2022:Shooter - Revision history

Heydowns: Heydowns moved page Shooter to 2022:Shooter

2023-01-13T02:40:49Z

Heydowns moved page Shooter to 2022:Shooter

← Older revision	Revision as of 19:40, 12 January 2023
(No difference)

Mechanical1 at 02:53, 6 March 2022

2022-03-06T02:53:23Z

← Older revision		Revision as of 19:53, 5 March 2022
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	== Prototyping 1/15/2022 ==		== Prototyping 1/15/2022 ==
	Today we made big progress in terms of getting distance and height. We went from one CIM motor to two CIMs and we got much more power and velocity. We tried to put 2 CIMS on one axle but the gearbox we wanted to use had a gear reduction from about ~6000 rpm down to 3000. To fix our issue, we had a pulley on each side driven by a CIM. This was much better and allowed us to make 25 foot shots into our Upper Hub mockup. We took the estimated height of the shooter and subtracted it from the height of our makeshift hub to make sure our test was accurate. We found this height to be 7' 11" since the robot is 10 1/2" off the ground from the center of the axle. We found that the Lexan panel for our hood got a lot of flex while shooting so we plan to add supports behind it. We also want to add more grip on the Lexan so we will use black rubber tape so then the friction the ball receives when firing is more consistent. Now with shooter in a more solidified state, we believe that we will most likely be loading from straight up, which means we have to play with the degrees of contact we get while shooting to make sure we can still make a launchpad shot, still aligning with the Strategy Mind Map.		Today we made big progress in terms of getting distance and height. We went from one CIM motor to two CIMs and we got much more power and velocity. We tried to put 2 CIMS on one axle but the gearbox we wanted to use had a gear reduction from about ~6000 rpm down to 3000. To fix our issue, we had a pulley on each side driven by a CIM. This was much better and allowed us to make 25 foot shots into our Upper Hub mockup. We took the estimated height of the shooter and subtracted it from the height of our makeshift hub to make sure our test was accurate. We found this height to be 7' 11" since the robot is 10 1/2" off the ground from the center of the axle. We found that the Lexan panel for our hood got a lot of flex while shooting so we plan to add supports behind it. We also want to add more grip on the Lexan so we will use black rubber tape so then the friction the ball receives when firing is more consistent. Now with shooter in a more solidified state, we believe that we will most likely be loading from straight up, which means we have to play with the degrees of contact we get while shooting to make sure we can still make a launchpad shot, still aligning with the Strategy Mind Map.
	[[File:Thumbnail Image (2).jpg\|thumb\|Front view of the shooter with the 2 CIMs. ]]		[[File:Thumbnail Image (2).jpg\|thumb\|Front view of the shooter with the 2 CIMs. \|295x295px]]

	== Prototyping 1/16/2022 ==		== Prototyping 1/16/2022 ==
	[[File:Thumbnail Image.jpg\|thumb\|Top down of the shooter. ]]		[[File:Thumbnail Image.jpg\|thumb\|Top down of the shooter. \|296x296px]]
	[[File:Thumbnail Image (1).jpg\|thumb\|Side view of the shooter. ]]		[[File:Thumbnail Image (1).jpg\|thumb\|Side view of the shooter. \|295x295px]]
	We supported our Lexan with more churro tubes, and we got less flex. We tried Gaff tape on the back of the hood and it introduced more friction and in turn, more spin which sent our Cargo off target. We shortened the Lexan from 24" to 20". This allowed us to adjust the angle to a more straight loading design which will be more accurate to what it is going to be on the robot. We also adjusted the amount of compression, making the pins go 10 1/32" from the outside of the axle to the center of the screws and 10 1/2" from the outside of the axle to the center of the churro tube. We will most likely keep the Lexan hood the way it is, with no extra material. We also kept track of the spread of our shots to measure accuracy. We found that the spread was about 3' 7" wide and 1' 6" deep. This is important because both dimensions are less than the Upper Hub diameter of 4 feet. Below are some pictures of the shooter in its current state.		We supported our Lexan with more churro tubes, and we got less flex. We tried Gaff tape on the back of the hood and it introduced more friction and in turn, more spin which sent our Cargo off target. We shortened the Lexan from 24" to 20". This allowed us to adjust the angle to a more straight loading design which will be more accurate to what it is going to be on the robot. We also adjusted the amount of compression, making the pins go 10 1/32" from the outside of the axle to the center of the screws and 10 1/2" from the outside of the axle to the center of the churro tube. We will most likely keep the Lexan hood the way it is, with no extra material. We also kept track of the spread of our shots to measure accuracy. We found that the spread was about 3' 7" wide and 1' 6" deep. This is important because both dimensions are less than the Upper Hub diameter of 4 feet. Below are some pictures of the shooter in its current state.

