Stronghold Build Blog: Week Six

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This is our Stronghold Build Blog final week of the build season! If you missed previous weeks here is week one, two, three, four, and five. Week 6 currently consists of  consists of days 32-35.

Day 32 [2/15/16]:

Today we finished the frame of the intake and shooter of the robot, which is very good to get out of the way. Along with that, we worked on the electronics of the robot and the wiring. Our CADing team finished off the arm.  Overall, we did not make huge progress but finished many loose ends.

Day 33 [2/16/16]:

This day was spent doing a lot of wiring. As seen in this weeks header picture, the electronics board is split into 3 platforms. Then Talon SRs sit split atop the two corrugated aluminum boards, each having another Talon SR sitting underneath it. The meat of the electronics are in the back of the robot. Originally, this mount was going to be in the shape of a trapezoid, with a hold for the battery at the inner edge of the robot. The new electronics board is a rectangle going along the diagonal supports at the end of the robot. This platform will contain the RoboRIO, PDP, VRM, Router, etc. With this electronics board, we will be mounting the batter on its side, leaning diagonally on the board.

As we are planning to use a hefty twelve motors on the robot, we are using a three-way wire split making one of the PWM ports on the RoboRIO control three talons (one side of the drive). Caleb Rogers has been working on soldering these wires in preparation for competition. Skyler Spain, our  head of electronics, has also been working hard to organize the wiring.

Day 34 [2/17/16]:

Achievement Roundup:

  • Electronics & Programming subteam: Took measurements in preparation for mounting a potentiometer on the arm. Extra time was also dedicated towards cleaning up and troubleshooting the wiring.
  • Prototyping & Fabrication subteam: Worked on attaching a mount for the compressor. Also created our robot crate to fit the new standards.

As we are finally getting the robot up and running, we tested its ability to overcome defenses. We were able to get over the Cheval de Frise, the rock wall, the moat, and the rough terrain. Videos of these will be posted soon!

Day 35 [2/18/16]:

With Bag and Tag around the corner, the team is working hard to get the robot finished. Although it can only drive in its current state, we expect to have it shooting by the end of the weekend. The team got the bumpers mostly done, and the potentiometer mount finished. With the compressor attached and the gear ratios on the intake done, we are expecting to get high goals soon :)

Day 36 [2/19/16]:

As we get closer and closer to Bag and Tag, we make adjustments to the robot. Corrections were made to the bumpers, the team number was put on the wrong side of the front bumpers of one of the blue bumpers, not enough red fabric was available so we were unable to finish those. We then had to take those apart and wait for new fabric and iron on stickers. The gears on the robot’s arm was adjusted to work 3 times slower and 3 times stronger, because of this the programming team reverted the speed of the motor for the arm to the original speed. A lot of wiring was done on the electronics board and a potentiometer was added to the whole build.

Day 37 [2/20/16]:

Today, the team continues to rush to get the robot finished. The programming team attempted to organize the program by creating sub-VIs for each simple function including running and initializing motors, running and initializing solenoids, running and initializing encoders etc. The fabrication team worked on the lift drilling holes and riveting the pieces together. LEDs were attached to the robot, it was wired and adjusted Minor improvements towards organizing, tightening, and fixing the robot. The CAD for the intake was finished.

Day 38 [2/21/16]:

Rushing, rushing, today was a very slow day. The fabrication team had to make custom gussets for the shooter. This took approximately FIVE HOURS. They then continued to work on the intake, and attempted to put the new gussets onto the intake. The programming team realized how the custom VIs were made, they were saved to a different project folder and constantly asked for that project folder. The program was ruined but it was also fixable, but creating a completely new program would be a lot faster. The programming team was able to return their progress on the program and make a program for the dashboard. They also learned how to transfer information from the robot’s program to the custom dashboard. The electronics board was adjusted.

 Day 39 [2/22/16]:

Today proved to be very stressful for everyone. Bumpers needed to be finished. The new fabric was cut into pieces that would fit onto the bumpers. Metal on the bumpers were adjusted since it previously did not account for the gussets on each corner of the robot. This was unable to be finished today. The programming team was able to make a few adjustments to the program. On the fabrication side of things, the shooter was mounted. Gearboxes for the intake were worked on and finished. At the end of the day the shooter was finished and the program was to be tested. After launching the program we realized that we did have an issue in the program. As of right now the programming team is coming to think that the problem may be too much things for the robot to process in case structures. This problem has yet to be fixed. The crate was finished and fixed.

Day 40 [2/23/16]:

TODAY IS BAG AND TAG, EVERYONE IS RUSHING TO DO AS MUCH TO THE ROBOT AS POSSIBLE. The problem in the program was discovered. It was not that the program was running too much within the case structures, but an open gyroscope function was found in the teleop VI. This caused a loop running the open gyroscope function over and over again. The programming team was able to fix this by deleting that and decided to not have a gyroscope. Later in the day the programming team was able to fix the gyroscopes program. Encoders were added and programmed onto the robot. The gearbox for the shooter was finished. The rest of the team was refining the wiring, soldering all of the wires for motors. The team took the rest of the time to fine tune the robot.

Weekly Conclusion:

In the last week of build season the team was able to catch up on the robot’s progress.

Major Accomplishments

  • The LabVIEW program was adjusted to work.
  • Sensors like encoders and potentiometers were added to the robot and were programmed.
  • The shooter was finished, although it may not be the best, it works.
  • Wiring was refined, made to look cleaner.
  • The robot was bagged and tagged.

Thanks a lot for reading the whole blog!!! If you are interested in the final Build Season conclusion you can find that here.