Charge Robotics

       The gearbox has made great progress and is very close to being done and ready for machining. On Saturday, we prototyped the gearbox from our CAD design with our newly-arrived gears, laser-cutted plates, and some spare 1 x 1 pieces for a general idea, and it was able to move the arm with a driver connected to the motor.        Then, today, we went back into Onshape to make some adjustments from what we learned on Saturday. We changed the holes on the plate to align and moved the 1x1s so that we could add gussets. Afterward, we added the assembly to the assembly for our whole robot and made adjustments to accommodate the constraints of the rules and the other subsystems.  

We were able to get the values for the LED lights onto the shuffleboard but noticed that the initial time and current time were the same. This led us to realize that our variables were incorrect, and we had to do some continuous research to fix our mistakes. We researched some today and also started brainstorming different uses of the LEDs regarding vision and positioning. We will continue working on this vision research throughout this week and hope to test it later this week.

Software has been working on getting Path Planner stable and functioning. Path Planner will be vital to getting smooth and coordinated movements compared to running raw autonomous code. We have run into multiple errors but we are working around them diligently. We hope for the next meeting that we will have Path Planner completely working so that we can move on to getting the other parts of the robot running and have a reliable source of moving the robot during autonomous.

With measurements of the intake/shooter being changed constantly, we have begun to make p rogress in prototyping to get the dimen sions correct. Our group has split into two, one subgroup on intake and transition and one on shooter. The intake group sped through their cad portion and began prototyping quickly while the shooter ran into some issues. Intake was using drills allowing them to not worry about motor locations while the shooter needed to use motors. With this change to using motors, the shooter group's CAD needed to be redone considering the limitations of the belts we currently own.  With the CAD done on both groups prototyping went into full swing. Each prototype was made of laser-cut wood and various metal components needed. After building the prototypes, tests were conducted on each prototype to make sure they worked, and they did. With that finished we began combining the two major side plates on CAD to make it one big plate. Next meeting we will finish this combinin...

These past few days have been full of research and testing. The software has been attempting to research code to run during Autonomous and has been testing said code. We have also researched a software called Path Planner that allows you to draw a path for the robot to follow. Our hope is that if we can get the Autonomous code running successfully, then we can implement Path Planner to allow our Autonomous routine to be even more efficient. Today, January 25, 2024, we made changes and adjustments to the Autonomous code and tested it. Success hasn't been received as we can't get the robot to automatically move for a certain amount of time. However, we are getting closer to getting the code properly working.

Today we started planning the gearbox design for our robot. The gear ratio of our robot changed due to getting different gears and boosted the ratio up to 512:1. We went into Onshape and looked at the starting idea from Mr. Knauss. We were a bit confused at first as to how everything would fit together and where we would put things, but after some clarification, we were able to keep moving. In the CAD, we had 2 plates between the arm and support from the base. An 80-tooth gear would be mounted onto the arm and between the arm and plate and would be the end of our gear train. From there, we'd just have a gear train which would be connected to a motor. Next meeting, we can plan out where exactly we want the rest of the gears: between the two plates, inside of the arms, outside of the arms, or a combination of these.

The intake/shooter group has spent the last few days working on designing the shooter in Onshape with a couple difficulties. Originally, we designed the shooter to have a width of 16in, but with some extra thinking behind what we were doing, we changed it to 18in making us redo most of what we already had. On top of that the main side plate that we spent tons of time making our own without straight copying our RI3D reference had some bad measurements. This forced us to remake the side plate due to the old plate being very difficult to attempt to adjust. With all this new knowledge of what we are doing, we've decided to start prototyping the width of the different parts of the intake/shooter next meeting to fix the problem of non-stop measurement adjustments.

First, we created a variable that tracks the current color of the LEDs. Then, we created a function, which is a timing system that intakes the time the start of the function, the current time you are at, and the time you want to go until, which allows us to add a color that we change to until we reach that time. Then, we revert to a color of our choosing as stated in the code. Currently, we are trying to have the LEDs turn green for two seconds, then change to red. They are currently turning green but will not turn red. We have mapped this function the x button on our controller. We also organized the code so there no duplicates of any code and everything is concise.

First, we added the ability to get the heading of the robot using shuffleboard. Next, we looking into running parallel CANBus wires to the gyro, but found out that we needed a add on to take multiple inputs and outputs. Since we didn't want to do that, we got the old gyro from last year and used that on the robot instead. After that, what we spent most of the meeting doing was troubleshooting the roboRIOs. We connected a roboRIO up to the robot chassis, but it didn't work so we think it was mislabled and is broken. Mr. Reicher is getting in contact with the producers of the device to see what the problem is.

Today, BAM went around and interviewed the mentors to write a blurb about them on the Charge website.  We asked questions regarding past FIRST experience, industry experience, and what they love about mentoring.  Throughout the week, we still need to interview Mr. Andy and Mr. Cohen.

Today, January 22, 2024, Software made progress in getting things in order and ready for when we receive the robot parts. The gyro group that's part of Software switched out the new gyro with the gyro from 2023. We also began to research and find code to help with the autonomous mode of the robot. We made revisions in our code to match with the older gyro since our code revolved around the new gyro. We had to swap out the gyros since the new one took up too much power and we would need a new CAN bus to accommodate the needed amount, which means more money. Getting a new CAN bus would be too much money that could be spent on better resources. For the next meeting, we hope to research more on autonomous code and begin writing our own code.