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	== CAD 1/20/2022 ==		== CAD 1/20/2022 ==
	[[File:TarmacShotTrajectory.png\|thumb\|The trajectory for the Tarmac shot. ]]		[[File:TarmacShotTrajectory.png\|thumb\|The trajectory for the Tarmac shot. \|267x267px]]
	[[File:Alliance Wall Shot Trajectory.png\|thumb\|This is the shot trajectory for the alliance wall to the upper hub. ]]		[[File:Alliance Wall Shot Trajectory.png\|thumb\|This is the shot trajectory for the alliance wall to the upper hub. \|288x288px]]
	After double-checking our dimensions on our rough mock-up in CAD, we began to modify our original prototype to be more accurate to the CAD. That was more of a Storage and Intake thing, Shooter hasn't been incorporated into it yet. While that was happening, we did shooter trajectory calculations to make sure our motors and gearing would be up to the task for the Tarmac and Alliance Wall shots into the upper hub. Luckily, we were able to make both shots and the RPM and power matched up. Here are the two trajectories for the Tarmac and Alliance Wall. We plan to continue testing our mock-up on a real prototype on Saturday before we move to a more final design stage.		After double-checking our dimensions on our rough mock-up in CAD, we began to modify our original prototype to be more accurate to the CAD. That was more of a Storage and Intake thing, Shooter hasn't been incorporated into it yet. While that was happening, we did shooter trajectory calculations to make sure our motors and gearing would be up to the task for the Tarmac and Alliance Wall shots into the upper hub. Luckily, we were able to make both shots and the RPM and power matched up. Here are the two trajectories for the Tarmac and Alliance Wall. We plan to continue testing our mock-up on a real prototype on Saturday before we move to a more final design stage.

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	== Adding Finishing Touches 2/5/2022 ==		== Adding Finishing Touches 2/5/2022 ==
	[[File:Shooter pic.png\|thumb\|The Final CAD model of the Shooter. ]]		[[File:Shooter pic.png\|thumb\|The Final CAD model of the Shooter. \|311x311px]]
	We added brackets for the beam break sensors, added other fasteners and spacers, and just general polish. We made sure things were set in the Final Robot, and we have began releasing more parts to get made in the shop. We are in a pretty good spot, all of the constraints are fixed in Final Robot too. Unfortunately, there must've been an issue back in the early stages of constraining the Drive Base to the ground plane because our shooter angle is wrong in reference to the ground plane. It should be 80 degrees, but because of the constraint error that we based mounting off of, our current angle is 72, which means we cannot do the shot backed up against the hub. We still will meet the tarmac and launchpad shots outlined in the mind map, but we cannot meet the nice to have of backing up against the hub. We might fix the side plate later down the road, but since we just sent it out to Harris, it's not the end of the world currently.		We added brackets for the beam break sensors, added other fasteners and spacers, and just general polish. We made sure things were set in the Final Robot, and we have began releasing more parts to get made in the shop. We are in a pretty good spot, all of the constraints are fixed in Final Robot too. Unfortunately, there must've been an issue back in the early stages of constraining the Drive Base to the ground plane because our shooter angle is wrong in reference to the ground plane. It should be 80 degrees, but because of the constraint error that we based mounting off of, our current angle is 72, which means we cannot do the shot backed up against the hub. We still will meet the tarmac and launchpad shots outlined in the mind map, but we cannot meet the nice to have of backing up against the hub. We might fix the side plate later down the road, but since we just sent it out to Harris, it's not the end of the world currently.

