156B Week 10

Hardware & Software Updates

• Used TMC2130Stepper Library to develop previous sketch

  • Now can actuate all 4 motors concurrently, smoother movement, less noise due to “stealthchop()” function

  • From the success of this sketch, produced 2 untested/additional sketches:

    • 1 for unspooling

    • 1 for user control between spooling, unspooling

Documentation Updates

• Started formatting and converting bullet points to sentences

• Updated UTM plate materials and tools needed

CAD Updates

• Perpendicularity tolerance needed for holes in inner flange

• Also make two separate sets of drawings for 3D printed vs. wooden spools

• Still need to do UTM plate and UTM system assembly

• Have done by Friday Morning

Feedback from Meeting with Instructor

• Vertical movement - spooling with simultaneous motor actuation does not function properly

  • Motors can spool sequentially

  • When attempting to spool (rotate motors in opposite direction of unspooling), motors only spool for two steps, but then begin to unspool downward

• Make a sketch just with simultaneous spooling, not with unspooling to isolate the problem

  • Isolate the problem

  • Debugging

  • Could be fault of conditions and logic in the void loop

• User Manual

  • Are we providing a list of additional measurement tools they may need?

    • Yes, separate list of FarmBot components plus components they need to purchase additionally

  • Because this is open source and not under a regulatory body, how will users ensure geometric constraints if not auditing it every day?

    • We pin point where the system is easiest to adjust

    • Tips about trouble-shooting certain issues we’ve already encountered

  • Cannot take for granted that users would know how to use a manual.

  • Is it possible to mark on frame where to measure?

    • We can advise where to mark using a tape measure but we will not be able to do that for every user

• Engineering Drawings

  • Even though some users may not understand GD&T, we must include geometric tolerances such as surface runout, profile of a surface, etc.

    • Then if users do not understand, create a tips or explanation page to focus on the most important dimensions.

Feedback from Meeting with Sponsor

• Returning hardware to Nick

  • Date/Time: TBD - After end of Week 11

• Nick likes the modularity of the cementing solution

• Position is a complicated control problem

  • Ignore the path of translation and the instability, just focus on starting position and end position

• For future teams - need more rigorous software knowledge/experience - maybe CS or ECE students

  • Feedback control based on where the UTM currently is located

• CAD and Engineering Drawings - don’t feel the need to do perfect GD&T because most users will not have the capability to reach such specific and small levels of accuracy

• Do we think that senior design is the best avenue to pursue this project?

  • Summer internships

  • Part time work during school

  • Senior Design