2012:Shooter and Collector: Difference between revisions
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= Shooter and Collector Master Task List = | |||
{| style="width: 90%" border="1" cellpadding="1" cellspacing="1" | |||
|- | |||
! Task | |||
! Student | |||
! Mentor | |||
|- | |||
| Determine camera height needed to see basket targets from back of key over 6 ft robot near us when facing basket. | |||
| ''Need student'' | |||
| Jeff or Mr. Byers | |||
|- | |||
| ''Strategic'' Decide which side of robot turret "deadzone" will be on | |||
| ''Need strategy-tied student'' | |||
| Jeff | |||
|- | |||
| Determine all sensors (shooter, turret, wings), document them on Shooter team design page, and order | |||
| ''Need student'' | |||
| Daves, Jeff | |||
|- | |||
| Update battery mounting unit to remove compressor and to mount on back-side above frame rather than below<br/> | |||
| Tommy | |||
| Daves, Jeff | |||
|- | |||
| Start CAD model of electrical components/board | |||
| ''Need student'' | |||
| Daves, Jeff | |||
|- | |||
| Define class structure for "smart" shooter class | |||
| Peter | |||
| Jeff, Mr. Byers | |||
|- | |||
| <br/> | |||
| <br/> | |||
| <br/> | |||
|} | |||
= Shooter Design = | = Shooter Design = | ||
*Turret-mounted | *Turret-mounted | ||
**Approx. 280 degrees of rotation minimum <span style="color: red">need final range</span> | **Approx. 280 degrees of rotation minimum <span style="color: red">need final range</span> | ||
**1-degree precision | **1-degree precision | ||
**Mechanical hardstops | **Mechanical hardstops | ||
**Absolute angular position sensor | **Absolute angular position sensor | ||
** | ***Combination sensors - one on motor output shaft, one on turrent drive sprocket | ||
**Kit Window motor | |||
**Geared down 48:188 | |||
**Controlled by speed controller (needed for fine adjustment) | |||
*2-Wheel shooter | *2-Wheel shooter | ||
**Must be able to impart backspin | **Must be able to impart backspin | ||
**Fixed angle of shot -- approximately | **Fixed angle of shot -- approximately 70 degrees above floor | ||
**Each wheel independently controlled (to control backspin) | **Each wheel independently controlled (to control backspin) | ||
**Powered by Fisher-Price motor on speed controllers | **Powered by Fisher-Price (968-9013) motor on speed controllers | ||
**Sensor for RPM on each | **Transmission -- AM-0002 | ||
**Sensor for RPM on each | |||
***Provide sufficient resolution for rapid speed control update | ***Provide sufficient resolution for rapid speed control update | ||
***<span style="color: red">Identify sensor characteristics</span> | ***<span style="color: red">Identify sensor characteristics</span> | ||
***If max ball velocity is 12m/s and if shooter wheel diameter is 6", then approx max rpm is 1500. | |||
*Camera mounted on turret | *Camera mounted on turret | ||
**Must have direct light source inline with lens | **Must have direct light source inline with lens | ||
** | **Must be able to tilt; does not need to be able to pan | ||
**Higher is better to see over robots in front of us | |||
= Beater Bar Design = | = Beater Bar Design = | ||
*Fixed position within frame, as close to perimeter as possible | *Fixed position within frame, as close to perimeter as possible | ||
*1 speed forward, 1 speed reverse | *1 speed forward, 1 speed reverse | ||
*Driven from a relay | |||
*Pushes balls in and on to first conveyor section | *Pushes balls in and on to first conveyor section | ||
* | *Banebots RS-775 motor | ||
*Banebots P60 4-to-1 transmission, geared down 2-to-1 for total of 8-to-1 | |||
= Wings/V-collector Design = | = Wings/V-collector Design = | ||
| Line 36: | Line 81: | ||
*Just a plain bars, no actual motion on the bars themselves | *Just a plain bars, no actual motion on the bars themselves | ||
*Motion must be able to pull unloaded bridge down from horizontal | *Motion must be able to pull unloaded bridge down from horizontal | ||
* | *Must extert 10lbs force at the tip to pull the unloaded bridge | ||
** | *AM-0914 motor and associated gearbox | ||
** | **Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs) | ||
**2-to-1 gearing gives unloaded single-actuation of about 0.433 sec '''unloaded''' | |||
**Loaded (bridge) actuation is about 0.525 seconds | |||
*Mechanical hard-stops | |||
*Absolute positional sensor | |||
*Limit switches on both ends | |||
= Ball Movement/Storage System Design = | |||
*3-stage conveyor system | |||
*First 2 stages straight at approx. 45 degree rise | |||
*Intake end begins behind front wheel, about 1" from floor | |||
*Each stage uses.... | |||
**1 Banebots RS-775 motors [http://banebots.com/p/M7-RS775-18] | |||
**Coupled to Banebots P60 16-to-1 transmissions [http://banebots.com/pc/P60K-S7/P60K-44-0007] | |||
**Controlled by Speed Controllers (could have been SPIKEs, but would be nice to be able to slow them for diagnostics) | |||
**Banner-style sensor at the very inside-edge to indicate that "this ball has advanced fully in this stage" | |||
*Additional banner-style very close to intake end (just past beater bar contact point) to count balls and know when we can stop intake on beater bar | |||
