Channel Cats Links

     

   

Critical Links  

River City Robots Links!

     


FIRST Logo
 
   

2015 Meeting Minutes

Parts, Parts, Parts

Received

o   15-5M Kevlar corded belting for lifter (Polytech Design)

o   Spare lifter carriage wheels (Competitive Robot Parts)

Minutes 2/11/15

1. Chassis and Tote Devices

The gatherer with soft tread 5 inch wheels was used during practice last night. After some practice the drive team was able to retrieve and stack totes fairly rapidly. We discovered a few weak links with the mechanism and have plans to fix them. Some modifications were made with the driver/operator controls. The driver now can open and close the gatherer arms and start and stop the gatherer wheels.

The Lexan shields to cover the drive train gears are now on version 15 and counting.

The metal versions of the clips on the grabber arms were used in practice last night and worked well.

2. Controls and Software

Some auto mode maneuvers were tested but more testing and development is required.

3. Bill of Materials

Continued to add items to the list and to include the source of the items and the cost.

4. System Integration and Test

A guide on the wagon cradle to allow a quick placement of the robot on the wagon was trimmed and needs to be tested.

Got in some drive team practice but still need to look at how to set up the robot on the field, auto mode, totes from the chute and real match timing. the use of the gatherer seems to speeding things up.

5. Animation

Adam -- How about a report on where you stand with the animation storyboard?

6. Crate

Stated to brainstorm ideas for a new crate that would weigh about 1/2 of the current crate. Plans are to pull the trailer into the shop on Saturday and remove the crate. We would salvage what we can from the old crate.

7. Thirty Pound Hold Back

Current plan is to keep the IMU, Lifter arms, Gatherer arms and the four Mecanum wheels.

Agenda 2/12/15

1. Tote Intake Gatherer

Modify the gatherer mechanism as required to stiffen things up. Examine alternate wheels.

2. Lifter

Replace one cracked wheel in the carriage.

3. Controls and Software Development

Continue with the step by step implementation of some auto modes and operator assist modes.

The robot driver/operator team needs to document the current thinking for the robot controls and control modes including the options considered, why you selected what you selected and perhaps some logic behind that controller to explain how the modes should function.

Document the pneumatics control logic.

4. Total System Integration and Driver Training

Complete the drive train gear covers and install. Put more grease on gears.

Do more driver/operator/human player training on the full field. Document the planned match scenarios. Continue with more systematic driver training and robot testing by practicing only the planned scenarios and doing some timing of the tasks.

5. Robot Wagon

Guides for quick placement of the robot on the wagon need to be tested.

6. Animation & Scouting

Continue these efforts as personnel are available. Get an update on the progress in both areas.

7. Weights and BOM

Continue to update the Bill of Materials.

8. Awards

The Woodie Flowers nomination essay is due by 11pm our time tonight.

9. Robot Transport

 

Continue with design of new crate.

Parts, Parts, Parts

 

Expected on Wednesday

 

o   15-5M Kevlar corded belting for lifter (Polytech Design)

 

Minutes 2/10/15

 

1. Chassis and Tote Devices

 

The gather arms now have some 5 inch, soft tread wheel installed on them and are much shorter than they were. The gather was tested on the carpet and look very promising in that it rapidly pulled totes to the robot. The new gatherer has been installed on the robot and will be tested tonight.

 

Fabrication of Lexan shields to cover the drive train gears were completed and given a trial fit. Looks like one fit well but the other will have to be re-made.

 

A metal versions of the Lexan clips on the grabber arms were fabricated, installed and got limited testing. Seems to work well.

 

2. Controls and Software

 

Some auto mode maneuvers were tested but more testing and development is required.

 

3. Bill of Materials

 

Continued to add items to the list and to include the source of the items and the cost.

 

4. System Integration and Test

 

A guide on the wagon cradle to allow a quick placement of the robot on the wagon was trimmed and needs to be tested.

 

Students drove the robot and worked out a method of stacking the totes on teh scoring platform. Were able to put 6 totes on the scoring platform in two minutes. Need more like 10 totes to be competitive.

 

5. Animation

 

Adam -- How about a report on where you stand with the animation storyboard?

