Week 8

5/23/17

Past Week Accomplishments and Challenges:

Challenges / Solutions:

• The servo gearbox has to much play from the rotational momentum in the wrist, we switched out the servo for a DC motor with a potentiometer and attached it directly on to the rotating shaft to avoid gear tooth deflection.
• Catch mouth needed to be readjusted to better receive blocks but not let them come back out. The rubber trap doors were replaced with the original zip tie end pieces.
• PD control, developing this to operate smoothing has been challenging, current version use a less optimal type of PD control method.

Accomplishments:

• Positioned robot on mock arena and achieved all the range of motion necessary for both sides of the tower.
• Potentiometer for base rotation was re-aligned for less stress on the potentiometer shaft.
• Wiring is 95% complete, computer boards are mounted on the robot, base level electronics testing has been completed and is awaiting a full systems integrations test with the IR sensors.
• A bracket for the potentiometer and DC motor on the wrist has been made and mounted.
• ADC working and mounted.
• Implemented two different motor shields and can now control all motors and servos accurately

Week 8 Plan:

• Finish sensor array
• Mount all IR sensors.
• Begin mapping block potentiometer and angle positions
• Begin testing of the entire system in play
• Develop game strategy