= Resources = | |||
*[http://www.penfieldrobotics.com/wiki/images/e/ea/BallTrajectoryCalculator.xls Ball Trajectory Calculation spreadsheet] | |||
*[http://www.penfieldrobotics.com/wiki/images/0/0a/TrajectoryMath.doc Math behind the above spreadsheet] | |||
*[http://www.grc.nasa.gov/WWW/k-12/airplane/foil3.html Foil Sim III] - Air flow simulator; useful for approximating drag effects on a ball | |||
*[http://penfieldrobotics.com/wiki/index.php?title=File:2012_MotorInfoRevised.pdf Motor Specs from FIRST] | |||
= | = Shooter and Collector's Engineering Notebook = | ||
== | == Week 1 == | ||
* | *[[2012:Shooter and Collector 01.14|1/14]] | ||
== <span style="color: red"><span style="color: red">Week 2</span></span> == | == <span style="color: red"><span style="color: red">Week 2</span></span> == | ||
Latest revision as of 12:35, 24 January 2012
Shooter and Collector Master Task List
| Task | Student | Mentor |
|---|---|---|
| Determine camera height needed to see basket targets from back of key over 6 ft robot near us when facing basket. | Need student | Jeff or Mr. Byers |
| Strategic Decide which side of robot turret "deadzone" will be on | Need strategy-tied student | Jeff |
| Determine all sensors (shooter, turret, wings), document them on Shooter team design page, and order | Need student | Daves, Jeff |
| Update battery mounting unit to remove compressor and to mount on back-side above frame rather than below |
Tommy | Daves, Jeff |
| Start CAD model of electrical components/board | Need student | Daves, Jeff |
| Define class structure for "smart" shooter class | Peter | Jeff, Mr. Byers |
Shooter Design
- Turret-mounted
- Approx. 280 degrees of rotation minimum need final range
- 1-degree precision
- Mechanical hardstops
- Absolute angular position sensor
- Combination sensors - one on motor output shaft, one on turrent drive sprocket
- Kit Window motor
- Geared down 48:188
- Controlled by speed controller (needed for fine adjustment)
- 2-Wheel shooter
- Must be able to impart backspin
- Fixed angle of shot -- approximately 70 degrees above floor
- Each wheel independently controlled (to control backspin)
- Powered by Fisher-Price (968-9013) motor on speed controllers
- Transmission -- AM-0002
- Sensor for RPM on each
- Provide sufficient resolution for rapid speed control update
- Identify sensor characteristics
- If max ball velocity is 12m/s and if shooter wheel diameter is 6", then approx max rpm is 1500.
- Camera mounted on turret
- Must have direct light source inline with lens
- Must be able to tilt; does not need to be able to pan
- Higher is better to see over robots in front of us
Beater Bar Design
- Fixed position within frame, as close to perimeter as possible
- 1 speed forward, 1 speed reverse
- Driven from a relay
- Pushes balls in and on to first conveyor section
- Banebots RS-775 motor
- Banebots P60 4-to-1 transmission, geared down 2-to-1 for total of 8-to-1
Wings/V-collector Design
- V-shaped collector outside of robot
- Articulated up/in and down/out -- 2-position motion
- Just a plain bars, no actual motion on the bars themselves
- Motion must be able to pull unloaded bridge down from horizontal
- Must extert 10lbs force at the tip to pull the unloaded bridge
- AM-0914 motor and associated gearbox
- Geared down 2-to-1 for additional torque (2-to-1 gives stall torque of 6200 oz-lbs = 380 inch-lbs)
- 2-to-1 gearing gives unloaded single-actuation of about 0.433 sec unloaded
- Loaded (bridge) actuation is about 0.525 seconds
- Mechanical hard-stops
- Absolute positional sensor
- Limit switches on both ends
Ball Movement/Storage System Design
- 3-stage conveyor system
- First 2 stages straight at approx. 45 degree rise
- Intake end begins behind front wheel, about 1" from floor
- Each stage uses....
- 1 Banebots RS-775 motors [1]
- Coupled to Banebots P60 16-to-1 transmissions [2]
- Controlled by Speed Controllers (could have been SPIKEs, but would be nice to be able to slow them for diagnostics)
- Banner-style sensor at the very inside-edge to indicate that "this ball has advanced fully in this stage"
- Additional banner-style very close to intake end (just past beater bar contact point) to count balls and know when we can stop intake on beater bar
Resources
- Ball Trajectory Calculation spreadsheet
- Math behind the above spreadsheet
- Foil Sim III - Air flow simulator; useful for approximating drag effects on a ball
- Motor Specs from FIRST
Shooter and Collector's Engineering Notebook
Week 1
Week 2
Week 3
Week 4
Week 5
Week 6
Engineering Notebook Templates Available at:Engineering_Notebook_Template
Please Label All Notebook Pages 2012:Shooter and Collector XX.XX to avoid confusion.