 

6. Awards

 

The Woodie Flowers nomination essay was edited and should be ready for submittal on Thursday.

 

Agenda 2/11/15

 

1. Tote Intake Gatherer

 

Complete the wiring of the new gatherer design and test.

 

2. Tote Grabber

 

Test the new metal grabber arm clips.

 

3. Controls and Software Development

 

Continue with the step by step implementation of some auto modes and operator assist modes.

 

The robot driver/operator team needs to document the current thinking for the robot controls and control modes including the options considered, why you selected what you selected and perhaps some logic behind that controller to explain how the modes should function.

 

Document the pneumatics control logic.

 

4. Total System Integration and Driver Training

 

Complete the drive train gear covers and install. Put more grease on gears.

 

Do more driver/operator/human player training on the full field. Document the planned match scenarios. Continue with more systematic driver training and robot testing by practicing only the planned scenarios and doing some timing of the tasks.

 

5. Robot Wagon

 

Guides for quick placement of the robot on the wagon need to be tested.

 

6. Animation & Scouting

 

Continue these efforts as personnel are available. Get an update on the progress in both areas.

 

7. Weights and BOM

 

Continue to update the Bill of Materials.

 

8. Awards

 

Finish the Chairman's Award Essay (due on Feb 19th), the Business Plan (due Feb 12th) and the Woodie Flowers (due Feb 12th) essay inputs.

 

9. Robot Transport

 

Start thinking about the robot shipping crate that will be needed if we are invited to the Championships. We need to remove the crate from the trailer then decide if we can use that crate (too heavy) or build a new one from parts of the old one.

 

We need to determine if we are going to use one or two bags for the robot and what if any parts we are going to retain as part of the 30 pound holdback.

 

 

 

Ralph Lambert

Parts, Parts, Parts

Ordered

o   3/4 x 5 in stroke pneumatics cylinders for Gatherer (Automation Direct) 2/6/15

o   15-5M Kevlar corded belting for lifter (Polytech Design) 2/6/15

Minutes 2/5/15

1. Chassis and Tote Devices

Continued to work on getting the tote gatherer arms installed on the robot and the mechanism to move them out of the way when the grabber comes down. The latest design will use a pneumatic actuator to control in the in and out motion of the gatherer arms. The cylinder will move the arms out when the lifter encoder says the lifter carriage is below a given height or when the carriage is sensed to be below a certain height by a switch. The gather rollers are now planned to only operation in the gathering or pull-in direction. We may just run the rollers for the whole match depending on what we see during testing.

The lift belt slippage seems to have been corrected through the use of some metal rather than Lexan hold-down clamps. Removed the rear set of conveyor belting on the grabber arms and that seems to allow a more level carriage of the totes.

Lexan shields are being fabricated to cover the drive train gears.

2. Electronics & Pneumatics

The solenoid manifold is not being held on the electronics tray by the Velcro. Need to screw it to the tray.

 The compressor is remaining cool during long duration test driving of the robot. The large fan seems to be doing the job.

3. Controls and Software

The auto mode software is being revamped and being re-constructed  in a step by step manner. Some of the initial results look good.

4. Bill of Materials

Continued to add items to the list and to include the source of the items and the cost.

5. System Integration and Test

Still need to add some guides to the wagon cradle to allow a quick placement of the robot on the wagon. The candidate drivers got a lot of drive time during the open house last night. The drivers and operators are getting more used to the robot controls and getting more of  feel as to how to pick up the totes.

6. Animation

Adam -- How about a report on where you stand with the animation storyboard?

Agenda 2/6&7/15

1. Tote Intake Gatherer

Continue to work the implementation of the tote intake gatherer, install it on the robot, define and code the associated control laws then test.

2. Tote Grabber

We should start drilling holes in the grabber arms to reduce their weight.

3. Tote Lifter

Seems to be complete until we find issues during testing.

4. Pneumatics and Electronics

Add the tote "in the grasp" sensor(s).

Re-install the 4 position pneumatics manifold and add a solenoid for the gatherer arm position control.

Provide mount in the robot for the IMU or gyro.

5. Controls and Software Development

Continue with the step by step implementation of some auto modes and operator assist modes. Calibrate the encoder for the lifter drive shaft.

