2020:Robot Design Details: Difference between revisions

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<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE) <div class="mw-parser-output">
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE) <div class="mw-parser-output">
= Overall Robot Dimensional Restraints =
= Overall Robot Dimensional Restraints =


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= Sensor Chart&nbsp; =
= Sensor Chart&nbsp; =


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| style="width: 165px;" | Intake of helix/storage
| style="width: 165px;" | Intake of helix/storage
| style="width: 822px;" |  
| style="width: 822px;" |  
Keeps intake and helix running until 5 cells counted?
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.
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.


Does this turn off the helix agitator?&nbsp; If not what does?
Does this turn off the helix agitator? Yes&nbsp;


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.
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.


|-
|-
| style="width: 118px;" | Storage
| style="width: 118px;" | Storage
| style="width: 92px;" | Voltage Sensor?
| style="width: 92px;" | Banner Beam Break
| style="width: 188px;" | Make sure we are not jamming&nbsp;?
| style="width: 188px;" | Sense balls when ready to shoot
| style="width: 165px;" | &nbsp;
| style="width: 165px;" | Top of Helix/ Intake of shooter
| style="width: 822px;" | Dave was talking about this I think in response to a concern that the speed of the agitator wil be critical - it can not go to fast or it jams up the cells.
| style="width: 822px;" | &nbsp;
|-
|-
| style="width: 118px;" |  
| style="width: 118px;" |  
Storage/Shooter
Storage/Shooter


| style="width: 92px;" | Rev Color Sensor v3
| style="width: 92px;" | Banner Beam Break
| style="width: 188px;" | Senses presence of ready-to-shoot power cells
| style="width: 188px;" | Senses presence of ready-to-shoot power cells
| style="width: 165px;" | Intake of shooter
| style="width: 165px;" | Inside shooter
| style="width: 822px;" |  
| style="width: 822px;" |  
This would only work if there are 5 power cells?&nbsp; Need to confirm whether a single power cell will stay at the top of the helix (with another robot hitting it) or we need to use a combination of top and bottom helix sensors to know we have cells in the helix that are at the top or can be spun up to the top?
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;" | Storage/Shooter
| style="width: 92px;" | &nbsp;?
| style="width: 188px;" | &nbsp;
| style="width: 165px;" |
&nbsp;
 
&nbsp;


| style="width: 822px;" | Needs to be able to turn on/off storage/shooter transition wheel to keep cells from entering shooter between shots
|-
|-
| style="width: 118px;" |  
| style="width: 118px;" |  
Shooter
Shooter


| style="width: 92px;" | &nbsp;?
| style="width: 92px;" | &nbsp;Integrated NEO Encoder
| style="width: 188px;" | &nbsp;
| style="width: 188px;" | Shooter wheel speed
| style="width: 165px;" | &nbsp;
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | &nbsp;
| style="width: 822px;" | &nbsp;
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| style="width: 92px;" |  
| style="width: 92px;" |  
Encoder?
Integrated NEO Encoder
 
?
 
| style="width: 188px;" | Tells arms how high to raise
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | Do we need to lbe able ot adjust how high it goes (highest, less than highest when we someone if hanging at an end and we want to go in the middle)?&nbsp; Or are we always going highest?
|-
| style="width: 118px;" |
Hang
 
| style="width: 92px;" |
Encoder?


?
| style="width: 188px;" | Tells arms how high to raise, how far to retract, deploys hooks
 
| style="width: 188px;" | Tells arms how far to retract
| style="width: 165px;" | &nbsp;
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | Is there only ever on set retraction?
| style="width: 822px;" | Need to figure out how to zero it
|-
| style="width: 118px;" |
Hang
 
| style="width: 92px;" | Proximity sensor?&nbsp;
| style="width: 188px;" | Tells when each stage of arm is fully deployed&nbsp;
| style="width: 165px;" | &nbsp;
| style="width: 822px;" | Backup to hard stop?
|-
| style="width: 118px;" |
Wheel of Fortune
 
