Entry 30

The agenda for the Programming team is to review and organize code in our updated autonomous program that includes all the OpenCV components. We are almost done with the program!

The hardware team had to reengineer their whole shooter baseplate idea because the mounting holes were simply not adding up.

Luckily, when one idea failed an even better one was brought to light! The hardware team is now using grid plates in their baseplate design, which will give them more mounting holes, and they're making a custom ramp for the rings.

Organizing and updating our software went well. Also, we came up with a few way to structure our code to make it easier to coordinate.

The updates we made are mostly core-hardware components such as a shooter and intake mechanism to TeleOp program as well as the autonomous program.

• The autonomous software also has a vision-related code, which is a major part of this year's competition. Based on its detection of the amount of rings present in the area, it can now change states.

In the future we want to make more adjustments and simplify the code going forward.

The goal for today is to go over our updated autonomous program that includes all the OpenCV components.

• We are also supposed to try to organize the code because we are almost done with it.

As a team, we have looked over the code and everybody understood the content. There were only a few questions were asked during the evaluation.

• We decided to organize the code and were thinking about some possible ways it could be executed.

Our TeleOp program now has components about the shooter, intake mechanism, etc.

• Our autonomous program also includes the same components, as well as the OpenCV techniques that we have been using in the past few weeks.

The autonomous program is the one that has changed the most from the previous entry. The changes are the components that were recently added to the TeleOp program. They are mostly core-hardware components.

• Other than that, the autonomous program also has code related to vision that is a huge part of the competition this year. It can now change states based on its detection of the amount of rings present in the field.

In the future, we would like to revise and organize our program so that it looks more pleasing to look at.

• We also have to add some more hardware components and adapt our code accordingly.

Most of our meeting was spent going over the logistics and determining a whole new design for our shooter.

We planned out a new design for our shooting mechanism. Our holding area used to be a circular pattern plate but is being replaced with grid plates attached together with low U-channels.

We went through the list of parts for the gripper.

Lastly, we imported the acrylic assembly into the main robot document.

We tried to align the old shooter system so it was centered on the robot but found that it was not possible due to the lack of mounting spaces on pattern plates compared to other parts. When it became clear we needed a new design, we brainstormed new ideas and began to implement them. This old system caused many problems, so our redesign will greatly benefit the robot.

• • The concept for the shooter has stayed the same but due to lack of mounting holes we are changing the materials that we planned on using and adjusting our design according to the new mounting holes.

We have determined that we are going to 3D print a ramp for the ring to go up into our holding area and that our motor to power our gecko wheel will implement the same concepts we have used throughout the robot.

This will provide us with the necessary mounting holes for our stationary gecko wheel, rotating gecko wheel, and when attaching the holding area/shooter to the chassis.

• • More specifically the plan is to attach the motor horizontally right below the wheels and using axles and miter gears create a gear system by which the gecko wheel will be powered by the yellow jacket motor.

  • Additionally, our servo will be placed at the opposite end of the grid plate in a more or less similar fashion.

    • • Our plan is to attach the servo directly using brackets or U-channels and grid plates with enough space for the servo arm to rotate 180 degrees and propel the ring forward.

This acrylic is not attached to the main chassis design yet, but we plan on having it done by the next meeting.

Next meeting we plan on finishing attaching the acrylic assembly and finishing implementing our new shooter system onto the robot.

We will figure out the 3d model and collaborate with the specialty parts team to build it.

• • We will attach the servo to the shooter system in a way that would fit the sizing regulations of the competition and not collide with the design.

Some of us were having issues with OnShape which slowed our progress for the meeting but luckily we made up for the loss of OnShape work time by discussing and finalizing our new design. All that’s left to do in the next meeting is to finish implementing all the ideas we are settled on and make sure our on paper/computer design works on OnShape.