The robot driver/operator team needs to document the current thinking for the robot controls and control modes including the options considered, why you selected what you selected and perhaps some logic behind that controller to explain how the modes should function.

Turn the gain down on the driver inputs to the robot to slow down its operation and hopefully achieve more accurate and smoother maneuvering.

Document the pneumatics control logic.

6. Total System Integration and Driver Training

Weigh the robot with everything installed.

Get the entire robot drawn up in CAD.

Cut out the skin for the top of the robot and install.

Complete the drive train gear covers and install. Put more grease on gears.

Do some driver/operator/human player training on the full field. Document the planned match scenarios. The training should now start to be more systematic by practicing only the planned scenarios and doing some timing of the tasks.

7. Robot Transport

Guides for quick placement of the robot on the wagon need to be added to the wagon cradle.

8. Animation & Scouting

Continue these efforts as personnel are available. Get an update on the progress in both areas.

9. Weights and BOM

Continue to update the Bill of Materials.

10. Awards and Team Essays

 

Get an update for all needed documents. Hope to start seeing some of these inputs very soon as the due dates are approaching quickly.

Parts, Parts, Parts

Expected on Monday

o   Chop saw blades (Amazon)

Expected on Tuesday

o   3/4 x 5 in stroke pneumatics cylinders for Gatherer (Automation Direct)

Expected on Wednesday

o   15-5M Kevlar corded belting for lifter (Polytech Design)

Minutes 2/6&7/15

1. Chassis and Tote Devices

The gather arms and rollers were completed and installed on the robot. control software was written to have the gatherer arms operate in conjunction with the grabber arms. On field testing was a bit disappointing however. The rollers were not able to slide the tote on the carpet into the robot. Another option for the rollers and arms is under consideration and will be worked on this week.

Lexan shields fabricated to cover the drive train gears did not work out. Need to try something else.

The grabber arms were Swiss cheesed. The forward Lexan clips on the grabber arms were breaking left and right during the practice sessions.

The two "in the grasp" switches on the lifter carriage were removed and replaced by a single switch on the forward bumper.

2. Electronics & Pneumatics

The 4 port solenoid manifold was securely fastened to the electronics tray and now includes a solenoid for the gatherer arm control.

 considered removing the large compressor cooling fan and replacing it with a smaller version if we need to shave some weight.

3. Controls and Software

The auto mode software is being revamped and being re-constructed  in a step by step manner. Some of the initial results look good. The initial thoughts for eh auto mode setup are having to be modified since we did not realize how close the yellow totes will be to the wall.

The lifter shaft encoder was calibrated and appears to be repeatable.

The driver stick inputs were multiplied by 0.7 to slow down the robot operation and hopefully achieve more accurate and smoother maneuvering. The robot seems to still have plenty of top end speed.

4. Bill of Materials

Continued to add items to the list and to include the source of the items and the cost.

5. System Integration and Test

Still need to add some guides to the wagon cradle to allow a quick placement of the robot on the wagon.

The candidate drivers got a lot of drive time during the afternoon. The drivers and operators are getting more used to the robot controls and getting more of  feel as to how to pick up the totes. Half of the landfill totes were set up on the field.

The robot was weighed with everything installed but the team number and the IMU. We weighed in at 119 pounds. need to watch the weight closely this week.

The Lexan skin for the top on the robot's electronics tray was cut out and installed on the robot.

A large portion of the robot was drawn up in CAD.

6. Animation

Adam -- How about a report on where you stand with the animation storyboard?

Agenda 2/9/15

1. Tote Intake Gatherer

Continue to work the implementation of the version 2 of tote intake gatherer. Desired wheels are sold out.

2. Tote Grabber

Fabricate more Lexan clips for the arm or try a new design or new material.

3. Pneumatics and Electronics

Provide mount in the robot for the IMU or gyro.

Started to go through all the batteries replacing the wire connections.

4. Controls and Software Development

Continue with the step by step implementation of some auto modes and operator assist modes.

The robot driver/operator team needs to document the current thinking for the robot controls and control modes including the options considered, why you selected what you selected and perhaps some logic behind that controller to explain how the modes should function.

