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Author: Caitlyn Mei R. & Ria G.
Witness: Ms. Maria Osoria and Ms. Manisha Shah
Date: 11/6/20
Duration: 5:00 - 6:30
TABLE OF CONTENTS
Attendance
Ahmed Mahmud
Manyata Arora
Amanpreet Dhah
Hooryah Raja
Murtaza Raja
Martin Soliman
Martina Soliman
Syed Shah
Benjamin Fitzgerald
Caitlyn Mei Roxas
Arleen Dhah
Atharva Khandelwal
Abrahim Mahmud
Abriti Chatterjee
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Anirudh Chaturvedula
Astrid Salazar
Ehtesham Suhail
Lutfiyah Mohammed
Prajwal Khanal
Ria Gray
Shaurya Singh
Sivaditya Padmanabhan
Tvisha Doshi
Vanisha Rajlakshmi
Ved Borade
Venya Goyal
Yuga Patel
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Team Planning
Agenda
The programming team went over the changes in our TeleOp program and learned how to read code in Kotlin.
The robot design team continued to work on the intake mechanism, and the specialty parts team worked on researching how to create acrylic sheets on OnShape.
Reflection
The programming team was able to understand the changes made to the code and understand how to read and write code in Kotlin.
We were also able to plan for the changes we need to make in the future with our programs once we have more information from the hardware team.
The robot design team was able to make a lot of progress on the intake mechanism. We are very close to finishing it.
We plan on finishing the prototype by this Sunday. There are a few more steps that need to be made to finish the mechanism.
Hardware
Agenda
Robot Design Team:
Today we are working on the intake mechanism, as we have been for the past few days.
Specialty Parts Team:
Today we are doing a little bit of research on how to create the acrylic sheets on Onshape so that we may complete the task for the robot design team.
Reflection
Robot Design Team:
The intake mechanism is nearly complete.
It is attached to the chassis using GoTubes. The last step is to find a way to drive the small wheels. The spacing of the small wheels has been readjusted.
With this progress, we are moving closer to completing the entire mechanism.
We plan to finish a prototype by Sunday.
We need to connect miter gears to drive the small wheels and construct a basic shooter with gecko wheels, the circular base plate, and angled brackets.
We did run into some problems with Onshape today. OnShape is slow and lagging today, thus it is hard to fasten parts together and space out parts accurately.
Specialty Parts Team:
Today, we are assigned the task of creating acrylic sheets for the sides of the robot on OnShape.
To begin this task, we are conducting research online to figure out how we would approach creating these sheets.
This is the small disc wheel assembly that we are working on fixing. Each of the separate wheel assemblies are not properly spaced out, and the screws lacked nuts. Therefore, we are fixing the spacing and attaching necessary nuts.
Here are the u-channels that we are using to higher the angle of our intake mechanism. The intake mechanism is attached to the u-channel by attaching the go tube in the middle.
Programming
Agenda
Our goal for today is to go over the changes Shaurya made to the TeleOp code.
We reference the resources in FTClib in order to do so.
Reflection
Things are working well as we are going through different parts of the code. It is a good learning experience for all of us because we learn how to write more code and how to read it easily.
Some changes regarding motors are being made to our TeleOp program, as well as some new components which tell us about how the robot is functioning.
Previously, our TeleOp code did not have information about the kinds of motors we are using, but the program from today does.
All of our Java programs have also been re-written in Kotlin so that the robot simulator understands the code.
In the future, we will have to add code for different parts of the robot that the hardware team is still working on.
Changes will also be made to our Autonomous programs in the future as we prepare to convert all of them to Kotlin to test them.
This section of code is seen under the RunMode of the motors section of FTCLib. Our code uses Velocity Control and Raw Power. With Velocity Control, the motor runs in ticks per second with a feedback and feedforward controller, which leads to smoother control of the motors. Raw Power sets the motor power directly through the value of [-1, 1], representing the percentage of the motors’ maximum speed, has an open loop control (meaning no feedback control), and is the default setting of the motor.
This part of the code shows what some of the buttons on the controller does. For our purposes, the right bumper on the controller is to turn on the intake and shooter, and the left bumper on the controller is to turn the intake and shooter off. The “A” button on the controller activates the trajectory to position the robot towards the power shot targets. It’s not shown in the picture above, but the “B” button on the controller positions the robot towards the high goal.
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