156B Week 7

Progress Since Week 6

Hardware

• Switched out brackets with new FarmBot components that arrived last week

• Continued testing compatibility of code with FarmBot user webapp

  • We need to reach out to the people that Nick know

  • Does not work with Web App

• Should continue for positional accuracy within our code only

• Assembled Tool Heads

• Further assembled UTM plate

• Assembled Tool Head station and determined placement

Hardware Plans for Next week

• Try running the G-code

• Adjust orientation of extrusion on the UTM plate to include the vacuum

• Maybe design another toolhead station if we have time

CAD

• Began CADing UTM Assembly

CAD - Goals for next week

• Begin documenting how UTM plate is assembled - Robert

• UTM plate - CAD and GD&T - Euric

• L-brackets - CAD and GD&T - Kaela

• Spools - CAD and GD&T - Sam

Software

• Fixed code to make it flashable to the Farmduino

• Reached out to Co-Founder of FarmBot and Software lead for help on our logic

  • Farmbot OS always flashes partial firmware to Arduino each boot

    • Cannot run a new firmware without the OS interfering

  • Firmware will work as an independent piece with G-code supplied

Software Plans

• Continue testing system using G-code supplied straight to Arduino with Pi d/c’ed

• Rework so G-Code is supplied from Pi to Arduino

• Create User interface for Pi-supplied G code

  • Make small interface of 6 buttons for movement directions

  • This is because we can’t use the web app

Materials Purchased this week

• M3 Screws

Materials to Buy (decreasing priority)

1. Seeds

2. Quick Mix

3. Sink Spring

Current Concerns (decreasing priority)

• Can’t get our code to be compatible with the FarmBot WebApp

  • The movement logic is not compatible with the GUI and available user inputs

• Web App strictly communicates using parameter lists inherent to each FarmBot and Farmduino Version

  • Isn’t flexible enough to accept fully defined parameters/logic of Cable System

• Not integrating with Web App

  • Going to focus in on accuracy and using our own code

• Cable System code can perform all FarmBot functionalities, but through G/F-Code passed to Arduino Serial Monitor instead of WebApp -> Raspberry Pi -> Arduino

• Ask about report

  • How are we supposed to write about final design and final results even if we are not yet at that stage?

Feedback from Meeting with Instructor

• For pulley system - is there another bracket that can clip in the top circular piece so that it holds it flat

  • Think of constraints that fix it in place

  • So far Euric has used additional zip ties through the bracket’s wall slot

  • Are there pulley pins that can constrain it at that circular region?

• Do we plan to use the zip tie in the long run or create a new fixture/support?

  • Could have two axle direction support - like two supports that surround the pulley

  • Zip tie can function at this point in time

• How does the modification of the pulleys fix the accuracy?

  • Fixes misalignment with the rope

  • Better behavior from pulleys and interaction with the cables

• What is the issue that is bothering us the most at the moment?

  • Software - default Farmduino code from Raspberry Pi is overriding the code we flash

    • Some sort of homing procedure that we don’t want

  • Software iteration phase

  • Want to see if our movement logic works within FarmBot’s source code and UI

• Have we asked for help with our coding and programming?

  • Steve Roberts

  • Robert - hasn’t asked for any help from instructional team

Feedback from Meeting with Sponsor

• New pulley orientation looks a lot smoother and upside down hanging is a lot more intuitive

• Feel free to put UTM/end effector station where it makes the most sense

  • Edge may be tricky

  • If it makes the design easier (i.e. middle)

• If you can’t run FEA on aluminum brackets, don’t feel the need to

  • Displacement results from plastic brackets was sufficient, so results should only get better from here

• Software - will the machine recognize our code vs FarmBot original code

  • Say our code isn’t recognized - how will we resolve this?

  • If we can’t resolve this, we should anticipate how much work or what is probability that we resolve this

  • Have we looked on the forum for any software conversations?

  • Have a backup plan in case

    • Other projects’ codes as reference

  • No need to do something over again if another code works

• Be laser focused on positioning accuracy and getting the code to work

  • Cable management and tool mount station left undone is okay with Nick

  • Most major milestone is UTM movement and accuracy

Budget Remaining: $1737.47