to Do

5. Any Images (Inventor, Scanned Sketches, Photos, Etc) Pertinent to the day's work!

 In addition, you can do any details or lessons learned from your tasks done that day. Feel free to attach any photos, details, spreadsheets, CAD screenshots or drawings.

|}

 

== General Controls/Driving thoughts - 1/10 meeting between Strategy, Drive team, Programming, and Electrical Controls team -- 1/10/09 Angry ==

*Potential drivers: Shauna (either, Rhand), Theo (drivetrain, rhand), Brenton (either, Rhand), Crystal (upper, Rhand) 

*Mechanisms: 
**2 belts - both up, both down, or in opposite directions (depends on how we eject balls) 
**At top of  belts - motor driven chicken plucker for loading or shooting 
**Bottom - chicken plucker is part of belt 
**Trapdoor to switch between loading or shooting or empty 

 

*No joysticks - so you can all move around in the driver station if needed 

*Drivetrain - XBOX360 (Theo) Logitech/PS2 (Shauna but she's cool w/Xbox360).  
**Drivetrain operations - Normal, slow, or turbo - based on the flippers on Xbox360 with left/right are independent turbo control, Toggle button for traction control on/off, 

 

*Speed control for both belts and for the shooter pinwheel 
*Ball control/upper mechanisms - Not use a gamepad - but custom handheld control 
*On the custom handheld - Dial for shooter speed, Switch between Preload for Scoring, Collect, Dump out the bottom, NO BELT MOVEMENT - 4 position switch or Dial with movable stops.  Push button for shooter wheel Go (only valid in Preload for Scoring mode), 4 Position Dial - Trapdoor - Auto, Pull in, Let out, or Stop. 
*What if instead of ejection out the bottom for an empty cell - shoot it out the top into the refueling station 

 

*On the main box - dial for the belt speed, BIG FAT RED LED to indicate lack of traction/wheel slippage, BIG GREEN LED to indicate traction control is on, switch on the box that overrides traction control on XBox controls and sets default, Broken Switch for Ball Queue Detect (do nothing in Preload, and scoring then means run both conveyor and shooter at the same time).  Also put two spare analog dials, and as many switches as we can have for "spares", extra LEDS for as many outputs we have. 

 

*Autonomous mode - selection box on the main driver station- could use the feedback method for indicating which mode we're in as the LAPTOP AND DASHBOARD,
*Need 3 position Starting Position Switch, Need 1 Mode # Selection Switch (ones and tens digits)

 

*Teleop/Auto switch needs to be accessible
*Enable/Disable switch should be a big fat emergency switch on the main box (not just the switch on the driver station)

Main Page

2009-01-10T20:27:52Z

Angry:

== General Pages: ==

*[[Robot Design Details|Robot Design Details]]
*[[IO Map|Electrical Pin Map]]
*[[Integration Status|Integration Status (DRAFT PAGE - DO NOT USE YET)]]

 

 

== Subteam Engineering Notebooks: ==

{| width="100%" cellspacing="1" cellpadding="15" border="1"
|-
|
[[Mechanical 1]]

[[Mechanical 2]]

[[Electrical Main]]

[[Electrical Controls]]

[[Programming]]

[[Drivetrain]]

[[Field/Crate]]

[[Awards]]

|
== At a Minimum EACH Engineering Notebook Entry should include the following: ==

1. Names of team members helping

2. DATE & Start & Stop Time

3. Task List Accomplished

4. Next Tasks to Do

5. Any Images (Inventor, Scanned Sketches, Photos, Etc) Pertinent to the day's work!

 In addition, you can do any details or lessons learned from your tasks done that day. Feel free to attach any photos, details, spreadsheets, CAD screenshots or drawings.

|}

 

== General Controls/Driving thoughts - 1/10 meeting between Strategy, Drive team, Programming, and Electrical Controls team -- 1/10/09 Angry ==

*Potential drivers: Shauna (either, Rhand), Theo (drivetrain, rhand), Brenton (either, Rhand), Crystal (upper, Rhand) 

*Mechanisms: 
**2 belts - both up, both down, or in opposite directions (depends on how we eject balls) 
**At top of  belts - motor driven chicken plucker for loading or shooting 
**Bottom - chicken plucker is part of belt 
**Trapdoor to switch between loading or shooting or empty 

