2011:2/5/2011

Drivetrain

Fixed chains and spacers. Painted brackets. Still need to do bumpers. Also need to modify the cart to fit the drive base.

Arm/Manipulator

Working on deploying arm from "park" to fully extended. The "elbow" joint will have a notch that hooks onto a small horizontal peg on the robot frame when the arm's in park; when the arm is moved, the notch will rotate off the peg and the arm can then lock. Wires will need to run on the inside of the elbow joint. Testing needs to be done to see whether the manipulator will whack into the ground when the arm extends, and if so, how hard (will it knock the ubertube loose?). Parts for the arm and tower are in, except for the new notch-and-peg. Assembly will start today!

Minibot/Deployer

There will be two square frames with sliders inside them. Three gas shocks inside each frame will extend to push the sliders out; the longest shock will extend in two seconds, so that is the total time for deployment. Minibot frame is assembled. Total weight will be under 5 pounds (hasn't had lightening done yet). Minibot should be assembled and ready to test this weekend!

Electrical Main

Need to start looking at where the wiring for the arm goes, and what protection it needs. Have prototyped the signal lights. Drop tray has been laminated, and other pieces are in progress. Need to work with Mechanical for weight distribution. Mechanical will need to add a mounting bracket in the center of the frame for attaching the signal lights.

Electrical Controls

Wiring up toggle switches. Everything has been worked out with Programming. Haven't worked on the keypad yet. There needs to be a protective cover for the controls, at least for shipping. Might put wheels on one end so the control board can be wheeled like a suitcase, or might connect it to a Harris backpack for carrying.

Programming

Working with drivetrain currently, it works fine in teleoperated. Testing with autonomous, the gyro works now. Line-following procedure is done. Will try to simulate the arm with Thunderplucker. Need to get line-following sensors spaced differently - Drivetrain subteam will need to make an appropriate bracket.