Week 7

5/16/17

Past Week Accomplishments and Challenges:

Challenges / Solutions:

• We are having difficulty in getting the end effector to be level.
• We realized our servo has a max range of 180 deg, so we modified design with different gears.
• Block puncher is strong and broke our catch servo.
• Current IR sensor cone shape is not appropriate for detecting center block so a redesign of IR mounting bracket needs to be done to accommodate a different IR sensor.

Accomplishments:

• modified end effector wrist to accommodate bearings, welded yaw shaft to end effector and assembled the wrist.
• Block Puncher is mounted and working beautifully.
• to make it larger and implemented a blockade to stop the block from hitting the hatch and one-way teeth at the mouth of the catch to prevent bounce-back of the block.
• Catch is mounted and works great
• Found a way to eliminate our second Arduino (Uno) and just use the Mega with two stacked motor shields.
• Got third potentiometer mounted to the Base yaw motor.

Week 7 Plan:

• Mount wrist yaw servo
• All IR sensors mounted.
• Have a completely wired electrical system.
• Build a test arena for robot testing.
• Begin mapping block potentiometer and angle positions