 

*No joysticks - so you can all move around in the driver station if needed 

*Drivetrain - XBOX360 (Theo) Logitech/PS2 (Shauna but she's cool w/Xbox360).  
**Drivetrain operations - Normal, slow, or turbo - based on the flippers on Xbox360 with left/right are independent turbo control, Toggle button for traction control on/off, 

 

*Speed control for both belts and for the shooter pinwheel 
*Ball control/upper mechanisms - Not use a gamepad - but custom handheld control 
*On the custom handheld - Dial for shooter speed, Switch between Preload for Scoring, Collect, Dump out the bottom, NO BELT MOVEMENT - 4 position switch or Dial with movable stops.  Push button for shooter wheel Go (only valid in Preload for Scoring mode), 4 Position Dial - Trapdoor - Auto, Pull in, Let out, or Stop. 
*What if instead of ejection out the bottom for an empty cell - shoot it out the top into the refueling station 

 

*On the main box - dial for the belt speed, BIG FAT RED LED to indicate lack of traction/wheel slippage, BIG GREEN LED to indicate traction control is on, switch on the box that overrides traction control on XBox controls and sets default, Broken Switch for Ball Queue Detect (do nothing in Preload, and scoring then means run both conveyor and shooter at the same time).  Also put two spare analog dials, and as many switches as we can have for "spares", extra LEDS for as many outputs we have. 

 

*Autonomous mode - selection box on the main driver station- could use the feedback method for indicating which mode we're in as the LAPTOP AND DASHBOARD,
*Need 3 position Starting Position Switch, Need 1 Mode # Selection Switch (ones and tens digits)

 

*Teleop/Auto switch needs to be accessible
*Enable/Disable switch should be a big fat emergency switch on the main box (not just the switch on the driver station)

Main Page

2009-01-10T20:26:27Z

Angry: Added the result of the driveteam, programming, electrical controls team detailing how to control the robot and choose modes

== General Pages: ==

*[[Robot Design Details|Robot Design Details]]
*[[IO Map|Electrical Pin Map]]
*[[Integration Status|Integration Status (DRAFT PAGE - DO NOT USE YET)]]

 

 

== Subteam Engineering Notebooks: ==

{| width="100%" cellspacing="1" cellpadding="15" border="1"
|-
|
[[Mechanical 1]]

[[Mechanical 2]]

[[Electrical Main]]

[[Electrical Controls]]

[[Programming]]

[[Drivetrain]]

[[Field/Crate]]

[[Awards]]

|
== At a Minimum EACH Engineering Notebook Entry should include the following: ==

1. Names of team members helping

2. DATE & Start & Stop Time

3. Task List Accomplished

4. Next Tasks to Do

5. Any Images (Inventor, Scanned Sketches, Photos, Etc) Pertinent to the day's work!

 In addition, you can do any details or lessons learned from your tasks done that day. Feel free to attach any photos, details, spreadsheets, CAD screenshots or drawings.

|}

 

General Controls/Driving thoughts - 1/10 meeting between Strategy, Drive team, Programming, and Electrical Controls team -- 1/10/09 Angry 

*Potential drivers: Shauna (either, Rhand), Theo (drivetrain, rhand), Brenton (either, Rhand), Crystal (upper, Rhand) 
**Mechanisms: 
*2 belts - both up, both down, or in opposite directions (depends on how we eject balls) 
*At top of  belts - motor driven chicken plucker for loading or shooting 
*Bottom - chicken plucker is part of belt 
*Trapdoor to switch between loading or shooting or empty 

*No joysticks - so you can all move around in the driver station if needed 

*Drivetrain - XBOX360 (Theo) Logitech/PS2 (Shauna but she's cool w/Xbox360).  
*Drivetrain operations - Normal, slow, or turbo - based on the flippers on Xbox360 with left/right are independent turbo control, Toggle button for traction control on/off, 

 

*Speed control for both belts and for the shooter pinwheel 
*Ball control/upper mechanisms - Not use a gamepad - but custom handheld control 
*On the custom handheld - Dial for shooter speed, Switch between Preload for Scoring, Collect, Dump out the bottom, NO BELT MOVEMENT - 4 position switch or Dial with movable stops.  Push button for shooter wheel Go (only valid in Preload for Scoring mode), 4 Position Dial - Trapdoor - Auto, Pull in, Let out, or Stop. 
*What if instead of ejection out the bottom for an empty cell - shoot it out the top into the refueling station 

*On the main box - dial for the belt speed, BIG FAT RED LED to indicate lack of traction/wheel slippage, BIG GREEN LED to indicate traction control is on, switch on the box that overrides traction control on XBox controls and sets default, Broken Switch for Ball Queue Detect (do nothing in Preload, and scoring then means run both conveyor and shooter at the same time).  Also put two spare analog dials, and as many switches as we can have for "spares", extra LEDS for as many outputs we have. 

