The Builder's Blog

2-11-09

Hi All,

We will be working late today possibly until 9:00_PM, as we did last night, I an expecting to call Friday an early dismissal on or before 6:00_PM.

I have made arrangements with maintenance to open the building on Saturday. Please plan to show up around 10:00_AM and we will plan to wrap up before 4:00_PM.

Based on our level of completion, we will make a decision about working on Sunday and Monday based on Saturday’s progress.

This is probably the most exciting time of the build season. When the parts start coming together and we can finally see our robot start to move.

Build Team:

Accomplishments:

The intake roller system has been tested in the robot. We found that we would need to make the roller slightly eccentric, so that it would grab and accelerate the balls toward the conveyor system.
The industrial zippers work well, but there is a concern the belts may walk and pull the zippers (and belt) into the chain drive system. We are working on a belt guide to maintain alignment of the conveyors.
The trailer hitch assembly has been built and mounted on the robot. We still need to pick up a pin for the hitch.

Yet to accomplish:

Build bumpers
Create spare conveyor belts
Fabricate or procure the tow hitch pin

Electronics Build:

Accomplishments:

Main Wiring board is completed and continuity to connections has been tested.
Connectors are in place
Wire integrity tested...

Yet to accomplish:

Tag and identify wires and build a schematic
Wiring harness for intakes and deposition ball handling system
Complete wiring harness layout

Programming:

Accomplishments:

Today we developed a system to calibrate the steering system. Once calibrated the steering will automatically center.
We did a test run of the drive and steering system. We found the steering is very difficult without the differential drive system.

Yet to accomplish:

We need to activate the spike relays to run the intake system during the competition.
We will need to add a limit switch to the ball deposition system to know when the balls have been dropped
Reverse switch for the ball dropping system to release tension on the fabric and return to the rest position
So, our build time is nearly over, and you have been a great team so far.

-Thanks for your hard work so far, and in a few days we should be shipping our job well done on Tuesday.

2-10-09

Hi All,

Well, this is the final stretch. Over the next few days we will we putting on our final push to accomplish the goals of our robot. The ship date is next Tuesday, so we must be done with our work on the robot by Monday (and that is a holiday).

To all mentors, we need as much programming help as we can get in the next few days. Ramadev has done a great job with providing us with a steering algorithm, but we still need to get it all functional in LabView. Please let me know in you think you will be able to help before we have to ship.

The build is coming along nicely but we are a little behind. The quality of the robot is intact.

Build Team:

Accomplishments:

We have developed a belt driven system for the intake system, decided to sew industrial zippers into the conveyor belt system for rapid deployment after maintenance, and decided to drive both conveyors from one globe motor.

Yet to accomplish:

Started the ball deposition system.
Motor mounts
Fabric
Positioning
Built bumpers.
Sewn zippers into conveyor belts
Fabricated the tow hitch or pin.

Electronics Build:

Accomplishments:

Main Wiring board is completed and continuity to connections has been tested.
Connectors are in place
PWMs tested
Drive system and encoders tested
Limits tested for steering

Yet to accomplish:

Complete wire tagging for troubleshooting
Wiring harness for intakes and deposition ball handling system
Placed wiring in loom or some protective shell

Programming:

Accomplishments:

We can make the drive system and the encoders will track on both wheels.
The limit switches programmed to stop at either steering limit.
Raw code is in place for traction algorithm and not tested.
Limits tested for steering

Yet to accomplish

Tested potentiometer based feedback system for steering
Integrated steering and traction algorithms
Made arrangements to handle ball handling system
Intake roller
Transport conveyor system
Ball holding and deposition system

I wish to extend many thanks to all who have contributed time and effort to our project. Since we have only a few days left to complete our build, I am asking you to please rally around the team and help us get this robot ready for shipment.

2-4-09

Hi All,

Over the past few days we have made some good progress. We have installed and tested optical encoders on the gearboxes. It appears the older main output shafts do not have the ¼ inch adapter for the optical encoder. We need to determine if we need an encoder on all four wheels or if one encoder on either side will suffice.

When assembling the primary conveyor to the chassis we found we the globe motor was too close to the gearbox for the front drive system.

The roller assembly mount was completed for the secondary conveyor.

Cabling was put in place to test all the drive and intake motors.

We tested an algorithm for a limit switch on the steering system to prevent overdriving the turning motor. The system appears to work.

Permission forms have been made available for the student members of the team wishing to compete at the Peterson event center on MAR 12-14. Senior student members of the team must have permission forms to go to Cleveland by Friday.

Go Team!

Thanks for all your hard work.

2-1-09

Hi All,

Weather permitting; our design review scheduled for Tuesday (02-03-09), I would like to take an opportunity to introduce a new potential mentor to our team. This individual, Joe McLaughlin, is a retired physics teacher, who is currently heading the effort at the Carnegie Science Center to gear up for its newest permanent exhibition, ROBO World.

