2013:Climber Subteam - Revision history

Programming: /* Week 1 */

2013-03-07T00:04:11Z

Week 1

← Older revision		Revision as of 17:04, 6 March 2013
Line 197:		Line 197:
	== Week 1 ==		== Week 1 ==

	*~~[[2013:Climber 01.12\|1/12]]~~		*Brainstormed different climbing ideas
			*Created Rough 3D CAD prototype models of different climbing mechanisms



	== Week 2 ==		== Week 2 ==

Programming at 00:37, 6 March 2013

2013-03-06T00:37:35Z

← Older revision		Revision as of 17:37, 5 March 2013
Line 1:		Line 1:
	= Climber Design =		= Climber Design =

	[[File:Robit Climber.PNG]]		[[File:Robit Climber.PNG]] [[File:Robit C‫limber2.PNG]]

	For aligning the pyramid, the "V" sensor is not enough. The robot may still be too far to the right or left. If too far right/left, then only one side of the arms would grab the bars. Sensors on the lifting arms, at the height of the level 1 horizontal bars, will be used. In order to climb, the "V" sensor and both arms sensors will need to be tripped; this will give 3 points of contact and 'guarntee' alignment for climbing.		For aligning the pyramid, the "V" sensor is not enough. The robot may still be too far to the right or left. If too far right/left, then only one side of the arms would grab the bars. Sensors on the lifting arms, at the height of the level 1 horizontal bars, will be used. In order to climb, the "V" sensor and both arms sensors will need to be tripped; this will give 3 points of contact and 'guarntee' alignment for climbing.

Programming: /* Climber's Engineering Notebook */

2013-03-06T00:27:37Z

Climber's Engineering Notebook

← Older revision		Revision as of 17:27, 5 March 2013
Line 197:		Line 197:
	== Week 1 ==		== Week 1 ==

	*[[2013:Climber 01.10\|1/10]]
	*[[2013:Climber 01.12\|1/12]]		*[[2013:Climber 01.12\|1/12]]

	== Week 2 ==		== Week 2 ==

	*[[2013:Climber 01.13\|1/13]]
	*[[2013:Climber 01.15\|1/15]]		*[[2013:Climber 01.15\|1/15]]
	*[[2013:Climber 01.16\|1/16]]
	*[[2013:Climber 01.17\|1/17]]
	*[[2013:Climber 01.19\|1/19]]		*[[2013:Climber 01.19\|1/19]]

Line 211:		Line 208:

	*[[2013:Climber 01.20\|1/20]]		*[[2013:Climber 01.20\|1/20]]
	*[[2013:Climber 01.22\|1/22]]
	*[[2013:Climber 01.23\|1/23]]
	*[[2013:Climber 01.24\|1/24]]
	*[[2013:Climber 01.26\|1/26]]

	== Week 4 ==		== Week 4 ==

	*[[2013:Climber 01.27\|1/27]]		*[[2013:Climber 01.27\|1/27]]
	*[[2013:Climber 01.29\|1/29]]
	*[[2013:Climber 01.30\|1/30]]
	*[[2013:Climber 01.31\|1/31]]
	*[[2013:Climber 02.02\|2/02]]

	== Week 5 ==		== Week 5 ==

	*[[2013:Climber 02.03\|2/03]]
	*[[2013:Climber 02.05\|2/05]]
	*[[2013:Climber 02.06\|2/06]]
	*[[2013:Climber 02.07\|2/07]]
	*[[2013:Climber 02.08\|2/08]]
	*[[2013:Climber 02.09\|2/09]]

	== Week 6 ==		== Week 6 ==

	*[[2013:Climber 02.10\|2/10]]
	*[[2013:Climber 02.11\|2/11]]
	*[[2013:Climber 02.12\|2/12]]
	*[[2013:Climber 02.13\|2/13]]
	*[[2013:Climber 02.14\|2/14]]		*[[2013:Climber 02.14\|2/14]]
	*[[2013:Climber 02.15\|2/15]]		*[[2013:Climber 02.15\|2/15]]
	*[[2013:Climber 02.16\|2/16]]
	*[[2013:Climber 02.17\|2/17]]
	*[[2013:Climber 02.18\|2/18]]
	*[[2013:Climber 02.19\|2/19]]

	Engineering Notebook Templates Available at:[[Engineering Notebook Template\|Engineering_Notebook_Template]]		Engineering Notebook Templates Available at:[[Engineering Notebook Template\|Engineering_Notebook_Template]]

	Please Label All Notebook Pages <u>2013:Climber XX.XX</u> to avoid confusion.		Please Label All Notebook Pages <u>2013:Climber XX.XX</u> to avoid confusion.