*Autonomous mode - selection box on the main driver station- could use the feedback method for indicating which mode we're in as the LAPTOP AND DASHBOARD,
*Need 3 position Starting Position Switch, Need 1 Mode # Selection Switch (ones and tens digits)

*Teleop/Auto switch needs to be accessible
*Enable/Disable switch should be a big fat emergency switch on the main box (not just the switch on the driver station)

2009:Autonomous Strategies

2009-01-10T18:55:34Z

Angry: Added strategy team comments based on 1/10 meeting

*'''Score on opponent '''
**Choose what opponent to score on
**Which station currently at
***needs to drive an arc (still to come are drawings and math)
***general idea would be to score on the trailer

*'''Getting the empty cell and refueling (only valid for R1 and R3 positions) '''
**needs a “crazy Turn” to plow B2 out of the way
**R1 to local is too tight of a turn (same for R3 to remote)
**needs to determine position (has to be from R1 or R3)
***R1 => B2 => B1
***R3 => B2 => B3

*'''Offensive Defense - Stopping opponents from getting where they want to go '''
**drive forward to block B3
**drive directly across the field and block B2 & B1 (these for R1&R3)
**choose left or right
**head on collision with corner opponents

*'''"Oh Crap Override" '''
**detect if we stopped moving
**become a creator of chaos (vague but… it’ll be awesome)
**can be put in other modes just in case

*'''Pure Defense '''
**really random stuff
**robot seizures (tipsy robot walk)
***random speed for 2-3 ft distance
***random choice for left and right fork
***no more than 2 left or right turns in a row (to avoid getting stuck on walls)

=== ===

=== Needed sensors: ===

*Gyro
*Encoders
*Camera
*Accelerometer – practice this stuff first (EDD chassie?)

 

==== added strategy team comments from 1/10 meeting: ====

Possible problems  - Getting confused about opponent vs. our own team for scoring on trailer 

Must move out fast to avoid dumping from player behind you 

Possible pure defense - drive to our own refueling station (near) and hold the blue bot in place for our team to score on

2010:Drivetrain

2009-01-08T03:15:26Z

Angry: Added important note

== This is the Drivetrain Subteam's Engineering Notebook ==
= When posting new entries please make them "Drivetrain - Month.Day.Year" to avoid confusion with other pages!!! --Eric =
== ==

'''1.07.2009 '''

Start time: 6:00 pm

End time:  9:00 pm

Members present: Tony,  Goodman, Gannon, Larry, Dora 

New bearings p/n r1212zz ordered.

Tony and Matt were show  drive wheel asembly.

ordered transmission

built up chassis frame

 

'''Tasks to complete: '''' 

'''[[1.07.2009]]'''

'''Start time:''' 

'''End time:'''

'''Members present:''' Tony, Brenton, Goodman, Mark, Gannon, Larry 

 

All, please use the files in your assembly. 

I'll have to mail them *.stp is not allowed as to be uploaded by Wiki. 

 '''Tasks to complete:'''

1. Gather CAD files for inventor. 2. Assemble parts in inventor USE DATUMS 3. Make Drawings for custom parts 4. Make *.stp files for custom parts 5. Itemizes issues that need to be addressed 6. Become familiar with the design and Order of assembly 7. Figure out needed hardware. YOU ARE NOT LIMETED TO BOLTS AND NUTS 

 

 1. Gather CAD files for inventor. 2. Assemble parts in inventor USE DATUMS01. 3. Make Drawings for custom parts 4. Make *.stp files for custom parts 5. Itemizes issues that need to be addressed 6. Become familiar with the design and Order of assembly 7. Figure out needed hardware. YOU ARE NOT LIMETED TO BOLTS AND NUTS