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	== Fully Assembled and Mounted! 2/16-2/18/2022 ==		== Fully Assembled and Mounted! 2/16-2/18/2022 ==
	We finally got the Shooter assembled and mounted! We had to take it on and off before we finally locked it in because storage was mounted wrong but Bestie Kadence worked with Roseanne to get everything worked out with Storage. Then we mounted it, fixed a clearance issue with the Hood Gear Rack and the Sponsor Back Plate. Everything seems to be positioned and working as normal, we just need to wire it and hand it off to programming so they can test it. Fingers crossed!		We finally got the Shooter assembled and mounted! We had to take it on and off before we finally locked it in because storage was mounted wrong but Bestie Kadence worked with Roseanne to get everything worked out with Storage. Then we mounted it, fixed a clearance issue with the Hood Gear Rack and the Sponsor Back Plate. Everything seems to be positioned and working as normal, we just need to wire it and hand it off to programming so they can test it. Fingers crossed!

			== Post Rally 2/22/2022 ==
			After we tested the Shooter at Rally, we made some important observations. Our initial calculations told us that we could not make the alliance wall shot, but when we tested it at Rally, we were able to make the Alliance wall shot quite comfortably. This meant that we could basically shoot from anywhere on the field, and I think that was due to our high compression on the ball and the hood. Other than that, we noticed that our Gear Racks were getting really chewed up by the metal idler gears, so we plan to make new Gear Racks out of ABS or Carbon Fiber. All in all, the Shooter is performing better than expected, and is very solid.
			[[File:NEW HOOD.png\|thumb\|The new Hood design with the rollers and the redesigned side plates. ]]

			== Fixing Minor Issues 2/24/2022 ==
			Turns out our potentiometer was moving around too much and throwing off our senor values. We had to readjust our gear contacts too because they were not meshing properly. After we fixed that, our presets were fixed, and the hood was functioning even better! We also redesigned our hood side plates to make them look better but also offset the weight of our new backing method: rollers.

			== Spares! 3/5/2022 ==
			Now that our changes have been made to our primary Shooter Assembly, we are making spare parts in case it breaks during competition. We made a spare Lexan-backed hood with new Carbon-Fiber Gear Racks and blacked-out Lexan, and we plan to retrofit the old hood with the rollers, so we can test that at some point if we'd like.

Mechanical1 at 12:27, 18 February 2022

2022-02-18T12:27:31Z

← Older revision		Revision as of 05:27, 18 February 2022
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	== Almost Assembled! 2/15/2022 ==		== Almost Assembled! 2/15/2022 ==
	We got the Preshooter motor and hood servo mounted, and also added the new 9mm belts for the flywheel because the original 5mm ones were too thin. We are still waiting on the Hood Gear Racks, but other than that, the shooter is ready to go. We plan to do Hood Assembly tomorrow and then mount Shooter on the robot.		We got the Preshooter motor and hood servo mounted, and also added the new 9mm belts for the flywheel because the original 5mm ones were too thin. We are still waiting on the Hood Gear Racks, but other than that, the shooter is ready to go. We plan to do Hood Assembly tomorrow and then mount Shooter on the robot.

			== Fully Assembled and Mounted! 2/16-2/18/2022 ==
			We finally got the Shooter assembled and mounted! We had to take it on and off before we finally locked it in because storage was mounted wrong but Bestie Kadence worked with Roseanne to get everything worked out with Storage. Then we mounted it, fixed a clearance issue with the Hood Gear Rack and the Sponsor Back Plate. Everything seems to be positioned and working as normal, we just need to wire it and hand it off to programming so they can test it. Fingers crossed!

Mechanical1 at 02:56, 16 February 2022

2022-02-16T02:56:51Z

← Older revision		Revision as of 19:56, 15 February 2022
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	== Making Adjustments... 2/13/2022 ==		== Making Adjustments... 2/13/2022 ==
	Turns out our back Lexan conflicts with our pre-shooter wheel so we ended up having to take it off and then cut it and then put it back on. Also, in order to fix some of the bowing we were having last night, we added "Mowhawks" to push in on the Lexan from the middle, keeping it straighter. We also started Hood assembly as well as pre-shooter assembly.		Turns out our back Lexan conflicts with our pre-shooter wheel so we ended up having to take it off and then cut it and then put it back on. Also, in order to fix some of the bowing we were having last night, we added "Mowhawks" to push in on the Lexan from the middle, keeping it straighter. We also started Hood assembly as well as pre-shooter assembly.

