2011:1/29/2011

Drivetrain

IT'S ALIVE!!!  Need to change spacing between sprockets for drive wheels so they don't bind (should be getting spacers from Harris).  Working on bumpers.

Arm/Manipulator

Upper structure has been changed somewhat, sheet metal has been added in CAD. Chain-tensioning brackets have been added. Prototyping for two arm types has been done. The swing-and-latch mechanism is better than the telescoping mechanism - less potential for getting stuck while deploying, and more forgiving if the arm gets bent a bit. At least some of the files should be ready to send over to Harris tomorrow. Motors, transmissions, and encoders have been positioned in CAD.

Manipulator: design is set and we have almost all the parts!

Minibot/Deployer

Re-validated the numbers for the motor and wheels, to get torque, RPM, amps, etc. Will replace the fuse with a 5 amp fuse to keep motor from burning out. Switches have been added in CAD - one to turn the motor on, one to reverse the motor at the top.  Pins coming out of the arms have been added in CAD - they will be hitting the top plate, along with the actuator that flips the switch to reverse the motor, so there will be three points of contact at the top plate. Parts are being made! Need to look into using limit switches (will they work without the NXT?)

Deployer has been assembled. It's a complete separate assembly that can be unbolted and taken out of the robot. Slide will have a 23" stroke (not 24").

Electrical Main

Think

Electrical Controls

Basic

Programming

Got drivetrain running! Radio has been programmed as part of that. Working on more code - presets for arm, autonomous for drivetrain. (Presets need to go on the wiki.)