2022:Robot Design Details: Difference between revisions

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= Actuators =
= Actuators =
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== Motors ==
== Motors ==
{| border="1" cellpadding="10" cellspacing="1"
|-
|'''Location'''
| '''Mechanism'''
| '''Action'''
| '''Quantity'''
| '''Belt Size'''
| '''Gear Size and Ratio'''
| '''Pulley Size and Ratio'''
|'''Notes'''
|-
|Drive Base
| Neo
| Drives Robot
| 4
| NA
| 5.25:1 (12-21, 15-45)
| NA
|
|-
|Drive Base
| Neo 550
| Turns Robot
| 4
| NA
| 12:1 (3:1 and 4:1)
| NA
|
|-
|Intake
| Neo 550
| Stage 1 Motor
| 1
| 45T at motor, 107T pivot to bar 1, 104T bar 1 to bar 2
| 1:4
| 18T 1:1
|Cut motor shaft
|-
|Preshooter
| Neo 550
| Stage 2 Motor
|1
|
| 1:4
|
|Requires extended motor shaft
|-
|Shooter
|Neo
|Left and Right Fly Wheels
|2
|
|
|
|
|-
|Shooter
|goBilda 2000-0025-0002
|Hood Articulation
|1
|
|4:3 for servo to mid-gear and then 9:181 for mid gear to hood.
|
|
|}
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== Pneumatics ==
== Pneumatics ==


= Sensor Chart&nbsp; =
{| border="1" cellpadding="10" cellspacing="1"
|-
| '''Mechanism'''
| '''Action - Say what extend and retract do!'''
| style="width: 42px" | '''Number of Cylinders'''
| style="width: 74px" | '''Cylinder'''
|
'''Extend Powered?'''


&nbsp;
&nbsp;


{| border="1" cellpadding="1" cellspacing="1" style="width: 1410px"
|  
|-
'''Extend Exhaust to Atmosphere?'''
! scope="col" style="width: 118px; text-align: left" |  
'''&nbsp; Mechanism'''


! scope="col" style="width: 92px; text-align: left" | '''&nbsp; Sensor Type'''
&nbsp;
! scope="col" style="width: 188px; text-align: left" | '''&nbsp; Function'''
! scope="col" style="width: 165px; text-align: left" | '''&nbsp; Attachment Point'''
! scope="col" style="width: 822px; text-align: left" | '''&nbsp; Notes'''
|-
| style="width: 118px" |
Intake


| style="width: 92px" | Banner Beam Break
|  
| style="width: 188px" | Senses incoming power cells
'''Retract Powered?'''
| style="width: 165px" | Intake of helix/storage
| style="width: 822px" |
Keeps intake and helix running until 5 cells counted.


Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter.
&nbsp;


Does this turn off the helix agitator? Yes&nbsp;
|
'''Retract Exhaust to Atmosphere?'''


Turns off/lifts/reverses intake and turns off helix agitator when 5 Power Cells are counted or beam stays broken for a fixed period of time&nbsp; Location critical if it is sensing gaps between balls.
&nbsp;


| '''Working Pressure'''
| '''Estimated Firings per Match Cycles'''<br/> (Sum of all powered directions!)
| '''Notes'''
|-
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|-
|-
| style="width: 118px" | Storage
|  
| style="width: 92px" | Banner Beam Break
|  
| style="width: 188px" | Sense balls when ready to shoot
|  
| style="width: 165px" | Top of Helix/ Intake of shooter
|  
| style="width: 822px" |  
|  
Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once.
|  
 
|  
Count outgoing balls?
|  
 
|  
|  
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|-
|-
| style="width: 118px" |  
|  
Storage/Shooter
|  
 
|
| style="width: 92px" | Banner Beam Break
|
| style="width: 188px" | Senses presence of ready-to-shoot power cells
|  
| style="width: 165px" | Inside shooter
|  
| style="width: 822px" |
|  
Sense when a ball that is inside the shooter so we can stop the intake of the shooter to let the shooter flywheel get back to speed after shooting ball.
|  
 
|  
|  
|  
|-
|-
| style="width: 118px" |  
|  
Shooter
|
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| style="width: 92px" | &nbsp;Integrated NEO Encoder
|}
| style="width: 188px" | Shooter wheel speed
| style="width: 165px" | &nbsp;
| style="width: 822px" | &nbsp;
|-
| style="width: 118px" |
Hang


| style="width: 92px" |
Integrated NEO Encoder


| style="width: 188px" | Tells arms how high to raise, how far to retract, deploys hooks
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| style="width: 165px" | &nbsp;
| style="width: 822px" |
Need to figure out how to zero it


