Day 01/03/11 4:45pm - 7:30pm


Attendance:

Harrison
Niah
Jacob

Programming:

Today we tackled the long, strenuous task of programming. We are going to tackle this methodically and program one motor function at a time, starting with the TeleOp, because it's the easiest.
We programmed the drive motors. They are Tank style, which we prefer because it gives us much more control over the robot. The robot can successfully drive over the cliff, unaided, and move in and out of the floor goal without getting stuck at all, which is good. The robot can also get over the mountain going forward, but you have to open the throttle all the way to avoid doing a stoppie and falling on your face. It can't make it over the bridges yet, but that's because we haven't finished installing the bridge servos.
We also started work on the automated loading. It's automated because when you push a button, it automatically loads the batons from the rack to the cup. This didn't exactly work because the DC motor doesn't seem to obey any commands given by encoders. I've overviewed the code plenty of times, an I'm sure we are doing it correctly (and I did this the year before). For some reason the encoders just start failing. We tried this with the conveyor belt motor, which has to strain and just free spins. It doesn't even recognise that it has reached. it's target and it continues to move until it suddenly reverses direction and the motor starts smoking (not good..).
Still, we got the drive working, which is impressive, because this time last week, we were nowhere near as close to being competition ready as we are now. -Jacob

Bridge lowering device:

Tonight I (correctly) mounted the servo motors that will raise and lower the bridge. A piece of flat channel with a wheel attached at the end will push down on the bridge, effectively lowering it.
Part #
Quantity
Description
T
2
HS-475HB Standard Servo w/ Carbonite Gears w/ horn
AE
4
Set Screw Motor/Axle hub
AO
4
Axle Hub
AA
2
Bronze Flanged-Sleeve Bearing 3/16" Shaft Dia., 5/16" OD, 1/2" Length
AV
2
12v NiMh 3000 mah Rechargeable Battery
C56
2
3/16" x 1" SS Precision D Shafting
AF
4
Alloy Steel Socket Head Cap Screw 6-32 Thread, 5/16" Length
AC
4
Sintered Steel Set Screw Shaft Collar 3/16" Bore, 7/16" OD, 1/4" Length
AG
4
Alloy Steel Button Head Cap Screw 6-32 Thread, 3/8" Length
C57
4
Alloy Steel Button Head Cap Screw 6-32 Thread, 1" Length
AJ
4
Aluminum Female Threaded Hex Standoff 1/4" Hex, 1" Length
AI
4
Nylon Unthreaded Round Spacer 3/8" OD, 3/8" Length
K
2
Flat Bar 288mm x 16mm
V
2
18" Servo Wire Extension