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| Line 9: |
Line 9: |
| == Pneumatics == | | == Pneumatics == |
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| = Sensor Chart = | | = Sensor Chart = |
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| {| border="1" cellpadding="1" cellspacing="1" style="width: 1410px"
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| ! scope="col" style="width: 118px; text-align: left" |
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| ''' Mechanism'''
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| ! scope="col" style="width: 92px; text-align: left" | ''' Sensor Type'''
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| ! scope="col" style="width: 188px; text-align: left" | ''' Function'''
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| ! scope="col" style="width: 165px; text-align: left" | ''' Attachment Point'''
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| ! scope="col" style="width: 822px; text-align: left" | ''' Notes'''
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| | style="width: 118px" |
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| Intake
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| | style="width: 92px" | Banner Beam Break
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| | style="width: 188px" | Senses incoming power cells
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| | style="width: 165px" | Intake of helix/storage
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| | style="width: 822px" |
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| Keeps intake and helix running until 5 cells counted.
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| 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.
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| Does this turn off the helix agitator? Yes
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| 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 Location critical if it is sensing gaps between balls.
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| | style="width: 118px" | Storage
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| | style="width: 92px" | Banner Beam Break
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| | style="width: 188px" | Sense balls when ready to shoot
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| | style="width: 165px" | Top of Helix/ Intake of shooter
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| | style="width: 822px" |
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| Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once.
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| Count outgoing balls?
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| | style="width: 118px" |
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| Storage/Shooter
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| | style="width: 92px" | Banner Beam Break
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| | style="width: 188px" | Senses presence of ready-to-shoot power cells
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| | style="width: 165px" | Inside shooter
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| | style="width: 822px" |
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| 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.
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| | style="width: 118px" |
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| Shooter
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| | style="width: 92px" | Integrated NEO Encoder
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| | style="width: 188px" | Shooter wheel speed
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| | style="width: 165px" |
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| | style="width: 822px" |
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| | style="width: 118px" |
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| Hang
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| | style="width: 92px" |
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| Integrated NEO Encoder
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| | style="width: 188px" | Tells arms how high to raise, how far to retract, deploys hooks
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| | style="width: 165px" |
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| | style="width: 822px" |
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| Need to figure out how to zero it
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| 22 degrees rotation to be able to release pawl
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| | style="width: 118px" |
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| Wheel of Fortune
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| | style="width: 92px" | Color Sensor
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| | style="width: 188px" | Reads color on wheel
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| | style="width: 165px" | Bracket attatched on spinner gear box
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| | style="width: 822px" | Stops motor when correct color is read. Counts segments for rotation control.
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| | style="width: 118px" |
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| Drive Base
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| | style="width: 92px" | Encoder
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| | style="width: 188px" | Measures center of drive base
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| | style="width: 165px" | hex axle on the center wheel
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| | style="width: 822px" |
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| | style="width: 118px" |
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| Intake (Rotation)
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| | style="width: 92px" |
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| Integrated NEO Encoder
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| | style="width: 188px" | Limits how far intake comes into the robot frame
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| | style="width: 165px" |
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| | style="width: 822px" | Will need hard stop back up
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| | style="width: 118px" | Intake (Rotation)
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| | style="width: 92px" | Omron EE-SPY415 Sensor
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| | style="width: 188px" | Zeros the encoder
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| | style="width: 165px" | On the left intake mounting bracket. Sensor bracket pending approval.
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| | 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.
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| | style="width: 118px" | Shooter
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| | style="width: 92px" | Limelight 2
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| | style="width: 188px" | Aim assist
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| | style="width: 165px" | Behind hood on shooter
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| | style="width: 822px" | Needs ethernet connection to robot as well as power (either 12v PoE or 5A PDP connection)
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| | style="width: 118px" | General purpose
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| | style="width: 92px" | Microsoft Lifecam HD-3000
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| | style="width: 188px" | Driver aid
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| | style="width: 165px" | On top of helix on shooter base plate
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| | style="width: 822px" | Needs USB connection. Can be connected to Limelight or rio
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| | style="width: 118px" | Drive Train
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| | style="width: 92px" | Gyroscope
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| | style="width: 188px" | Autonomous turning
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| | style="width: 165px" | Near center of rotation
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| | style="width: 822px" |
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| | style="width: 118px" | Shooter
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| | style="width: 92px" | Flashlight
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| | style="width: 188px" | Aim assist
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| | style="width: 165px" | Next to limelight
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| | style="width: 822px" |
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| |}
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| </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div>
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| = Archive = | | = Archive = |
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