2010:Electrical Main

2009-01-08T03:14:35Z

Angry:

== This is the Electrical Main Subteam's Engineering Notebook ==

= When posting new entries please make them "Electrical Main - Month.Day.Year" to avoid confusion with other pages!!! --Eric =

[[Electrical 1.06.09|Electrical 1.06.09]] [[Electrical 1.07.09|Electrical 1.07.09]] [[Electrical 1.08.09|Electrical 1.08.09]] [[Electrical 1.09.09|Electrical 1.09.09]] [[Electrical 1.10.09|Electrical 1.10.09]] 

[[Electrical 1.11.09|Electrical 1.11.09]] 

[[Electrical 1.12.09|Electrical 1.12.09]] [[Electrical 1.13.09|Electrical 1.13.09]] [[Electrical 1.14.09|Electrical 1.14.09]] [[Electrical 1.15.09|Electrical 1.15.09]] [[Electrical 1.16.09|Electrical 1.16.09]] 

== Component/Component Specifications ==

[[Jaguar Speed Controllers]]

[[Victor 884 Speed Controllers]]

[[Motor Characteristics]]

[[Sensors]]

2010:Electrical Main

2009-01-08T03:14:08Z

Angry: Added important note

== This is the Electrical Main Subteam's Engineering Notebook ==

= When posting new entries please make them "Mechanical 2 - Month.Day.Year" to avoid confusion with other pages!!! --Eric =

[[Electrical 1.06.09|Electrical 1.06.09]] [[Electrical 1.07.09|Electrical 1.07.09]] [[Electrical 1.08.09|Electrical 1.08.09]] [[Electrical 1.09.09|Electrical 1.09.09]] [[Electrical 1.10.09|Electrical 1.10.09]] 

[[Electrical 1.11.09|Electrical 1.11.09]] 

[[Electrical 1.12.09|Electrical 1.12.09]] [[Electrical 1.13.09|Electrical 1.13.09]] [[Electrical 1.14.09|Electrical 1.14.09]] [[Electrical 1.15.09|Electrical 1.15.09]] [[Electrical 1.16.09|Electrical 1.16.09]] 

== Component/Component Specifications ==

[[Jaguar Speed Controllers]]

[[Victor 884 Speed Controllers]]

[[Motor Characteristics]]

[[Sensors]]

2010:Mechanical

2009-01-08T03:11:46Z

Angry: Added important note

= '''When creating new entries please call them "Mechanical 1 - Month.Day.year" to avoid confusion with other page names!!!! --Eric''' =

== This is the Mechanical Subteam 1's Engineering Notebook ==

[[Mechanical 1 - 1.6.09]]

[[Mechanical 1 - 1.7.09]]

[[Mechanical 1 - 1.8.09]]

[[Mechanical 1 - 1.10.09]]

[[Mechanical 1 - 1.11.09]]

[[Mechanical 1 - 1.13.09]]

[[Mechanical 1 - 1.14.09]]

[[Mechanical 1 - 1.15.09]]

[[Mechanical 1 - 1.17.09]]

[[Mechanical 1 - 1.18.09]]

[[Mechanical 1 - 1.20.09]]

[[Mechanical 1 - 1.21.09]]

[[Mechanical 1 - 1.22.09]]

[[Mechanical 1 - 1.24.09]]

[[Mechanical 1 - 1.25.09]]

2009:Mechanical 2 1.7.2009

2009-01-08T02:56:46Z

Angry: Mechanical 1.7.2009 moved to Mechanical 2 1.7.2009: mechanical 2 team

'''Tasks completed:'''　 - Worked with Drive Train to conclude to determine the spacing for collection. 

- Changed design of the robot created last night. It consists now of 2 rollers, the front roller bringing in balls into a 1x2 hopper (holds about 16 balls). There is a conveyor system in the front which brings the balls up to a top where we were talking about having a curved deflector plate and have the conveyor belts shoot the balls. We haven't excluded the idea of the roller kicking the balls out the front.

- Started inventor work with simple shapes that take up the space they represent to better understand the layout of available space. 

