2012:Shooter and Collector 01.15

Attendance

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Tasks In Progress

• Beater bar requirements
  
  Fixed position inside the frame/ stationary position
  1 speed forward, 1 speed reverse (not full speed?)
  measurements (must stay inside the frame)
  As close to frame perimeter as possible, preferably coincident with it
  Material ideas: Wheel traction tread, drawer liner, surgical tubing wrapped about the bar
  Sturdy and easily replaceable (under five minutes to replace it)
  Inside the frame or deployable? MUST BE INSIDE SEE #1
  Sensor feedback;
  Ball sensor - know when one is entering the system -- possibly? Depends on how close we can get one for the conveyers
  NO status of spinning depends on # of balls currently in feeder, and whether there is a ball in front of robot. (accuracy?)
  DOESN'T MATTER AT THIS POINT Should beater bar spin constantly if there are less than 3 balls in robot, or only spin if < 3 balls and there is a ball in front of robot?
   
  • Wings / bridge requirements
    Are solid/straight from tip back to frame edge to prevent balls from getting trapped behind, and prevent outward bending
    Starts within the frame perimeter, and deploys to outside the frame perimeter
    Has no active gathering mechanism -- just simple wings
    Enables to retreive balls from wall and corners - Guide the balls to the beater bar without moving
    But CORNER is a big problem with wings down; coming in perpendicular to a wall is difficult as well
    Able to lower a ramp from its balanced position to a position low enough for us to climb
    
    Deploys and retracts in under 2 seconds (Motor / Pneumatic?)
    
    Sturdy and easily replaceable (under five minutes to replace it)
    Sensor feedback;
    Could mount sensor for sensing ball in front of robot, only if beater bar should not spin constantly --- probably not necessary -- battery power drain will be limited on brush -- also very dangerous
    / If motor operated: Detecting if wings are all the way down (if (sensorOn == true) stop motor to lower wings)
    (accuracy of sensors?)
    Limit switches or similar for actuation limits (if not using pneumatics)
    Position sensor on the actuation axel (get wing's angle of deployment, if driven by motor)
     
  • Conveyor requirements
  • Work around the drivetrain components
    contain no more than 3 balls
    3 separate segments independantly controlled
    speeds at shooter must be very consistent
    transport ball through conveyor for X amount of time + capability of reverse direction (?)
    Sensor feedback; 1 on each conveyor belt + 1 at entrance to feeder to avoid accidents. (accuracy?)
     
• Turret:
  280° of rotation minimum
  +/- 1° precision
  receive balls from conveyor
  mechanical hardstops
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  Shooter:
  impart backspin (fixed?)
  2 independent wheels

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  Camera:
  location for camera on turret for targeting
  Tasks to Complete
• Math model 
  • With 70 degree shooting angle, the robot would be able to shoot from the fender, key and mid-field with a variable shooting speed of 5-12 m/sec. You can score from any of these positions on any of the three hoop levels with the exception of the top hoop from the fender. 
  • With the turret placed 30 inches off the ground and 32 inches from the front of the robot, the shooter would need a minimum angle of 47 degrees to shoot over a defending robot of a height of 60 inches. 
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Materials Needed

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