2013:Drivetrain

Drivetrain Design

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NOTE: the following is based on the outcome of the programming team going through the sub-system and review they had will electrical and the operator controls sub-teams on 1/26. This needs to be reviewed to make sure these notes concur with what everyone took away. This will also need to be reviewed by strategy.
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Because the climber is on the opposite side of the shooter, and to make driving easier, there will be a concept of a 'front'. This will be controlled by the primary driver, so if they do not want to use the feature, they do not need to. By default the front will be the shooter side. By pressing and holding a button, the driver can make the climber side the front. This will automatically invert the meaning of the joysticks and flip the camera to point to the climber side and move the shooter to the home position. Light will be on the robot to help indicate when side is the front.

Sensors:

Type	Description	Operation	Notes
Left Encoder	Detects left wheel rpm		If not working, then do not select an autonomous mode that requires driving
Right Encoder	Detects right wheel rpm		If not working, then do not select an autonomous mode that requires driving
Gyro	Detects robot orientation		If not working, then do not select an autonomous mode that requires driving OR turning

Motors/Servors/Actuators:

Type	Description	Operation	Notes
Left CIM	Moves the left wheels
Right CIM	Moves the right wheels
*Left CIM	Could use in addition to 1st Left CIM
*Right CIM	Could use in addition to 1st Right CIM

Lights (on robot):

Type	Description	Operation	Notes
	Which end is the front	An 'arrow' will indicate which side (shooter or climber) is the 'front'.

Operator Controls:

Area	Type	Description	Operation	Notes
Primary Driver	Left Joystick Y-axis	Controls the speed of the left wheels	Moving the stick away from the driver will make the left side move forward. Moving the stick towardsd the driver will make the left side move backward. The further from center the stick is moved, the faster the wheels will spin.	When the climber side is the 'front', the code will invert the values for the joysticks.
Primary Driver	Right Joystick Y-axis	Controls the speed of the right wheels	Moving the stick away from the driver will make the right side move forward. Moving the stick towardsd the driver will make the right side move backward. The further from center the stick is moved, the faster the wheels will spin.	When the climber side is the 'front', the code will invert the values for the joysticks.
Primary Driver	Button	Controls which part of the robot is the 'front'.	When not pressed, the shooter side is the 'front'; the camera will face that side for shooting and moving the joystick forward (away from the driver) will move the robot towards what the camera sees. While being pressed, the climber side is the 'front'; the camera will flip 180 to face the climber side, the image will be inverted automatically, the shooter will move to the home position, and moving the joystick forward will move the robot towards what the camera sees.	This will aid the driver in being able to more easily align with the pyramid.

Drivetrain's Engineering Notebook

Week 1

• 1/10
• 1/12

Week 2

• 1/13
• 1/15
• 1/16
• 1/17
• 1/19

Week 3

• 1/20
• 1/22
• 1/23
• 1/24
• 1/26

Week 4

• 1/27
• 1/29
• 1/30
• 1/31
• 2/02

Week 5

• 2/03
• 2/05
• 2/06
• 2/07
• 2/08
• 2/09

Week 6

• 2/10
• 2/11
• 2/12
• 2/13
• 2/14
• 2/15
• 2/16
• 2/17
• 2/18
• 2/19

Engineering Notebook Templates Available at:Engineering_Notebook_Template

Please Label All Notebook Pages 2013:Drivetrain XX.XX to avoid confusion.