Engineering Notebook – 11/30/17

Attendance:

Alex, Zach, Drew, Danielle, Charles

 

Goals:  

Builders

  • Practice driving the robot without using the lift

Programmers

  • Modify code to incorporate maximum and minimum limits for the lift

All

  • Make sure robot meets rules, regulations and requirements; if it does not change or edit to make it fit

Meeting Notes

Builders

  • Problems found:
    • Claw: It would not close enough to pick up the block
    • Linear lift: Lift would only go down and would not go up
    • Driving: The controls for strafing left and right were reversed
  • Solutions:
    • Claw: Added weather striping to the other side of the claw. But didn’t work
    • Claw2: Asked programmers to change the position that the claw started at

Programmers

  • Linear lift: We changed the program to make the A button go down and the B button go up after we figured out the motor was in a reversed position
  • Driving: We set that aside for next meeting because we ran out of time

Engineering Notebook – 11/16/17

Attendance:

Alex, Zach, Drew, Danielle

 

Goals:  

All

  • Practice driving the robot

Builders

  • Finish all aspects of the robot

Programmers

  • Test and fix any issues with the program

Meeting Notes

Programmers

  • Reviewed and fixed program
  • Found circumference of a sprocket (7.85″)
  • Found amount of ticks, a measurement of sprocket and gear movement in 3 different distances: 950 in 6.5″, 1120 in 1 rotation and 86 in 1″.
  • Added a variable
  • Changed the amount the linear lift would go in 1 level and added fine tuning buttons
  • Found that drive motors were inverted. Tested and fixed the issue.

Builders

  • Attached plexiglass in a pentagon shape with 2 right angles
  • Discussed the pro’s and con’s of horizontal and vertical weather stripping pads. Eventually chose vertical so the blocks would not get stuck diagonally on the horizontal stripping.
  • Attached a rectangular metal plate to back of the claw mechanism to prevent block from going under the lift/claw and immobilizing the robot
  • Discussed cutting of a corner of the claw so we can see where the block is
  • Discussed adding metal support poles to the inside of the claw to keep the claw from bending

Engineering Notebook – 11/09/17

Attendance:

Charles, Alex, Drew, Danielle, Zach

 

Goals:  

Builders

  • Attach linear lift to frame
  • Attach servo motor to claw

Programmers

  • Review code changes
  • Complete code for the claw’s servo motor
  • Download and test program

Meeting Notes

Builders

  • Attached the servo to the claw, but the motor on the claw was too high
  • Added gear on top of the horn of the servo, but there was a gap between the servo and claw gears still
  • Moved servo to the place where the gears aligned, then zip tied it to the c-channel
  • Attached the linear lift to the robot, but need 2 more bolts

Coders

  • Went over changes in code
  • Modified code (changed open and close values for servo motor, changed what buttons controlled claw and lift)
  • Completed code for servo motor
  • Tested program on a test set-up which had all 4 wheels, the linear lift motor, and the servo motor controlling the claw
  • Found out the linear lift didn’t work

 

Engineering Notebook – 11/02/17

Attendance:

Alex, Zach, Drew, Danielle, Charles

 

Goals:  

Builders

  • Put stages together
  • Put stops in lift
  • Attach lift to a crossbeam
  • Attach chain to gears
  • Attach servo to claw
  • Attach lift to robot

Programmers

  • Make a test set-up to test the program
    • Be sure to include everything that will be on the robot
  • Make a meccanum wheel drive program
  • Make a drive program and 1 motor program
  • Make a drive program, 1 motor program and a servo program
  • Test

Meeting Notes

Builders

  • Put 4 stages1 together
  • Put stops2 in the lift
  • Attached linear lifts to crossbeam which attaches to robot

Programmers

  • Built a test set-up
  • Test drive and lift programs

Stages are a combination of apiece of C channel, a sprocket, 2 guilds, and 2 racks for a rack and pinion
Stops stop the stage from going all the way up

Parts

The picture above shows the test set up the programmers built:

  • The lift motor controls the linear lift
  • RB (Right Back): is the drive motor in the back on the right side on the robot
  • LB (Left Back): is the drive motor in the back on the left side the robot
  • RF (Right Front): is the drive motor in the front on the right side the robot
  • LF (Left Front): is the drive motor in the front on the left side the robot
  • CDR (Core Distribution Relay): Distributes power to other modules
  • MC (Motor Controller): Provide 2 motors power
    • DC Motor: Turns 360 degrees forward or back
  • SC (Servo Controller): Provides 6 servo motors with power
    • Servo motor: Turns 180 degrees
  • Phone: Sends direction to the CDR about how much power to give to the controllers
  • Battery: Stores power