			== Almost Assembled! 2/15/2022 ==
			We got the Preshooter motor and hood servo mounted, and also added the new 9mm belts for the flywheel because the original 5mm ones were too thin. We are still waiting on the Hood Gear Racks, but other than that, the shooter is ready to go. We plan to do Hood Assembly tomorrow and then mount Shooter on the robot.

Mechanical1 at 01:53, 14 February 2022

2022-02-14T01:53:07Z

← Older revision		Revision as of 18:53, 13 February 2022
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	== Fabrication!!!! 2/12/2022 ==		== Fabrication!!!! 2/12/2022 ==
	We finally were able to begin assembling our shooter!! We got a lot done today and have the shooter mostly assembled. The first time, we ended up cracking our hood Lexan and had to make a new one. Luckily, this taught us that we needed to evenly distribute our force when screwing in the Lexan.		We finally were able to begin assembling our shooter!! We got a lot done today and have the shooter mostly assembled. The first time, we ended up cracking our hood Lexan and had to make a new one. Luckily, this taught us that we needed to evenly distribute our force when screwing in the Lexan.

			== Making Adjustments... 2/13/2022 ==
			Turns out our back Lexan conflicts with our pre-shooter wheel so we ended up having to take it off and then cut it and then put it back on. Also, in order to fix some of the bowing we were having last night, we added "Mowhawks" to push in on the Lexan from the middle, keeping it straighter. We also started Hood assembly as well as pre-shooter assembly.

Mechanical1 at 04:30, 13 February 2022

2022-02-13T04:30:59Z

← Older revision		Revision as of 21:30, 12 February 2022
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	== Harris Parts Came in! 2/11/2022 ==		== Harris Parts Came in! 2/11/2022 ==
	We finally got our shooter side plates from Harris! They look awesome, and we are so excited to paint them! We did a test fit, and everything sat all right on the robot. We also got the Hood Side Plates CNC'd,		We finally got our shooter side plates from Harris! They look awesome, and we are so excited to paint them! We did a test fit, and everything sat all right on the robot. We also got the Hood Side Plates CNC'd.

			== Fabrication!!!! 2/12/2022 ==
			We finally were able to begin assembling our shooter!! We got a lot done today and have the shooter mostly assembled. The first time, we ended up cracking our hood Lexan and had to make a new one. Luckily, this taught us that we needed to evenly distribute our force when screwing in the Lexan.

Mechanical1 at 04:44, 12 February 2022

2022-02-12T04:44:31Z

← Older revision		Revision as of 21:44, 11 February 2022
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	== More Fabrication! 2/9/2022 ==		== More Fabrication! 2/9/2022 ==
	We did some CNC work today, getting settings dialed in with cutting Lexan. We finished the night with these settings for a .25" end mill bit with 2 flutes. 18000 RPM, 150 feed, .0625 cut depth with 4 passes. We hope to get things more dialed in tomorrow, as we made good progress today.		We did some CNC work today, getting settings dialed in with cutting Lexan. We finished the night with these settings for a .25" end mill bit with 2 flutes. 18000 RPM, 150 feed, .0625 cut depth with 4 passes. We hope to get things more dialed in tomorrow, as we made good progress today.

			== Harris Parts Came in! 2/11/2022 ==
			We finally got our shooter side plates from Harris! They look awesome, and we are so excited to paint them! We did a test fit, and everything sat all right on the robot. We also got the Hood Side Plates CNC'd,

Mechanical1 at 02:36, 10 February 2022

2022-02-10T02:36:07Z

← Older revision		Revision as of 19:36, 9 February 2022
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	== Shop Drawings/Fabrication 2/8/2022 ==		== Shop Drawings/Fabrication 2/8/2022 ==
	While we are waiting for our Harris parts, we were able to focus our attention on other, more time sensitive, team initiatives. Any work for the shooter today happened through shop drawings, which are mostly completed.		While we are waiting for our Harris parts, we were able to focus our attention on other, more time sensitive, team initiatives. Any work for the shooter today happened through shop drawings, which are mostly completed.

