2022:Robot Design Details: Difference between revisions

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== Motors ==
== Motors ==


== Pneumatics (NOT USED) ==
== Pneumatics ==


{| border="1" cellpadding="10" cellspacing="1"
|-
| '''Mechanism'''
| '''Action - Say what extend and retract do!'''
| style="width: 42px" | '''Number of Cylinders'''
| style="width: 74px" | '''Cylinder'''
|
'''Extend Powered?'''
 
|
'''Extend Exhaust to Atmosphere?'''
 
|
'''Retract Powered?'''
 
|
'''Retract Exhaust to Atmosphere?'''
 
| '''Working Pressure'''
| '''Estimated Firings per Match Cycles'''<br/> (Sum of all powered directions!)
| '''Notes'''
|-
| Powerful Puncher!
| Extend = extends puncher to punch the wall<br/> Retract = pull puncher back in
| style="width: 42px" | 1
| style="width: 74px" |
&nbsp;
3" Bore, 8" Stroke
| Yes
| Yes
| Yes&nbsp;
| Yes
|
95 PSI
| &nbsp;36&nbsp;
| &nbsp;
|}
&nbsp;
<div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div> </div> </div> <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div> </div> </div> <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
= Sensor Chart&nbsp; =
= Sensor Chart&nbsp; =



Revision as of 15:15, 7 January 2022

Overall design decisions, notes, specifications, and integration items here! Integration Task List (NEEDS LINK HERE)

Overall Robot Dimensional Restraints

Actuators

Motors

Pneumatics

Sensor Chart 

 

  Mechanism

  Sensor Type   Function   Attachment Point   Notes

Intake

Banner Beam Break Senses incoming power cells Intake of helix/storage

Keeps intake and helix running until 5 cells counted.

Does this start up the helix agitator when first ball is sensed? Helix can not turn on whenever intake is on or we will force balls into the shooter.

Does this turn off the helix agitator? Yes 

Turns off/lifts/reverses intake and turns off helix agitator when 5 Power Cells are counted or beam stays broken for a fixed period of time  Location critical if it is sensing gaps between balls.

Storage Banner Beam Break Sense balls when ready to shoot Top of Helix/ Intake of shooter

Senses balls before they hit the shooter intake roller to prevent multiple balls from entering the shooter at once.

Count outgoing balls?

Storage/Shooter

Banner Beam Break Senses presence of ready-to-shoot power cells Inside shooter

Sense when a ball that is inside the shooter so we can stop the intake of the shooter to let the shooter flywheel get back to speed after shooting ball.

Shooter

 Integrated NEO Encoder Shooter wheel speed    

Hang

Integrated NEO Encoder

Tells arms how high to raise, how far to retract, deploys hooks  

Need to figure out how to zero it

22 degrees rotation to be able to release pawl

Wheel of Fortune

Color Sensor Reads color on wheel  Bracket attatched on spinner gear box Stops motor when correct color is read. Counts segments for rotation control.

Drive Base

Encoder Measures center of drive base hex axle on the center wheel  

Intake (Rotation)

Integrated NEO Encoder

Limits how far intake comes into the robot frame   Will need hard stop back up
Intake (Rotation) Omron EE-SPY415 Sensor Zeros the encoder On the left intake mounting bracket. Sensor bracket pending approval. Tested on test board, works at identifying smoked lexan. The range is low enough so that it won't sense the helix which is ~8in ahead of it.
Shooter Limelight 2 Aim assist Behind hood on shooter Needs ethernet connection to robot as well as power (either 12v PoE or 5A PDP connection)
General purpose Microsoft Lifecam HD-3000 Driver aid On top of helix on shooter base plate Needs USB connection. Can be connected to Limelight or rio
Drive Train Gyroscope Autonomous turning Near center of rotation  
Shooter Flashlight Aim assist Next to limelight  

Archive

2020 Robot Design Details (applies to 2021 as well)

2019 Robot Design Details

2018 Robot Design Details

2017 Robot Design Details

2016 Robot Design Details

2015 Robot Design Details

2014 Robot Design Details

2013 Robot Design Details

2012 Robot Design Details

2011 Robot Design Details

2010 Robot Design Details

2009 Robot Design Details