I would like to encourage as many mentors and advisory members as possible to attend this meeting, as Joe has some information in particular that he would like to disseminate to you.

Agenda for the meeting:
Carnegie Science Center presentation

Review Gantt charts for all the systems

Electronics
Programming
Current control system
Currently planned traction and steering algorithms
Drive Train
Conveyor ball deposition
Steering system (current condition)

Chassis and frame construction
Aluminum interior frame for conveyor

As usual, we hope to start our review around 3:15.

Hope to see you on Tuesday,

..and thank you very much for your help.

1-29-09

Hi All,

Week 4 is drawing to an end, and we have been hit again this year by school delays and closings. We were able to hold our design review Tuesday night, and there were a couple of stake holders there. While we are making progress, we are not near the point of testing our system yet.

I think we need to set a goal that by next week we have our rolling chassis tested, and the conveyors in the main robot.

We have moved the electronics to the new board. We need to mount the signal connector. It appears we will need to pick up additional wire to wire in all the motors and sensors. We have ordered two additional optical encoders. The accelerometer needs to have the connectors soldered to it, and then it needs tested. (The accelerometers from last year work on LabView).

We need to cut the PVC controller for the second (shorter) conveyor. The straps need added and adjusted to find the ‘sweet spot’ for picking up the balls.

It looks like we will need to build additional reinforced motor mounts for the conveyor.
Measure, cut and assemble the chains for the conveyor motors.
Modify the assembly straps to be more like an angle iron with slots and assemble the conveyor.

We need to complete the wiring diagram and wire in the signal connector to the electronics board.

Build a test assembly for a CIM motor to test wheel traction, accelerometers and gyro.

We need to do a few things as soon as possible. We will need to create an interface for our steering system. We need to test the wiper motor system and place a feedback potentiometer in it to test the feedback for the steering control. We will need a mount for the motor and a method to attach the potentiometer.

We will need to obtain our rack and pinion system for the steering.

We will need to start fabricating our full-size conveyor system.

We will need to build the frame housing for the ball intake and storage for the robot.

We need to take a close look at the method we will use for driving the conveyor. Will we use one motor and then share a common chain with the roller systems.

We are waiting for the CIM drive motors so we can complete the rolling chassis.

We have a long way to go, and it is looking like a short time to get there.

Go team!

1-21-09

Hi All,

I want to confirm our design review for next Tuesday. All sections should be able to present a little about the progress of their assignment.

This is a report of our progress as of yesterday.

Evan Robertson from National Instruments was able to visit tonight. We were able to get through some of the basics of using LabView. We believe at this point that if Ramadev can help us determine the velocity algorithm that Evan can help us to program it into the c-RIO. The top of the learning curve for LabView now seems to be in sight now. Thanks Evan!.

We were able to use the plasma cutter to fabricate a few of the pieces that will allow us to prototype the intake system. The 3-D printer is fabricating the remaining motor mounts for the conveyor system. We still need to cut and sew the belts, and create supports for the conveyor to keep it from flexing.

We have built our steering mounts to hold the drive motors and gear boxes, and will now need to input this system into SolidWorks.

Currently the overall solid model of the robot needs work. I believe we need to put a little effort into completing this before Friday.

The frame for the rolling chassis is nearly complete. We still need to place motors, sprockets, axle’s chains and wheels. The steering system is moving forward.

The connectors for the drive and control interface have been ordered.

We are making arrangement to pick up our chassis aluminum sheets.

We have all the axles needed to complete the conveyor system.

The electrical schematic for the robot is under construction. Nick and Steve started .creating components to use in Visio.

Joe specked out electrical connectors. We are still looking for a good price on wire.

I just want to thank you for your support, and I have enclosed a few pictures taken during the early build.

1-10-09

Hi All,

I would like to schedule a preliminary design review for our FIRST robot for Tuesday Jan 13. Please plan to arrive between 2:30 and 3:00. We will start the meeting at 3:00. Please let me know if this time will not work for you, and we will get the info to you about our review. As you know, we value your opinion, and hope you can make it to the meeting.

Agenda:

Discussion of the Game and why we decided to pursue the path we have chosen. The student team members will present on their interpretation of the game and the areas they believe are the most important to go after to score as high as possible

Students will be presenting on the current physical design of the robot, show preliminary drawings and models for the robot.

Students will talk about the friction tests they performed on the robot for 2 and 4 wheel drives. We want to explore the possibility of a 6 wheel system and the current chosen drive system.

Show the currently fabricated parts and possibly demonstrate the intake system as well.

Students will discuss electronics and C-RIO Testbed.

Discuss programming and the preliminary concept for our autonomous game plan and our hybrid plan for controlling the robot during the game.

Lay out our proposed Gantt chart for the remainder of the project.

Open WindChill portal usage for discussion.

From this point forward, I would like to try to schedule our design reviews for Tuesdays at 3:00.

-Thanks for all your support.