Programming at 00:20, 6 March 2013

2013-03-06T00:20:35Z

← Older revision		Revision as of 17:20, 5 March 2013
Line 1:		Line 1:
	= Climber Design =		= Climber Design =

			[[File:Robit Climber.PNG]]

	For aligning the pyramid, the "V" sensor is not enough. The robot may still be too far to the right or left. If too far right/left, then only one side of the arms would grab the bars. Sensors on the lifting arms, at the height of the level 1 horizontal bars, will be used. In order to climb, the "V" sensor and both arms sensors will need to be tripped; this will give 3 points of contact and 'guarntee' alignment for climbing.		For aligning the pyramid, the "V" sensor is not enough. The robot may still be too far to the right or left. If too far right/left, then only one side of the arms would grab the bars. Sensors on the lifting arms, at the height of the level 1 horizontal bars, will be used. In order to climb, the "V" sensor and both arms sensors will need to be tripped; this will give 3 points of contact and 'guarntee' alignment for climbing.

ElectricalMain: /* Climber Design */

2013-02-17T22:02:32Z

Climber Design

← Older revision		Revision as of 15:02, 17 February 2013
Line 26:		Line 26:
	\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).		\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).
	\|		\|
	~~*~~CHANGE~~*~~		CHANGE !!!

	Each side will be fed back to the cRIO, (not AND'ed together as previously).		Each side will be fed back to the cRIO, (not AND'ed together as previously).
Line 38:		Line 38:
	\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the arms can be lowered and the robot pulled up to the next level.		\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the arms can be lowered and the robot pulled up to the next level.
	\|		\|
	Each side will be fed back to the cRIO.		Each side will be fed back to the cRIO.

	Logic HIGH = sensor blocked		Logic HIGH = sensor blocked

ElectricalMain: /* Climber Design */

2013-02-17T22:01:35Z

Climber Design

← Older revision		Revision as of 15:01, 17 February 2013
Line 5:		Line 5:
	Both sets of arms will be below the level 1 horizontal bar at the start of the match. So the lefting arms will need to raised prior to deploying the arms. If that is not done, and the robot is not perfectly align, one arm might end up inside the pyramid and get catch on the bar as the arms are raised. An additional flag sensor will be added to the arm track so when it is tripped, the arms will be at the proper height. The proper height is such that that sensors of the lifting arm will be at the height of the level 1 horizontal bar.		Both sets of arms will be below the level 1 horizontal bar at the start of the match. So the lefting arms will need to raised prior to deploying the arms. If that is not done, and the robot is not perfectly align, one arm might end up inside the pyramid and get catch on the bar as the arms are raised. An additional flag sensor will be added to the arm track so when it is tripped, the arms will be at the proper height. The proper height is such that that sensors of the lifting arm will be at the height of the level 1 horizontal bar.

	Deploying will involve moving the lifting arms to the alignment flag position, then the ~~sevors~~ will be moved to release the arms.		Deploying will involve moving the lifting arms to the alignment flag position, then the servos will be moved to release the arms.

	The drivers will be responsible for engaging the "V" sensor and deploying the arms; this can be done in either order. The aux driver will then press and hold a button to climb. The robot will preform the entire climb. This means, the robot will automatically turn to get both arm sensors tripped (i.e. auto align the robot to the pyramid), then move the lifting arms up, then pull the robot to level 1, then move lifting arms to next level, then pull robot to level 2, and so on until at level 3. If the driver wants to abort the climb, they just release the button. This allows the driver stop the climb at any level and abort if they see something wrong. The button can be re-pressed and the robot will continue the climb, if possible.		The drivers will be responsible for engaging the "V" sensor and deploying the arms; this can be done in either order. The aux driver will then press and hold a button to climb. The robot will preform the entire climb. This means, the robot will automatically turn to get both arm sensors tripped (i.e. auto align the robot to the pyramid), then move the lifting arms up, then pull the robot to level 1, then move lifting arms to next level, then pull robot to level 2, and so on until at level 3. If the driver wants to abort the climb, they just release the button. This allows the driver stop the climb at any level and abort if they see something wrong. The button can be re-pressed and the robot will continue the climb, if possible. NOTE: during climb, the primary joysticks will not move the wheels
	NOTE: during climb, the primary joysticks will not move the wheels

