Robotics Build Blog Day 27 (2/16/20)
Assembly & Wiring
Comp Bot
Practice Bot
Drivebase Wiring
We finished shooter wiring and routed all wires through the bigus.
Serializer Assembly
We completed assembly of the serializer and feeder. We found that the serializer was very difficult to assemble into the current robot, and are changing that for the next iteration. We want to test tomorrow!
Shooter AssemblyWe assembled the practice robot shooter and mounted it to the turret. We are in the process of wiring it, so that we can take our first shots.
Manufacturing
Miscellaneous Parts
Today, we finished routing our ¼’’ Smoked PC Intake and Serializer parts, but encountered issues with one of the Serializer Baseplates and manufactured another one while ordering more material to manufacture more for the comp robot. Additionally, we finished milling all known tubes for the climber and made modifications for specific parts. We worked on turning shafts for the shooter and other assemblies, and plan to finish tomorrow. Also, we deburred, drilled, and taped many of our manufactured parts, preparing them for anodization on Tuesday.
Programming
Drive Bringup
We got time to characterize the comp drivebase once, but the acceleration data is really poor. Some ideas for why it is so bad are that the robot accelerates to its max speed too quickly, the wheels slip, or the robot is too light.
Limelight Calibration
We characterized the Limelight again with a representative set of checkerboard images and got FOV constants of around 49.7 and 63.7. We also ran distance calculation on Skystalker to determine how accurate we can get it, but we got distance values that were extremely far from what they should have been. We ran it several more times at different locations and got the correct distance from target when we changed the pitch angle slightly. At 5 different locations, the pitch angle was between 19 and 21, and the same math worked on the dev board earlier in the season, so this error is probably due to Skystalker's superstructure moving.
Subsystem/Superstructure Code
We began working out the code for our competition subsystems, finishing up the Turret, Hood, and Shooter code.