2013:Drivetrain

Drivetrain Design

Because the climber is on the opposite side of the shooter, and to make driving easier, there will be a concept of a 'front'. This will be controlled by the primary driver, so if they do not want to use the feature, they do not need to. By default the front will be the shooter side. By pressing and holding a button, the driver can make the climber side the front. This will automatically invert the meaning of the joysticks and flip the camera to point to the climber side and move the shooter to the home position. Light will be on the robot to help indicate when side is the front.

Sensors:

Type	Description	Operation	Notes
Left Encoder	Detects left wheel rpm		If not working, then do not select an autonomous mode that requires driving
Right Encoder	Detects right wheel rpm		If not working, then do not select an autonomous mode that requires driving
Gyro	Detects robot orientation		If not working, then do not select an autonomous mode that requires driving OR turning

Motors/Servors/Actuators:

Type	Description	Operation	Notes
Left CIM	Moves the left wheels		40A circuit
Right CIM	Moves the right wheels		40A circuit
*Left CIM	Could use in addition to 1st Left CIM		At this time, programming is NOT using these motors. 40A circuit
*Right CIM	Could use in addition to 1st Right CIM		At this time, programming is NOT using these motors. 40A circuit

Lights (on robot):

Type	Description	Operation	Notes
	Which end is the front	An 'arrow' will indicate which side (shooter or climber) is the 'front'.

Operator Controls:

Area	Type	Description	Operation	Notes
Primary Driver	Left Joystick Y-axis	Controls the speed of the left wheels	Moving the stick away from the driver will make the left side move forward. Moving the stick towardsd the driver will make the left side move backward. The further from center the stick is moved, the faster the wheels will spin.	When the climber side is the 'front', the code will invert the values for the joysticks. While the Aux Driver Climb button is being pressed, the joysticks will do nothing.
Primary Driver	Right Joystick Y-axis	Controls the speed of the right wheels	Moving the stick away from the driver will make the right side move forward. Moving the stick towardsd the driver will make the right side move backward. The further from center the stick is moved, the faster the wheels will spin.	When the climber side is the 'front', the code will invert the values for the joysticks. While the Aux Driver Climb button is being pressed, the joysticks will do nothing.
Primary Driver	Button	Controls which part of the robot is the 'front'.	When not pressed, the shooter side is the 'front'; the camera will face that side for shooting and moving the joystick forward (away from the driver) will move the robot towards what the camera sees. While being pressed, the climber side is the 'front'; the camera will flip 180 to face the climber side, the image will be inverted automatically, the shooter will move to the home position, and moving the joystick forward will move the robot towards what the camera sees.	This will aid the driver in being able to more easily align with the pyramid.

Drivetrain's Engineering Notebook

Engineering Notebook Templates Available at:Engineering_Notebook_Template

Please Label All Notebook Pages 2013:Drivetrain XX.XX to avoid confusion.

Week 1

• Created a list of drivetrain styles to choose from
• Decided on having a tank-drve style drivetrain
• Decided we wanted to have pushing power
• Decided on wheels to use

Week 2

• Finished a basic frame for the drivetrain.
• Decided on a square base with a V-shaped indent on the front

Week 3

• V-shaped front completed
• Further planning in process

Week 4

• Drivetrain welded
• Sprayed painted the drivetrain black.
• Able to attatch our choice of wheels of 4 Omni wheels and 2 Traction wheels.
• Attatched motors and other electrical needs

Week 5

• Drivetrain completed.

Week 6

• All components attatched.