2022:Prototyping

Testing on the cargo ball

Compliance wheel (blue, non-treaded): slight damage to wheel Compliance wheel (blue, treaded): shreds surface of wheel and scuffs cargo ball Hard Wheel: wheel heats up slightly and ball is lightly damaged Green compliance wheel: wheel heats up and ball loses some fuzz Large Omni: ball is scuffed up Mecanum (3D-Printed): wheel is scraped Mecanum (large): wheel gets fuzz tangles in rollers, ball heats up and loses lots of fuzz Chicken Plucker: removes very small amount of fuzz Compliance wheel (red): no damage to either the ball or the wheel Compliance wheel (blue, just spokes): wheel is lightly damaged but ball is untouched Black Chunky wheel (please rename if you know an actual name for this): ball is burned and wheel is slightly damaged Grey Colson: tears through fuzz and ball material

1/15/2022

Drive Base

• 28”x32” tentative dimensions
• C channel - Order
• Encoders on alternate position opposed to current position
• New Swerve modules are being built
  • Only missing the encoders for the new modules, but are backlogged - must keep track of when they’re in stock. (1/28?)
    • Might have to ask around from local teams to see if they have extras?
  • Assembling the tread wheels
  • Determine top speed needed
    • For turning motor, more torque
    • Can NEOs be geared faster than Falcons?
    • Gear turning slower - starting 15:1 and then evaluating
  • Current speed is 14.5ft/sec = ~4.1 seconds across the field
• Finished Drive base…? Next weekend ish.
• Ship out any parts possible for fabrication

Intake/Cargo

• 2 axles
• Lexan keeps cargo down
• Test Pivot/frame parameter sizing
• Going to test moving the drive base and intaking
• Having an issue with the second roller hitting the balls/storage mechanism

• Cargo
  • Experimenting with different entry angles
  • 2 stage design
  • Tuning the shooter intake
  • Serializing? Making balls go in a single file line
  • Also could make storage less wide? 11 inches down to 10 inches potentially?

Shooter

• Can make a 25 ft shot from initial testing?
• Driven with 2 CIM
  • Potential slipping of cargo on lexan (going to try tape on hood to reduce)
  • Trying to test feeding the shooter straight up
    • Making sure we can make the launch pad shot
    • Lexan flexes a lot -  adding ribbing or backing for support
    • Takes 7 seconds to get up to full speed
• Rough dimensions are 10” wide by 14” deep
• Looking at hooded shooter
  • No t-word
  • Will need servo?

• Add ons for cargo -  make bal counter/tracking sensor pairing so that auto can know when cargo is intake/outtake
• Verify servo for hood adjustment if used? Use a different motor?

Hang

• Referenced a lego scale model for the hang
• LEGO Design - Two arms:
  • Static Arm - After the first climb, static arm is hooked on. Static arm hooks on again. Rinse and repeat.
  • Extending arm - Gets raised first and then pulls the robot up. Extending arm then tips back and hooks on to the next bar. Rinse and repeat.
  • Motion is the same
• Real Design - Four arms:
  • Similar motion to the LEGO version
  • Learned that there is a lot of swinging/rotating force
    • Then did Stoecklometry to figure out why
  • Allowing arm to swing forward
    • Will not break frame perimeter restrictions
    • Extending hook is the only one that telescopes
    • Static arm will rotate but is stopped at 45 degrees with a hard stop
    • Winch will drive extending arm up, spring resets the hang and the process repeats
  • No motor to control the pivot of the Static Arm, only using springs and hard stops
    • Sprung loaded to line up with the extending arm
  • Maybe cable the arms so they are mechanically coupled: One moves and the other follows suit. Some sort of link. Orrrrr maybe not.
• SOP STUFF
  • Planning on having a brake for the extending arms
  • Has a engage and disengage brake for each bar in case the match ends so we don’t fall
  • Pivots and extends arm back, and then extends. Then retracts until the static arm brings it back. Repeat the cycle.
  • Brake is preventing extension, because it wants to extend because of the CF spring
  • Like the disc brake better because of the on and off compared to the ratchet and pawl
    • Disc brake makes is easier to program, and the braking needs to happen very quickly too
  • If you do pneumatics:
    • 1 motor, 2 pistons
      • 1 piston for engaging and releasing the brake per arm (2 total)
      • 1 piston for pivoting (1 per side?)
    • May use a magnetic sensor
    • Might need to re-evaluate the piston count?
    • How do we get the partial rotation without adding another motor?
  • What’s the plan for driver control?
    • Driver control with programmed assistance
  • Black line will not be helpful because it is black on gray
  • Will need an optical sensor, encoders, work through sensors
  • While driving, is the hang going to sway around or will it stay put?
  • 55-60 inches from the top of the drive base?
    • Current prototype has 55 inches?
  • 30 inches of travel - 2 stage telescoping arms
    • Pneumatics for the extensions? Nope
  • Difficult to do a crossbar for the extending hook
    • Potential crossbar for the stationary hook
  • No potential issues with hitting the shooter?
    • Need to see if shooter and hang can share the crossbar space
• Tomorrow will be more of a robot real estate meeting, figuring that stuff out
  • Going to have less swing in the hang than the previous version
  • For sure using pneumatics
    • Especially for the brake
  • Maybe use piston to go in?
  • Potential height of the robot: 48 inches?

Whole Robot

• Cannot do just motors because of a space issue
• With the Mixed Motors and Pistons:
  • 15 total motors
  • 5 Pistons
• Stuff to Test:
  • Drive intake and stage 1 of conveyor on same motor
  • Second stage of conveyor and preshooter on same motor
    • Have a sensor in the middle to turn off stage 2
  • Run preshooter and Flywheel on same motor
• Will we need limelight? Compressor may take up a slot on the PD board
• Hood actuation might need a servo and/or slot on the PD board

Integration

We integrated the storage and intake. The intake and storage work really well with minor to no changes and we started doing a little testing on moving the ball through the robot.

https://frc1511.slack.com/files/UD6Q5A28Y/F02U0LH685U/image_from_ios.mov

https://frc1511.slack.com/files/U02C8LD71PD/F02U9GG4U68/image_from_ios.mov

https://frc1511.slack.com/files/U02C8LD71PD/F02UWV7V8UQ/image_from_ios.mov

https://frc1511.slack.com/files/UNCG669R6/F02U9GCSKD2/image_from_ios.mov