Document the pneumatics control logic.

6. Total System Integration and Driver Training

Complete the drive train gear covers and install. Put more grease on gears.

Do some driver/operator/human player training on the full field. Document the planned match scenarios. Continue with more systematic driver training and robot testing by practicing only the planned scenarios and doing some timing of the tasks.

7. Robot Transport

Guides for quick placement of the robot on the wagon need to be added to the wagon cradle.

8. Animation & Scouting

Continue these efforts as personnel are available. Get an update on the progress in both areas.

9. Weights and BOM

Continue to update the Bill of Materials.

10. Awards and Team Essays

 

Get an update for all needed documents.

Minutes 2/3/15

1. Chassis and Tote Devices

Working on getting the tote gatherer arms installed on the robot and the devices to move them out of the way when the grabber comes down. Re-worked the limit switches. Added 10 pounds of counter weights to the back of the robot. Lexan shields are being fabricated to cover the drive train gears.

2. Electronics & Pneumatics

Looks like everything in this area is working well so far. Added more PWM connector clips on the roboRIO to keep them secure during match play.

3. Controls and Software

The auto mode software is being revamped and being re-constructed  in a step by step manner. Some of the initial results look good. Some ideas for operator assist modes to speed up the tote stacking operation were circulated for team consideration.

4. Bill of Materials

Continued to add items to the list and to include the source of the items and the cost.

5. System Integration and Test

The wagon cradle has gone though one more iteration and the robot now seems to balance well on the wagon. Still need to add some guides to allow a quick placement of the robot on the wagon. The robot was driven on the field tonight with the counterweights attached. It seems to be able to maintain its balance much better when carrying 3 or more totes. The lifter is working well and can easily lift a stack of 4 totes and the Mecanum wheel maneuvers looked better. We did notice some lifter belt slippage at the end of the night. The students were able to pick up toes and place them on the step. The compressor appears to being kept cool with the fan we have on it. While the drive team is just getting used to driving the robot, we may have to turn down the gain on the stick to achieve a smoother operation. We have more top end speed than we really need for this year's game.

6. Animation and Scouting

Adam -- How about a report on where you stand with the animation storyboard?

The scouting team was hard at it again last night and have the code updated from last year to match this year's game.

Agenda 2/4/15

1. Tote Intake Gatherer

Continue to work the implementation of the tote intake gatherer and its integration with the grabber device.

2. Tote Grabber

The lifting of the upside down totes needs to be looked at more closely to identify the modifications needed. However, a fairly quick maneuver to turn them right side up looked promising on the field.  We now know the we can lift and stack totes and now we need to look at how to perform that task quicker and on the scoring platform. We should start drilling holes in the grabber arms to reduce their weight.

3. Tote Lifter

Need to check out the belt slippage. May want to try modifying the lifter clips to get to the point where the totes are being carried level or at least leaning back some.

5. Controls and Software Development

Continue with the step by step implementation of some auto modes. Calibrate the encoder for the lifter drive shaft. The robot driver/operator team needs to document the current thinking for the robot controls and control modes including the options considered, why you selected what you selected and perhaps some logic behind that controller to explain how the modes should function. Turn the gain down on the driver inputs to the robot to slow down its operation and hopefully achieve more accurate and smoother maneuvering.

6. Total System Integration and Driver Training

Get the robot on the field again and get some controlled testing of the entire system and some game simulated driving done. Need to continue to discover any weaknesses in the system and decide how to fix them.  Get the entire robot drawn up in CAD. Cut out the skin for the top of the robot and install. complete the drive train gear covers and install.

7. Robot Transport

The wagon cradle needs to be completed and tested tonight. Guides for quick placement of the robot on the wagon need to be added.

8. Animation & Scouting

Continue these efforts as personnel are available. Get an update on the progress in both areas.

9. Weights and BOM

Continue to update the Bill of Materials.

10. Open House

Prepare the shop for the open house by cleaning up a few things and posting some of our design documents.

11. Awards and Team Essays

 

Get an update for all needed documents. Hope to start seeing some of these inputs very soon as the due dates are approaching quickly.

   

Sponsors  

   
© The Channel Cats