			== More Fabrication! 2/9/2022 ==
			We did some CNC work today, getting settings dialed in with cutting Lexan. We finished the night with these settings for a .25" end mill bit with 2 flutes. 18000 RPM, 150 feed, .0625 cut depth with 4 passes. We hope to get things more dialed in tomorrow, as we made good progress today.

Mechanical1 at 14:12, 9 February 2022

2022-02-09T14:12:40Z

← Older revision		Revision as of 07:12, 9 February 2022
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	== Completely Overhauled... 2/6/2022 ==		== Completely Overhauled... 2/6/2022 ==
	We fixed the issue of our angle being wrong, we went from 72 and now we are back to 80. This means we had to make major changes to the Side Plate, Hood, and other infrastructure. We can know do both shots outlined in the Mind Map, and the hub shot. We then re-sent it out to Harris, and we hope to get it back next week. Due to the amount of material we had to remove, the side plates are now lighter, but don't look as good in my opinion. Either way, we were able to completely change the entire shooter in a day and fixed all angle issues.		We fixed the issue of our angle being wrong, we went from 72 and now we are back to 80. This means we had to make major changes to the Side Plate, Hood, and other infrastructure. We can know do both shots outlined in the Mind Map, and the hub shot. We then re-sent it out to Harris, and we hope to get it back next week. Due to the amount of material we had to remove, the side plates are now lighter, but don't look as good in my opinion. Either way, we were able to completely change the entire shooter in a day and fixed all angle issues.

			== Shop Drawings/Fabrication 2/8/2022 ==
			While we are waiting for our Harris parts, we were able to focus our attention on other, more time sensitive, team initiatives. Any work for the shooter today happened through shop drawings, which are mostly completed.

Mechanical1 at 01:49, 7 February 2022

2022-02-07T01:49:26Z

← Older revision		Revision as of 18:49, 6 February 2022
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	[[File:Shooter pic.png\|thumb\|The Final CAD model of the Shooter. ]]		[[File:Shooter pic.png\|thumb\|The Final CAD model of the Shooter. ]]
	We added brackets for the beam break sensors, added other fasteners and spacers, and just general polish. We made sure things were set in the Final Robot, and we have began releasing more parts to get made in the shop. We are in a pretty good spot, all of the constraints are fixed in Final Robot too. Unfortunately, there must've been an issue back in the early stages of constraining the Drive Base to the ground plane because our shooter angle is wrong in reference to the ground plane. It should be 80 degrees, but because of the constraint error that we based mounting off of, our current angle is 72, which means we cannot do the shot backed up against the hub. We still will meet the tarmac and launchpad shots outlined in the mind map, but we cannot meet the nice to have of backing up against the hub. We might fix the side plate later down the road, but since we just sent it out to Harris, it's not the end of the world currently.		We added brackets for the beam break sensors, added other fasteners and spacers, and just general polish. We made sure things were set in the Final Robot, and we have began releasing more parts to get made in the shop. We are in a pretty good spot, all of the constraints are fixed in Final Robot too. Unfortunately, there must've been an issue back in the early stages of constraining the Drive Base to the ground plane because our shooter angle is wrong in reference to the ground plane. It should be 80 degrees, but because of the constraint error that we based mounting off of, our current angle is 72, which means we cannot do the shot backed up against the hub. We still will meet the tarmac and launchpad shots outlined in the mind map, but we cannot meet the nice to have of backing up against the hub. We might fix the side plate later down the road, but since we just sent it out to Harris, it's not the end of the world currently.

			== Completely Overhauled... 2/6/2022 ==
			We fixed the issue of our angle being wrong, we went from 72 and now we are back to 80. This means we had to make major changes to the Side Plate, Hood, and other infrastructure. We can know do both shots outlined in the Mind Map, and the hub shot. We then re-sent it out to Harris, and we hope to get it back next week. Due to the amount of material we had to remove, the side plates are now lighter, but don't look as good in my opinion. Either way, we were able to completely change the entire shooter in a day and fixed all angle issues.