Entry 14

The Hardware Team works on starting the intake mechanism and determining the different parts that GoBILDA uses in their mechanism.

The agenda for the programming team is to advance further and finish our code from last time. In addition to gaining a better understanding of splines used in roadrunner and how they work.

The Hardware Team is trying to pull any parts they deem necessary to the mechanism. Those that aren't looking for parts are determining what parts the intake system consists of.

Initially, the programming team didn't necessarily know how to execute our plan. After, we work and test out the calculations, we understand the concept of how it was intended to work.

After several experimentation, we condense the code into a single spline path, and now it runs brilliantly.

If the versions we have currently have done are not accurate, we plan to made several modifications to the code.

Today we search for more parts and discuss some plans for the design.

• Since we only have certain angles of the GoBILDA design we will improvise certain parts and make others our own. Guiding ourselves off of what is in the video, today we search for parts we deem useful based on the twitch videos showcasing the GoBILDA robot.

We test out some low U-Channels and square beams. We also experiment with mounting the U-channels onto the chassis.

• In order to place the main low U-Channels of the intake mechanism we determine beams are the best parts to use.

Today we experience many problems with our internet connection, making it hard to collaborate.

• Astrid is having some internet issues making it hard for her to hear the rest of our team.

• If others aren't finding parts they are expanding their knowledge of the mechanisms involved in our design to better understand their construction and purpose.

We also have trouble working out the correct angle of the U-channels.

• • There are lots of trial and error first off actually finding the parts we needed, for example with the low U-Channels

    • • Since we don't have any of the actual measurements of parts in the video we experimente with the many different part dimensions that GoBILDA has to offer. Eventually we decide on the 9-hole low U-Channel.

  • Since GoBILDA parts have so many mating points we need to experiment to see at what angles the channels, or building blocks for the intake system, could be placed and which angle would serve our purpose best.

In the future we plan to build the set of large wheels first, before attaching the U-channels to the chassis. This way it will be easier to find the right angle for the intake. We will also work out the location of the motors and build the axle for the smaller wheels.

The Programming Team's agenda is to advance further and complete our code we began the last time.

• Furthermore, we intend on gaining a better understanding of the splines used in roadrunners and how they function through a process of trial and error.

Originally, our program didn't even run at first, and with some revision we were able to spot 2-3 methods that were unnecessary. As a result , we got rid of it which simplifies the code and got the job done with a much clearer logic.

We develop a code in which the robot could arrive from anywhere on the field to where the rings are located. During the process of development, we are also able to calculate the angle that the robot needs to turn to face the targets which is approximately 12.88 degrees.

In the future, we would like to make some improvements to the code, as there is always space for enhancement that, thus, making it more stable and efficient program.

Apart from that, this is just the beginning of our code which will eventually get our robot to shoot the rings to the targets. As of now, we've achieved in making the robot face the intended target from a certain position. We would need to make additions to the code that would actually do everything from going to the rings, turning to the target, and shooting the rings at the target and knocking it down.