	So we do not violate the 54" rule, the shooter will need to be in the home position before climbing. This means the "Deploy" for the arms will not work unless the shooter is at the required angle. Shooter will move to required angle by manually moving slider or by pressing the button that makes the climber the front of the robot.		So we do not violate the 54" rule, the shooter will need to be in the home position before climbing. This means the "Deploy" for the arms will not work unless the shooter is at the required angle. Shooter will move to required angle by manually moving slider or by pressing the button that makes the climber the front of the robot.
Line 27:		Line 26:
	\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).		\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).
	\|		\|
	~~To minimize inputs, the sensors will be 'and' together.~~		*CHANGE*

	Logic HIGH = ~~both sensors~~ blocked.		Each side will be fed back to the cRIO, (not AND'ed together as previously).

			Logic HIGH = sensor blocked.

	\|-		\|-
Line 36:		Line 37:
	\| Detects when the arms are in position for the robot to be pulled up.		\| Detects when the arms are in position for the robot to be pulled up.
	\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the arms can be lowered and the robot pulled up to the next level.		\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the arms can be lowered and the robot pulled up to the next level.
	\| Each side will be fed back to the cRIO. Logic HIGH = sensor blocked		\|
			Each side will be fed back to the cRIO.

			Logic HIGH = sensor blocked

	\|-		\|-
	\| "V"		\| "V"
Line 150:		Line 155:
	\| Climb		\| Climb
	\| While pressed, if auto-climb is not broken and "V" is engaged, the robot will auto-align with the pyramid and climb all 3 levels. Releasing the button will stop the climb. Re-pressing the button will resume the climb, if possible.		\| While pressed, if auto-climb is not broken and "V" is engaged, the robot will auto-align with the pyramid and climb all 3 levels. Releasing the button will stop the climb. Re-pressing the button will resume the climb, if possible.
	\| Button must be pressed and held.<br>While being held, the Primary Driver joystick Y-axis will not move the wheels.		\| Button must be pressed and held.<br/>While being held, the Primary Driver joystick Y-axis will not move the wheels.
	\|-		\|-
	\| Aux Driver		\| Aux Driver

Programming: /* Climber Design */ added notes about primary driver not being able to move the wheels while Climb button is being pressed

2013-02-10T13:15:35Z

Climber Design: added notes about primary driver not being able to move the wheels while Climb button is being pressed

← Older revision		Revision as of 06:15, 10 February 2013
Line 8:		Line 8:

	The drivers will be responsible for engaging the "V" sensor and deploying the arms; this can be done in either order. The aux driver will then press and hold a button to climb. The robot will preform the entire climb. This means, the robot will automatically turn to get both arm sensors tripped (i.e. auto align the robot to the pyramid), then move the lifting arms up, then pull the robot to level 1, then move lifting arms to next level, then pull robot to level 2, and so on until at level 3. If the driver wants to abort the climb, they just release the button. This allows the driver stop the climb at any level and abort if they see something wrong. The button can be re-pressed and the robot will continue the climb, if possible.		The drivers will be responsible for engaging the "V" sensor and deploying the arms; this can be done in either order. The aux driver will then press and hold a button to climb. The robot will preform the entire climb. This means, the robot will automatically turn to get both arm sensors tripped (i.e. auto align the robot to the pyramid), then move the lifting arms up, then pull the robot to level 1, then move lifting arms to next level, then pull robot to level 2, and so on until at level 3. If the driver wants to abort the climb, they just release the button. This allows the driver stop the climb at any level and abort if they see something wrong. The button can be re-pressed and the robot will continue the climb, if possible.
			NOTE: during climb, the primary joysticks will not move the wheels

	So we do not violate the 54" rule, the shooter will need to be in the home position before climbing. This means the "Deploy" for the arms will not work unless the shooter is at the required angle. Shooter will move to required angle by manually moving slider or by pressing the button that makes the climber the front of the robot.		So we do not violate the 54" rule, the shooter will need to be in the home position before climbing. This means the "Deploy" for the arms will not work unless the shooter is at the required angle. Shooter will move to required angle by manually moving slider or by pressing the button that makes the climber the front of the robot.
Line 149:		Line 150:
	\| Climb		\| Climb
	\| While pressed, if auto-climb is not broken and "V" is engaged, the robot will auto-align with the pyramid and climb all 3 levels. Releasing the button will stop the climb. Re-pressing the button will resume the climb, if possible.		\| While pressed, if auto-climb is not broken and "V" is engaged, the robot will auto-align with the pyramid and climb all 3 levels. Releasing the button will stop the climb. Re-pressing the button will resume the climb, if possible.
	\| Button must be pressed and held.		\| Button must be pressed and held.<br>While being held, the Primary Driver joystick Y-axis will not move the wheels.
	\|-		\|-
	\| Aux Driver		\| Aux Driver

ElectricalMain: /* Climber Design */

2013-02-09T20:59:19Z

Climber Design

← Older revision		Revision as of 13:59, 9 February 2013
Line 26:		Line 26:
	\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).		\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).
	\|		\|
	To minimize inputs, the sensors will be 'and' together.		To minimize inputs, the sensors will be 'and' together.