| style="width: 92px;" | Encoder
| style="width: 188px;" | Counts the number of wheel turns
| style="width: 165px;" | In gearbox
| style="width: 822px;" | Stops motor?&nbsp; Will wheel continue to spin?
|-
|-
| style="width: 118px;" |  
| style="width: 118px;" |  
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| style="width: 92px;" | Color Sensor
| style="width: 92px;" | Color Sensor
| style="width: 188px;" | Reads color on wheel
| style="width: 188px;" | Reads color on wheel&nbsp;
| style="width: 165px;" | &nbsp;
| style="width: 165px;" | ???
| style="width: 822px;" | Stops motor when correct color is read?
| style="width: 822px;" | Stops motor when correct color is read. Counts segments for rotation control.
|-
|-
| style="width: 118px;" |  
| style="width: 118px;" |  
Drive Base
Drive Base


| style="width: 92px;" | Rev hex encoder
| style="width: 92px;" | Encoder
| style="width: 188px;" | reads rotations of center DB wheel
| style="width: 188px;" | Measures center of drive base
| style="width: 165px;" | Elongated hex axle on center traction wheels
| style="width: 165px;" | hex axle on the center wheel
| style="width: 822px;" | &nbsp;
| style="width: 822px;" | &nbsp;
|-
|-
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| style="width: 92px;" |  
| style="width: 92px;" |  
Encoder?
Integrated NEO Encoder
 
Limit Switch


| style="width: 188px;" | Limits how far intake comes into the robot frame
| style="width: 188px;" | Limits how far intake comes into the robot frame
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= 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>
[[2009:Robot_Design_Details|2009 Robot Design Details]] </div> </div> </div> </div> </div>
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Revision as of 15:55, 25 January 2020

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

Overall Robot Dimensional Restraints

Robot frame dimensions: 

  • Perimeter = 28" x 31 3/4" (119.5 total length)
  • Top of Drive Base: 4.6" (1.6" clearance)
  • Top of bumpers = 6.5" (1.5" clearance)

 

 

Actuators

Motors (Preliminary pass for quantity check 1/8/2020)

Mechanism Action Minimum Breaker Size Motor Model # Quantity Notes
Drive Base moves the robot on the field   Neo Brushless 4 11:80 gear ratio
Hang runs the winch to pull the robot up   Neo Brushless 1

(2) 5:1 Versaplanetary + 2:1 Chain (#35)

1 Winch, 2 arms

 

Intake Pivots intake in and out of the robot   Neo Brushless 550 1

(2) 10:1 VersaPlanetary + 2:1 belt

pullys 18T: 36T

Intake Spins the "beater bar(s)"   NEO Brushless 550 1 7:1 Versaplanetary
Storage Agitates the balls and moves them up to the shooter   NEO Brushless 550 1 (2) 4:1 Versaplanetary
Storage transition wheel Feeds balls into shooter   NEO Brushless 550 1 7:1 Versaplanetary
Shooter Spins the prrimer wheel   NEO Brushless 550 1 (2) 5:1 Versaplanetary
Shooter Spins the shooting wheel axle   Neo Brushless 2

2:1 Pulley

Shooter  Future Turret   Neo Brushless 550 1 (2) 7:1 Versaplanetary, 18:178 belt
Wheel of Fortune Spins the wheel to turn the colored wheel   NEO Brushless 550 1 4:1 + 5:1 VersaPlanetary gearbox
        14  
 

Pneumatics (NOT USED)

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
Powerful Puncher! Extend = extends puncher to punch the wall
Retract = pull puncher back in 		1

 

3" Bore, 8" Stroke

Yes Yes Yes  Yes

95 PSI

 36   

 

 
 

Sensor Chart 

 

  Mechanism

  Sensor Type   Function   Attachment Point   Notes

Intake

Beam Break Senses incoming power cells Intake of helix/storage

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.

Does this turn off the helix agitator? Yes 

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.

Storage Banner Beam Break Sense balls when ready to shoot Top of Helix/ Intake of shooter  

Storage/Shooter

Banner Beam Break Senses presence of ready-to-shoot power cells Inside shooter

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.

Shooter

 Integrated NEO Encoder Shooter wheel speed    

Hang

Integrated NEO Encoder

Tells arms how high to raise, how far to retract, deploys hooks   Need to figure out how to zero it

Wheel of Fortune

Color Sensor Reads color on wheel  ??? Stops motor when correct color is read. Counts segments for rotation control.

Drive Base

Encoder Measures center of drive base hex axle on the center wheel  

Intake (Rotation)

Integrated NEO Encoder

Limits how far intake comes into the robot frame   Will need hard stop back up

 

 

 

Archive

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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