Week 6

With the base and launch system integrated together, we worked on finalizing the layout of the electrical system and rigidly attaching the electrical components to the robot. We've also electrically integrated all actuators and sensors and verified their functionality.

We implemented variable speed control for the wheels and increased the data transmission rate for our wireless system to reduce latency. We've also modified the code to avoid uncontrollable states that can damage the launch system where the cable tensioner pulls the launch platform back too far.

One mechanical challenge is that our hook is not engaging with the pull-bar with 100% consistency. We did not have time to deal with this today, as we just discovered this problem, but next week we will either iterate the hook design, use a pull bar without threads (so it is smoother) or do both to overcome the challenge.

Another mechanical challenge is that we had to re-design our reload system. The stepper motor was not strong enough to reliably drive the system, so we had to redesign it to be lighter, and therefore easier to drive. We have not been able to test the re-designed system, so it is a current challenge that we are facing.

A challenge we overcame this week was mounting the complete launch system on to the 80-20 chassis. To get it to fit we had to spend a lot of time making small adjustments. But in the end we were able to successfully mount the launch system, as seen in the Successes section, so it is not a current challenge.

We discovered that our servo motor draws enough current that the Arduino's voltage regulator cannot power it along with everything else in the system that requires a 5V signal. We plan to overcome this challenge by adding a separate 6V voltage regulator directly off the battery that will exclusively power the servo.

Another electrical challenge is that the limit switches we are using to provide a signal of when to switch directions for the pull motor are not super consistent, and being buggy. Next week we will most likely acquire new limit switches.

Next week, we will finalized and mount our reload system and get the hook to engage correctly for the priming system, making all the robot subsystems complete. We will also mount all the sensors, which are the two limit switches, the button to sense if a beanbag is loaded, the laser range finder, and the phone mount so we can use a phone as a video camera.

We will add the servo voltage regulator and begin finalizing the electrical system by fitting all electrical wires to their minimum needed length and creating a perforated electrical board to reduce wire clutter. We will also wire in the button that senses if a bean bag is loaded.

We will test the Bluetooth range and reliability in the Kelly Atrium to verify its functionality in the competition environment. We will also tune the control signals we use for shooting range adjustments and reloading to better match the final system design. Finally, we will integrate the "is a beanbag loaded" signal into the software.