	Logic HIGH = both sensors blocked.		Logic HIGH = both sensors blocked.
Line 80:		Line 80:
	\| Moves the lifting arms		\| Moves the lifting arms
	\| If not in lift broken mode, the encoder and a PID are used to control the moving of the arms. If in lift broken mode, buttons on the joystick will be used to drive the motor at a constant speed.		\| If not in lift broken mode, the encoder and a PID are used to control the moving of the arms. If in lift broken mode, buttons on the joystick will be used to drive the motor at a constant speed.
	\|		\| 40A circuit
	\|-		\|-
	\| ~~Servors~~ (2)		\| Servos (2)
	\| Deploys the arms		\| Deploys the arms
	\| Releases pins that are holding both arms, so the arms are extended and can be used for climbing.		\| Releases pins that are holding both arms, so the arms are extended and can be used for climbing.

ElectricalMain: /* Climber Design */

2013-02-09T20:39:50Z

Climber Design

← Older revision		Revision as of 13:39, 9 February 2013
Line 44:		Line 44:
	\|-		\|-
	\| Arm Track Top		\| Arm Track Top
	\| Slotted Optical (~~365-1262-ND~~)		\| Slotted Optical (OPB819)
	\| Detects when lifting arms are at the top of the track		\| Detects when lifting arms are at the top of the track
	\| This is at the limit of travel. Software will kill the motor power if this is tripped.		\| This is at the limit of travel. Software will kill the motor power if this is tripped.
Line 50:		Line 50:
	\|-		\|-
	\| Arm Track Bottom		\| Arm Track Bottom
	\| Slotted Optical (~~365-1262-ND~~)		\| Slotted Optical (OPB819)
	\| Detects when lifting arms are at the bottom of the track		\| Detects when lifting arms are at the bottom of the track
	\| This is at the limit of travel. Software will kill the motor power if this is tripped.		\| This is at the limit of travel. Software will kill the motor power if this is tripped.
Line 62:		Line 62:
	\|-		\|-
	\| Arm Track Deploy		\| Arm Track Deploy
	\| Slotted Optical (~~365-1262-ND~~)		\| Slotted Optical (OPB819)
	\| Detecs when lifting arms are in the proper position to align to tower.		\| Detecs when lifting arms are in the proper position to align to tower.
	\| When the robot tower is in the depolyed position, the arms will travel to where the flag is positioned. This position is chosen such that the "Moving Arms" sensors are in a position that will allow the moving-arm sensors align the robot (i.e. at the height of the level 1 horizontal bars.		\| When the robot tower is in the depolyed position, the arms will travel to where the flag is positioned. This position is chosen such that the "Moving Arms" sensors are in a position that will allow the moving-arm sensors align the robot (i.e. at the height of the level 1 horizontal bars.

ElectricalMain: /* Climber Design */

2013-02-09T20:36:06Z

Climber Design

← Older revision		Revision as of 13:36, 9 February 2013
Line 25:		Line 25:
	\| Detects when the arms are in position for the robot to hang and is being hung.		\| Detects when the arms are in position for the robot to hang and is being hung.
	\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).		\| The sensors are tripped when the arm has 'snapped' against the horizontal bar after just riding up and over it; meaning the robot can now be lowered onto the bars and be hung. The sensor will remain tripped while the robot is hung (TBD).
	\| To minimize inputs, the sensors will be 'and' together. Logic HIGH = both sensors blocked.		\|
			To minimize inputs, the sensors will be 'and' together.

			Logic HIGH = both sensors blocked.

