2011:2/1/2011: Difference between revisions
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'''Drivetrain''' | '''Drivetrain''' | ||
Drivetrain is complete. Spacers for sprockets are here and need to be put on.<br> | Drivetrain is complete. Spacers for sprockets are here and need to be put on. Current weight: 32.74 lb.<br> | ||
<br>'''Arm/Manipulator''' | <br>'''Arm/Manipulator''' | ||
All the arm parts and most of the tower parts are out for manufacture. Somewhere between 1 and 20 small details need to be figured out for manufacture, but those should be done soon. Mounting points for deployer need to be integrated. | All the arm parts and most of the tower parts are out for manufacture. Somewhere between 1 and 20 small details need to be figured out for manufacture, but those should be done soon. Mounting points for deployer need to be integrated. Current weight for arm/superstructure/chain: 25 lb. Current weight for manipulator: 5 lb. | ||
<br> '''Minibot/Deployer''' | <br> '''Minibot/Deployer''' | ||
Changed from the big air spring to three smaller dampeners: slide tubing will now be 1" x 1" x 1/16", small air springs will sit inside the 1" x 1" tubes, and that will replace the surgical tubing for extending the slide. Will lay this out in CAD tonight, then work on the tusks. Parts for minibot have been sent to Harris. Current weight for minibot: 3.7 lb. Current weight for deployer: 12 lb.<br> | |||
<br>'''Electrical Main''' | <br>'''Electrical Main''' | ||
Electronics tray I/O has been done. Current weight: 17.34 lb. (with tray, but no wire weight). Brackets and material for battery has been re-done. Material for sides has not been determined yet.<br> | |||
<br>'''Electrical Controls''' | <br>'''Electrical Controls''' | ||
Final design is done, with printed diagram of everything - one flat panel, no folding. There will be five presets: low, mid, high, feeder, and floor. Low/mid/high are set for the left and right pegs; the center column of pegs will require fine-tuning. May need to integrate variable speed for the manipulator spinning the tubes (i.e., changing their angle). May also need to integrate a "reverse" switch (maybe the throttle on the Saitek joystick). Need to decide on "lockout" (hardware or software) for tusks and minibot deployer. May be 18-20 lbs. - might put backpack straps on it. It needs a protective cover also.<br> | |||
<br>'''Programming''' | <br>'''Programming''' | ||
Robot follows the line and stops at the end! Arm code is done except for making sure the arm isn't in certain positions when tusks/deployer are out. Drivetrain code is essentially done - needs to be tested at full speed to see if it curves one way or the other. Speed values may need tweaking. Need to still work on how deployer is controlled. Working on preventing the minibot from deploying before the 10-second-left mark (by using a timer from match start). May also have a similar timer for the "tusks," but with a longer time range.<br> | |||
Latest revision as of 10:56, 6 January 2012
Drivetrain
Drivetrain is complete. Spacers for sprockets are here and need to be put on. Current weight: 32.74 lb.
Arm/Manipulator
All the arm parts and most of the tower parts are out for manufacture. Somewhere between 1 and 20 small details need to be figured out for manufacture, but those should be done soon. Mounting points for deployer need to be integrated. Current weight for arm/superstructure/chain: 25 lb. Current weight for manipulator: 5 lb.
Minibot/Deployer
Changed from the big air spring to three smaller dampeners: slide tubing will now be 1" x 1" x 1/16", small air springs will sit inside the 1" x 1" tubes, and that will replace the surgical tubing for extending the slide. Will lay this out in CAD tonight, then work on the tusks. Parts for minibot have been sent to Harris. Current weight for minibot: 3.7 lb. Current weight for deployer: 12 lb.
Electrical Main
Electronics tray I/O has been done. Current weight: 17.34 lb. (with tray, but no wire weight). Brackets and material for battery has been re-done. Material for sides has not been determined yet.
Electrical Controls
Final design is done, with printed diagram of everything - one flat panel, no folding. There will be five presets: low, mid, high, feeder, and floor. Low/mid/high are set for the left and right pegs; the center column of pegs will require fine-tuning. May need to integrate variable speed for the manipulator spinning the tubes (i.e., changing their angle). May also need to integrate a "reverse" switch (maybe the throttle on the Saitek joystick). Need to decide on "lockout" (hardware or software) for tusks and minibot deployer. May be 18-20 lbs. - might put backpack straps on it. It needs a protective cover also.
Programming
Robot follows the line and stops at the end! Arm code is done except for making sure the arm isn't in certain positions when tusks/deployer are out. Drivetrain code is essentially done - needs to be tested at full speed to see if it curves one way or the other. Speed values may need tweaking. Need to still work on how deployer is controlled. Working on preventing the minibot from deploying before the 10-second-left mark (by using a timer from match start). May also have a similar timer for the "tusks," but with a longer time range.