22 degrees rotation to be able to release pawl
= Sensor Chart =


{| border="1" cellpadding="10" cellspacing="1" style="width: 1236px"
|-
| '''Mechanism'''
| '''Sensor Type'''
| '''Function'''
| style="width: 286px" | '''Attachment Point'''
| style="width: 147px" | '''Notes'''
|-
|
|
|
|
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|-
|-
| style="width: 118px" |  
|  
Wheel of Fortune
|
 
|  
| style="width: 92px" | Color Sensor
|
| style="width: 188px" | Reads color on wheel&nbsp;
|
| style="width: 165px" | Bracket attatched on spinner gear box
|-
| style="width: 822px" | Stops motor when correct color is read. Counts segments for rotation control.
|  
|  
|  
|  
|  
|-
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|-
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|  
|-
|-
| style="width: 118px" |
|  
Drive Base
|  
 
|  
| style="width: 92px" | Encoder
|  
| style="width: 188px" | Measures center of drive base
|  
| style="width: 165px" | hex axle on the center wheel
| style="width: 822px" | &nbsp;
|-
|-
| style="width: 118px" |  
|  
Intake (Rotation)
|  
 
|  
| style="width: 92px" |  
|  
Integrated NEO Encoder
|  
 
| style="width: 188px" | Limits how far intake comes into the robot frame
| style="width: 165px" | &nbsp;
| style="width: 822px" | Will need hard stop back up
|-
|-
| style="width: 118px" | Intake (Rotation)
|  
| style="width: 92px" | Omron EE-SPY415 Sensor
|  
| style="width: 188px" | Zeros the encoder
|  
| style="width: 165px" | On the left intake mounting bracket. Sensor bracket pending approval.
|  
| style="width: 822px" | Tested on test board, works at identifying smoked lexan. The range is low enough so that it won't sense the helix which is ~8in ahead of it.
|  
|-
|-
| style="width: 118px" | Shooter
|  
| style="width: 92px" | Limelight 2
|  
| style="width: 188px" | Aim assist
|  
| style="width: 165px" | Behind hood on shooter
|  
| style="width: 822px" | Needs ethernet connection to robot as well as power (either 12v PoE or 5A PDP connection)
|  
|-
|-
| style="width: 118px" | General purpose
|  
| style="width: 92px" | Microsoft Lifecam HD-3000
|  
| style="width: 188px" | Driver aid
|  
| style="width: 165px" | On top of helix on shooter base plate
|  
| style="width: 822px" | Needs USB connection. Can be connected to Limelight or rio
|  
|-
|-
| style="width: 118px" | Drive Train
|  
| style="width: 92px" | Gyroscope
|  
| style="width: 188px" | Autonomous turning
|  
| style="width: 165px" | Near center of rotation
|  
| style="width: 822px" | &nbsp;
|  
|-
|-
| style="width: 118px" | Shooter
|  
| style="width: 92px" | Flashlight
|  
| style="width: 188px" | Aim assist
|  
| style="width: 165px" | Next to limelight
|  
| style="width: 822px" | &nbsp;
|  
|}
|}
</div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>
 
</div> </div> </div> </div> </div> </div>          
 
= Archive =
= Archive =


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[[2010:Robot_Design_Details|2010 Robot Design Details]]
[[2010:Robot_Design_Details|2010 Robot Design Details]]
[[2009:Robot_Design_Details|2009 Robot Design Details]]</div> </div> </div> </div> </div>
[[2009:Robot_Design_Details|2009 Robot Design Details]]
</div> </div> </div> </div> </div> </div>
</div>

Latest revision as of 15:25, 9 February 2022

Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)

Overall Robot Dimensional Restraints

Actuators

Motors

Location Mechanism Action Quantity Belt Size Gear Size and Ratio Pulley Size and Ratio Notes
Drive Base Neo Drives Robot 4 NA 5.25:1 (12-21, 15-45) NA
Drive Base Neo 550 Turns Robot 4 NA 12:1 (3:1 and 4:1) NA
Intake Neo 550 Stage 1 Motor 1 45T at motor, 107T pivot to bar 1, 104T bar 1 to bar 2 1:4 18T 1:1 Cut motor shaft
Preshooter Neo 550 Stage 2 Motor 1 1:4 Requires extended motor shaft
Shooter Neo Left and Right Fly Wheels 2
Shooter goBilda 2000-0025-0002 Hood Articulation 1 4:3 for servo to mid-gear and then 9:181 for mid gear to hood.
 
 

Pneumatics

Mechanism Action - Say what extend and retract do! Number of Cylinders Cylinder

Extend Powered?

 

Extend Exhaust to Atmosphere?

 

Retract Powered?

 

Retract Exhaust to Atmosphere?

 

Working Pressure Estimated Firings per Match Cycles
(Sum of all powered directions!) 		Notes


 
 
 
 

Sensor Chart

Mechanism Sensor Type Function Attachment Point Notes

Archive

2020 Robot Design Details (applies to 2021 as well)

2019 Robot Design Details

2018 Robot Design Details

2017 Robot Design Details

2016 Robot Design Details

2015 Robot Design Details

2014 Robot Design Details

2013 Robot Design Details

2012 Robot Design Details

2011 Robot Design Details

2010 Robot Design Details 2009 Robot Design Details

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