	\|-		\|-
	\| Moving Arms		\| Moving Arms
Line 43:		Line 47:
	\| Detects when lifting arms are at the top of the track		\| Detects when lifting arms are at the top of the track
	\| This is at the limit of travel. Software will kill the motor power if this is tripped.		\| This is at the limit of travel. Software will kill the motor power if this is tripped.
	\| Logic ~~HIGH~~ = sensor blocked by flag		\| Logic LOW = sensor blocked by flag
	\|-		\|-
	\| Arm Track Bottom		\| Arm Track Bottom
Line 49:		Line 53:
	\| Detects when lifting arms are at the bottom of the track		\| Detects when lifting arms are at the bottom of the track
	\| This is at the limit of travel. Software will kill the motor power if this is tripped.		\| This is at the limit of travel. Software will kill the motor power if this is tripped.
	\| Logic ~~HIGH~~ = sensor blocked y flag		\| Logic LOW = sensor blocked by flag
	\|-		\|-
	\| Arm Motor Shaft		\| Arm Motor Shaft
Line 61:		Line 65:
	\| Detecs when lifting arms are in the proper position to align to tower.		\| Detecs when lifting arms are in the proper position to align to tower.
	\| When the robot tower is in the depolyed position, the arms will travel to where the flag is positioned. This position is chosen such that the "Moving Arms" sensors are in a position that will allow the moving-arm sensors align the robot (i.e. at the height of the level 1 horizontal bars.		\| When the robot tower is in the depolyed position, the arms will travel to where the flag is positioned. This position is chosen such that the "Moving Arms" sensors are in a position that will allow the moving-arm sensors align the robot (i.e. at the height of the level 1 horizontal bars.
	\| Logic ~~HIGH~~ = sensor blocked by flag		\| Logic LOW = sensor blocked by flag
	\|}		\|}

← Older revision		Revision as of 17:27, 5 March 2013
Line 197:		Line 197:
	== Week 1 ==		== Week 1 ==

	*[[2013:Climber 01.10\|1/10]]
	*[[2013:Climber 01.12\|1/12]]		*[[2013:Climber 01.12\|1/12]]

	== Week 2 ==		== Week 2 ==

	*[[2013:Climber 01.13\|1/13]]
	*[[2013:Climber 01.15\|1/15]]		*[[2013:Climber 01.15\|1/15]]
	*[[2013:Climber 01.16\|1/16]]
	*[[2013:Climber 01.17\|1/17]]
	*[[2013:Climber 01.19\|1/19]]		*[[2013:Climber 01.19\|1/19]]

Line 211:		Line 208:

	*[[2013:Climber 01.20\|1/20]]		*[[2013:Climber 01.20\|1/20]]
	*[[2013:Climber 01.22\|1/22]]
	*[[2013:Climber 01.23\|1/23]]
	*[[2013:Climber 01.24\|1/24]]
	*[[2013:Climber 01.26\|1/26]]

	== Week 4 ==		== Week 4 ==

	*[[2013:Climber 01.27\|1/27]]		*[[2013:Climber 01.27\|1/27]]
	*[[2013:Climber 01.29\|1/29]]
	*[[2013:Climber 01.30\|1/30]]
	*[[2013:Climber 01.31\|1/31]]
	*[[2013:Climber 02.02\|2/02]]

	== Week 5 ==		== Week 5 ==

	*[[2013:Climber 02.03\|2/03]]
	*[[2013:Climber 02.05\|2/05]]
	*[[2013:Climber 02.06\|2/06]]
	*[[2013:Climber 02.07\|2/07]]
	*[[2013:Climber 02.08\|2/08]]
	*[[2013:Climber 02.09\|2/09]]

	== Week 6 ==		== Week 6 ==

	*[[2013:Climber 02.10\|2/10]]
	*[[2013:Climber 02.11\|2/11]]
	*[[2013:Climber 02.12\|2/12]]
	*[[2013:Climber 02.13\|2/13]]
	*[[2013:Climber 02.14\|2/14]]		*[[2013:Climber 02.14\|2/14]]
	*[[2013:Climber 02.15\|2/15]]		*[[2013:Climber 02.15\|2/15]]
	*[[2013:Climber 02.16\|2/16]]
	*[[2013:Climber 02.17\|2/17]]
	*[[2013:Climber 02.18\|2/18]]
	*[[2013:Climber 02.19\|2/19]]

	Engineering Notebook Templates Available at:[[Engineering Notebook Template\|Engineering_Notebook_Template]]		Engineering Notebook Templates Available at:[[Engineering Notebook Template\|Engineering_Notebook_Template]]

	Please Label All Notebook Pages <u>2013:Climber XX.XX</u> to avoid confusion.		Please Label All Notebook Pages <u>2013:Climber XX.XX</u> to avoid confusion.