2022 Day 20 & 21: Intake Prototype

Intake Testing

We are working on finalizing our intake and ball path setup.

The goal of this current intake is to have limited extension over the bumper and be easily folded into the robot.
 

Video

We will likely use some type of kicker bar that deploys at the start of the match to prevent the balls from easily slipping against the bumpers and ensuring a clean intake when we touch the ball.

The ball path behind the intake is still being worked on but it seems we will be able to have a normal roller without any mecanum or omni wheels and it will work fine. Passive wedges seem to work well to get the balls to center into the ball path.

ProtoCube

We have gotten many comments on the devices we create to help us prototype. Tonight we quickly made a new one to help with climber and launcher testing to come soon.

We quickly mounted a full FRC control system into a 2018 power cube, this way we will be able to automate parts of the climber testing, and also get velocity control on the Falcon500s we are using for launcher testing.

- Spectrum

2022 Day 19: Launcher Testing

 Launcher Testing

We filmed a good amount of prototype launcher testing today on the replica Upper Hub with an agitator wheel installed (it wasn't turned on for all the testing, it's loud, and we didn't notice a difference in much of the testing off or on). We tried to film as much unedited testing as possible, so there are a lot of clips. Hopefully, this will give people an idea of how the balls interact with the goals.

Ball Pressure
In these clips, two of the balls are from kickoff, and early on, they were underinflated. The rest of the balls are brand new and were inflated today using our digital inflator. We received our official spec gauges today as well, and it seems the digital inflator reads about 1 psi lower than the official analog gauges specified in the manual. Hence, some of our balls were at 3.5psi based on the digital inflator, and some were at 3.5 psi based on the official analog gauge by the end of the testing. 

Prototype launcher configuration

• Falcon is basically 1:1 (actually 47:46 cause belt math is hard sometimes),
• 4" stealth wheel main flywheel
• 2" compliant wheels on the top roller are 1:1, so it's about half the surface speed of the main roller
• 2" compliant wheels on the accelerator wheel under the main roller, also 1:1.

More Videos can be found in our Week 3 Gallery.

2022 Day 17 & 18: Design Recap and CAD Links

 Tuesday Design Recap

CAD Release

This is our first true build season using OnShape, so we are still learning the best way to do some things but we will have our documents shared starting now. We are not very far into CADing the robot, it won't be even near completion for about 2 weeks. The prototypes document has most of the files and sketches we used for making the climber prototypes but it's very disorganized.

0. Infrared 2022 (Top Level Document)

1. Drivetrain
2. Intake

3. Ball Path
4. Launcher

5. Climber

(6 is controls and doesn't have a document yet, most of it will be in Drivetrain)

7. Prototypes and Sketches 

- Spectrum

2022 Day 15 and 16: Full Climb Video

 Climber Testing

We added a crossbar between the hooks and moved our string to pull from around the lower arm pivot shaft and pull on the crossbar. This allows us to pull down closer to a straight line from the hooks to the spool. We also added some pool noodles so that if (when) this chassis falls off the bar it won't be damaged as badly.

After some more testing, we were able to get a successful climb sequence. 

Video

This version of the prototype doesn't currently work when we added weight (35lb plate) because it's powered with a timing belt, the competition one will likely be chain or gear driven. This climb also takes the robot to a full latch on the traversal bar which in our current design this likely brings part of our bumper above the high bar (a G108 violation) so we will only pull off the high bar and hang from the top hooks in a real match.

Launcher Prototype

Our launcher prototype is coming along and we should have some test video coming soon. The current plan is a flywheel with a top roller, adjustable hood, and turret. If we need to reduce features they will probably keep that priority order, the turret is nice to have but not necessary, the hood could be simplified to 2 positions instead of continuous, and the top roller should allow us to launch balls into the goals with less energy in the ball when they enter to reduce bounce-outs.

- Spectrum

2022 Day 14 & 15: More Climber Testing

 Climber Testing

We constructed more of a "climber chassis" over the past few days to be able to simulate the climber with both arms.

The first test of the climber chassis did work well. We didn't do a full continuous climb but if you want to watch multiple videos they are all in this gallery. The video below is the prototype moving from the high bar to the traversal mostly by itself.

Video

This prototype is still only powered by a single motor and we will be adding bars across the arms to help synchronize their motion. We will also be adding weight to the chassis to see how it changes the climber's behavior.

2022 Day 12 & 13: Swerve Assembly and Controls Priorities

Swerve Assembly

We began the assembly of our Swerve Drive Specialities MK4i modules that we are planning to use this season. We used the MK3 modules this summer at the Texas Cup and believe the MK4i will fit our design better this year along with having the 1.5" wide wheels.

Controls Priorities

Our controls team met to go over our priorities for the season and to split up into areas of focus.

Climber Testing

The test climber had another accident, it also had some successes but the accident are more interesting as we learn what needs to be improved.

Video

- Spectrum

2022 Day 10 & 11: Weekly Recap

Tuesday's our weekly Design Recap.

Photon 8515 will be building a modified Everybot this year and we will try to publish the changes and additions we make to the design.

- Spectrum