Build Blog Day 32 (2/22/20)
Programming:
Superstructure Code
We tested the code from yesterday, and got field relative turret cardinals, turret jogging, and some controls for intaking through shooting working well. We also began tuning a hood map, and developing a process for tuning this well. After this, we assisted with testing new intakes and serializers, and determined that in addition to the overall superstructure state machine, we would need individual state machines for the intake and serializer.
Limelight
We calibrated the Limelight 2+ on practice bot, and it was quite different from the other Limelights we had calibrated, so we determined we would have to calibrate Limelights individually and have some way to automatically input constants based on which robot the code is running on (using MAC address) etc. Furthermore, we added a second Limelight for the loading station, so in the future we need to integrate that into our code.
Mux Board
We continued to debug the issue of not reading values from the multiplexer, and we figured out it was due to the board having a bad connection with the connectors. After fixing that issue, using one sensor connected to the mux worked, so we then successfully tried reading values from two sensors both connected to the multiplexer. Finally, we tested the time needed to read values from two sensors and it was pretty significant. Next build we plan on writing a subsystem class for the color sensor that reads the values on a different thread (to save time).
Assembly:
Comp Wiring
We finalized pigtails up to the superstructure, pressure sensor wiring, and did most of the pneumatics.
Climber
We continued working on assembling the comp robot’s climber tubes, and ran into some issues when trying to slide the tubes through each other. So we used a file to allow the tubes to slide easier. At the end of build, we finished the practice robot’s climber assembly, and started to work on comp robot’s climbers. We plan to test the practice bot tubes with the constant force springs during Sunday’s build.
BumpersWe made the uni-body frame, attached pool noodles, and began putting on the sailcloth. We plan to finish the practice bumper during the optional Sunday build (2/23/20).
Feeder Assembly
We added the new feeder to the practice robot. This new feeder has higher rollers, meaning that it no longer contacts balls on the floor of the serializer. This iteration can now serialize balls without jamming, but is waiting on the new serializer’s actuating ramp (skatepark) to actually shoot. With this new serializer, we cannot change the items on the roller without taking the serializer off the robot because the superstructure 1x1 tube blocks the roller.
Prototyping:
WOF Assembly
Today, we assembled a complete WOF mechanism. We ensured that the belt runs were not too tight due to our choice to use a smaller belt. In addition, we mounted color sensors to the top of the WOF assembly and routed their wires through the main tube.
Intake Iteration
We swapped plates and added new pneumatic cylinders, after these changes were made, we mounted a temporary bumper and set out to test our new intake. After some slight issues with the ball path, we added a short smoked poly-carbonate piece to make sure the balls stay inside of the robot when coming through the intake.
Shooter Testing
We did some preliminary testing to figure out how much spacing we want between our shooter wheels. Unfortunately, we didn't have enough time to do proper testing, but we got some initial data.
Manufacturing
Today we made new intake plates and a new poly-carbonate deck for the serializer. We also are going to continue prepping the brake mounts and winch drums.
Field Construction
We moved the truss into the right place which just has to be drilled down into the floor. We also mounted the second WOF and will continue work tomorrow.