Tuesday, February 18, 2020

2020 Day 46: Design Review #7

No Bag Day

It's a very good day, it's the first of hopefully many no bag days in future seasons.

For anyone new to FRC and wants to know a few of the reasons why so many in the community supported removing the bag for many years here are a couple good places to read more.

https://www.chiefdelphi.com/t/paper-stop-the-stop-build/153141

https://www.chiefdelphi.com/t/first-email-stop-build-day-survey/153131/76

Everyone at FRC HQ and in the community that worked to make the removal of the bag a reality deserves a thank you. Giving teams the ability to choose how to use their resources (time, money, etc) is a great thing and will increase opportunities for inspiration through iteration and more time with their robots.

Design Review #7

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Spectrum

Wednesday, February 12, 2020

2020 Day 37, 38, 39 - Design Review 6

Design Review # 6

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Falcon 500 Tight Pinions

Here is a video showing how we use the wire brush to make the tight press pinions slip on to the Falcon 500 shaft. We also have figured out that some of the pinions go on the shafts easier in one direction than the other, so if it's not fitting nicely after a minutes or two with the wire brush flip it around and see. The wire brush has made it so we don't have to press any of the pinions on they all just slip on after enough time with the brush on the shafts.



Spectrum

Sunday, February 9, 2020

2020 Day 35 & 36

Intake

We are getting some 2.5" OD polycarbonate tube to test soon. But for now.
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Shooter

The shooter is still under development. We are trying to improve our spin-up time.

The CAD currently looks like this. (only 2-4 of them will be staying there)

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Here is a small slow-motion video. We are working on improving belt distances on the protobot.

Spectrum

Thursday, February 6, 2020

2020 Day 34

Really quick update today. We are moving along on revisions to CAD for the protobot so we can them fixed in time for competition robot production starting in earnest this weekend.

We are moving to use a 3D printed pulley on our falcon shooters using a 10t falcon pinon gear as a mating spline. A few other teams have shown off this method and it should work nicely for our situation.

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Posted the file for this model here - https://grabcad.com/library/36t-3mm-pulley-10t-20dp-vex-gear-bore-1

Spectrum

2020 Day 33: Losing Weight

We have been finding places we can remove weight from our robot. We need the weight to fit our climber on and possibly add more motors to our shooter.


  • Weight savings
    • Change Flex Wheels to pool noodles - ~1lb
    • Remove roller (3 to 2) - ~1lb
    • Remove VPs in Funnel and remove one NEO 550, move to belt and crossed poly cord belt
    • Look into nylon bushing instead of bearings on some of the rollers/belts.
    • Remove VP from the tower and switch to Falcon with 8t pinion (can't get 8t on NEO, don't want to press on 9t, need too much reduction for NEO550)
    • Fairlanes in accelerator wheels move to stealth wheels
    • Remove VP from buddy climb and use 6t NEO 550 pinion
    • 1/16" wall square/rectangle tube change to 0.04" and 0.05" vex Versaframe.

Here is a video of a very quick drill powered pool noodle intake test.


Spectrum

Tuesday, February 4, 2020

2020 Day 32: Design Review 5 and Updated CAD

CAD Updated on GrabCAD


Design Review #5

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Spectrum

2020 Day 30 & 31: Super Bowl Watching and Robot Building

Chairman's Award and Woodie Flowers Award Submissions Due this Week.

The Chairman's Award essay and questions and the Woodie Flower's Award essay are due Thursday, so we are hard at work on finalizing our submission.

Please take the time to write an essay nominating one of your mentors. Not just for the hope of winning the award but because choosing a mentor each season and writing an essay about all the ways they help you is a great way to show your appreciation. Give them a signed copy, or read it to them at your end of year party; anything to show you appreciate how much time and work they put into helping you be a better person.

Super Bowl Watch Party

We had our annual Spectrum Super Bowl watching party event thing.
Students playing Tetris and watching the Super Bowl. Allen sorting bolts :)
(Allen: Mostly during commercials, I was also watching the game)

Ball Tracking Progress

Made a bit more progress on ball tracking for auton.
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Robot Testing

We finished wiring and getting basic code on our ProtoBot. We quickly added two cylinders to the top of the tower after a few promising tests of stopping the balls at the top.

Here is our first test of the full intake, funnel, and tower together. We are very excited that we can load 3 balls into the tower nicely. The PVC pipes and slightly under tensioned timing belt allow the belts to slip across the middle ball and not jam it forcefully into the top one.



We were able to quickly get some PIDF values set up on our Falcon Shooter with the help of our OpenAlliance friends BOB319 and were able to test the full ball path from ground to goal. 


There are still a lot of changes to be made to the design before we produce the competition robot. We are also looking at cutting weight before we add the climber, buddy climb, and color wheel. The robot in that video weighs 96lbs, we aren't going to have much room to spare.

More photos and videos are in the gallery as always. 

Spectrum

Sunday, February 2, 2020

2020 Day 29

We have most of the protobot mechanically done. We found several issues with the design and things we will be changing on the protobot and improvements we can make to our competition robots. The electronics will be mounted tomorrow. We did get a few shots off but only in open loop on a single falcon, so it really doesn't show us much. 


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Spectrum

Friday, January 31, 2020

2020 Day 28: Tower Rails & Feeder Station

Tower Rails

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We have our tower rails mounted in place on the protobot. Tomorrow it will get shafts, belts, shooter wheels, & motors. We will also add a basic electrical system to this robot to test it. The protobot won't have a full climber but we will use it to fit test many of the climber and buddy climb parts.

Feeder Station


We briefly tested how balls will fall into our robot from the feeder station. We are considering adding another bar and some thin lexan to the top of the intake to prevent balls from ball down near the intake rollers instead of into our funnel.

Spectrum

2020 Day 27:Tipping Point

Today marks the midway point between kickoff and our first event week 1 in Dripping Springs.

Intake and Indexer Testing


Both systems are working as expected. More videos are in our photo gallery. Our plan is to only hold 2-3 balls in the funnel and let 2-3 balls be in our tower as well. But we did want to test what happens if we human load or just don't sequence everything properly.

Here is a cut of way of how we hope to be able to hold balls
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Sheet Metal

We have sent off the CAD and drawing files to our sheet metal sponsor for our competition and practice robots as well as some parts for the elevator. Most of the other subsystems will be iterated in house until we get closer to final parts ready for sheet metal. That may not even be till after our first competition. 

Spectrum


Wednesday, January 29, 2020

2020 Day 26: Intake progress and motor allocations

Intake Progress

Progress on the Protobot intake and funnel have come to their 2nd iteration.

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This version fixes some geometry issues with the first and removes the belt path from the center of the funnel.

Motor Allocations

We added our motor allocations to our copy of the Spectrum Design Sheet (Designsheet.spectrum3847.org)
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CAN IDs were also assigned in the sheet
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PCM slots were assigned as well
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Spectrum

Monday, January 27, 2020

2020 Day 24: CAD Update & Vision Update

CAD Updated

The STEP file on GrabCAD has been updated for this week. You can download it here - https://grabcad.com/library/spectrum-3847-2020-ultraviolet-frc-robot-1




Vision Progress

We have made a lot of progress using opensight to be able to track balls and track the rectangle on the loading bay. We are planning to use a limelight for aiming our robot and to have two additional cameras for driver viewing and tracking of balls and the loading bay.

Ball tracking is using a color filter and then selecting only circles.
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The rectangle tracking is just normal shape tracking on the retro-reflective tape.
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Spectrum