'''Tasks to complete:''' 

-Finish available space analysis

2010:Electrical Main

2009-01-08T02:54:24Z

Angry: Fixed the links to point to correct pages

== This is the Electrical Main Subteam's Engineering Notebook ==

== This is a sample entry for an Engineering Notebook Entry - copy and paste this whole section to add a new entry ==

[[Electrical 1.06.09|Electrical 1.06.09]] [[Electrical 1.07.09|Electrical 1.07.09]] [[Electrical 1.08.09|Electrical 1.08.09]] [[Electrical 1.09.09|Electrical 1.09.09]] [[Electrical 1.10.09|Electrical 1.10.09]] 

[[Electrical 1.11.09|Electrical 1.11.09]] 

[[Electrical 1.12.09|Electrical 1.12.09]] [[Electrical 1.13.09|Electrical 1.13.09]] [[Electrical 1.14.09|Electrical 1.14.09]] [[Electrical 1.15.09|Electrical 1.15.09]] [[Electrical 1.16.09|Electrical 1.16.09]] 

== Component/Component Specifications ==

[[Jaguar Speed Controllers]]

[[Victor 884 Speed Controllers]]

[[Motor Characteristics]]

[[Sensors]]

2009:Electrical 1.07.09

2009-01-08T02:52:28Z

Angry: 1.07.09 moved to Electrical 1.07.09

1.07.2009

'''Start time: 7:10 pm'''

'''End time: 9:00 pm'''

'''Members present: '''Crystal, Rika, Collin, Michael, Sean, [Victor, Karen]

 '''Tasks completed:'''

- Identify Sensors (Acclerometer Sensor Board and Sensor Board - Gyroscope)

- Gyroscope: Price $74.95

- Acclerometer: Price $43.95

[http://www.sparkfun.com http://www.sparkfun.com]

 '''Tasks to complete:'''

- Decide mounting areas for electronics and how

- Mounting positions

- Selection of Speed Controllers

- Order of Speed Controllers

- Choose remaining motors and actuators

 Programming Notes for Drivetrain and Requests -- These are all the things the programming team wanted us to tag on while working with the controls.

Triggers for Drivetrain (Logitech Controllers or whatever) -2 Back triggers for Turbo, 2 Back triggers for Slow-mo **Add LEDs to define drive speed; green for turbo, yellow for slow-mo

Traction Control **Red Alerting LED

Reset button for drivetrain (for updating modifications to code, ect)

Override Toggle -- Cuts out the defaulted programming set of codes and allows the driver to take control "Oh no" button.

Mode Set Toggles --

Trim Control Knob -- For when the robot doesn't drive straight! ^_~ -Connected to INPUT (volts)

2009:Electrical 1.06.09

2009-01-08T02:52:07Z

Angry: 1.06.09 moved to Electrical 1.06.09

1.06.2009

'''Start time: 7:20pm'''

'''End time: 9:00pm'''

'''Members present: '''[Collin, Mike H, Crystal, Rika, Sean] - [Dave B, Karen W]

 '''Tasks completed:'''　

- Reviewed draft robot design

- Reviewed motor specs for conveyor hopper

- Decide which motors are best for conveyors

- Established questions for Mechanical 1 and 2 [See below]

 '''Tasks to complete:'''

 - Decide which sensors will work best for the motors

- Find specs for for motors in KoPs

 

'''Mechanical Questions'''

- How much stuff moves?

~Motor for each conveyor belt?

- Do we need free spinning motors? Limited motion?

- Servos?

- Brushes/Flippers

 '''Initial Motor Picks'''

Keyang - Conveyors

*Torque Spec* 35 *RPM* 75

"Flipper" - Globe Motor with Gearbox

*Torque Spec* 19 *RPM* 100

Jaguar Speed Controllers

2009-01-07T04:39:27Z

Angry:

[[Image:Configuration And Pinout.jpg]]

[http://www.luminarymicro.com/index.php?option=com_remository&func=download&id=1127&chk=c4f8a84168aeffcb0adf049fbc1971e8&Itemid=591 Configuration/Data Sheet]

[http://sales.digikey.com/dkes/FirstRoboticsCompetition.asp PURCHASE JAGUAR CONTROLLERS HERE!!!] They are '''heavily''' discounted through digi-key to FRC teams.

[[Image:LED_Status_Codes.jpg|LED status codes]]

Jaguar Speed Controllers

2009-01-07T04:38:11Z

Angry:

2009-01-04T00:37:47Z

2009-01-03T23:26:37Z

Angry:

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