Today, our group finished the code for pseudo code for the arm. Additionally, we cleared up any doubts involved the arm's design by asking DAF who confirmed their design of the arm today. After that, we started the code for the arm which we managed to finish. Additionally, we started the code for PID which we finished but don't have the constants needed. Ultimately, next week we have to finish some more code, primarily the code for the shooter and input.

On Monday, January 21 st , members of DAF worked to finalize the arm design and collect ideas for our robot’s hanging ability.  We created a final CAD model in Onshape of our arm structure and positioned the pivot point where it will be on the robot.  We still need to finalize the connection from the chassis to the arm and decide if we are making it a triangle shape or more of a rectangle.  We also brainstormed possibilities for a fixed hook and whether or not it would be better to have a fixed hook over a sliding hook.  We were able to find the height of the chain where our robot needs to be able to hook to harmonize with other robots at the same time.  We plan on making a prototype of the robot out of cardboard and string to see how our ideas will work out. 

On Thursday, January 18th, we worked on the dimensions for the arm and the pivot. We decided that the original Onshape was not compatible with the overall robot design, so we decided to completely make a new sketch for the dimensions and pivot. We made the arm and intake/shooter so we could check if it would fit the guidelines. We also found all the angles needed so it functions properly. On Monday we hope we can do the finishing touches and then start prototyping. 

Today we compiled a list of electrical parts and how many we need for each item. We also had to change the pivot point of the arms and after we finish doing that we can move on to more electrical stuff.  Today, we worked on writing the pseudo-code (which is code but in English) to plan out the code required for each subsystem. Today, in particular, we worked on the pseudo-code for the intake and shooter as well as the arm.  Writing the pseudo code was quite beneficial as it gave us a basis to start with while also helping us further develop and question any of our ideas. Additionally, it helped us clear up some misconceptions about the robot code while also helping us finalize any materials (ex. sensors, etc.) that could potentially benefit our robot. Our pseudo-code at the moment is not done for any of the subsystems and we are still working on further improving the ones we wrote today!

We have brainstormed and e xplored different button/pin designs incorporating different aspects of the music industry. We have also e xperimented with colors, textures, and styles to make the buttons more appealing. Next meeting we plan to finalize  the selected designs based on team feedback and maybe do a vote on what button designs we should manufacture for competitions. Currently, the only dependency aspect is waiting on team feed back. Next time, we would like guidance on the most effective way to present and communicate design choices to the rest of our team, like maybe a Google Form to vote on what design we should keep or suggestions of design ideas and improvements.

This week, the digital animation team worked to finish "Conducting Our Charge", this year's animation.  The animation depicts a robot following its passion, music.  The animation itself follows this robot through many times of triumph all building towards said passion.  At the climax of the animation, the music crescendos, mirroring the theme of this year's game.  Additions this week include major coloring, music composition, drawing backgrounds, and adding technical details such as shading.  Our major issue this week is time.  The animation process was longer than the team expected and had to do some work at home to finish up the project in time.  Another major issue was the application we used; it was unable to connect to the computers, so most, if not, all the work was done on personal devices.  This made importing and exporting clips tedious.  In the end, however, all these issues were resolved and the animation was completed to m...

On our first Saturday meeting of Robotics on January 13, 2024, we got Swerve fully operational with the code that had been implemented and tested for weeks. With Swerve operational, Software has been divided into groups to work on different things such as LEDs, Pigeon 2.0 Gyro, and vision. In the Pigeon 2.0 Gyro group, we continue to research and experiment with the gyro. The gyro requires proper calibration to allow for the most accurate movement and with this, much research is needed to figure out problems. The gyro can help make the movement on the controller easier for the driver to control and understand. As of today, we have updated the 2023 GitHub code to 2024 as well as other applications that involve the gyro. Although Swerve is operational, we are making adjustments so it is the best that it can be.

After over a week of debate, strategy, and many proposed ideas for designs we have finally settled on one design. This design revolves around an arm with a shooter on the end of it specializing in the ability to pick up off the ground, shoot in the speaker, and hang on the chain. This design also has the chance to shoot in the amp if the arm angles correctly. On Saturday, January 13th, we split off into three groups, one for each subsystem. Each subsystem, chassis, arm, and shooter had to be designed individually with communication between each group to make a final product. The shooter group came together to design an effective main plate that all axles and wheels will be connected through as well as holes for motors and connection to the arm. On top of that, we started to design panels for the upper and lower sides of the shooter to hold the note in. At first, our plate looked pretty good but when trying to assemble it all together we realized one of the holes was t...

On Saturday, January 13th, we had our first Saturday meeting since kickoff. After voting and finalizing our design for our robot the day prior, we now had to start focusing on designing and prototyping the robot in CAD. Our design will have ground intake, be able to shoot in the amp and speaker and hang on the chain. Design and Fabrication (DAF) split up into three groups to start designing the robot's subsystems in Onshape: the chassis, the arm, and the intake/shooter. In the arm group, we modeled our design in CAD and worked out the dimensions and placement of the arm after discussing it with the other groups. We had to change our initial dimensions after changes from the other groups and the placement had to be rearranged because the arm base would have interfered with the swerve drive. Afterward, we started to look at gear ratios to help move our arm instead of a chain mechanism. We made a rough plan of the gear ratios in the Google Sheets Calculator, and next meeting, ...

On Saturday, January 6th we hosted FRC Kickoff at Cherokee High School where we invited teams to watch the game reveal for Crescendo and attend our initial strategy meeting.  In this meeting, we collaborated with members from Red Watch Robotics and Heights Bytes Robotics to review the game and break down key elements for game strategy.  During our game analysis, we researched the ways to earn points, earn ranking points, and evaluate the cycles of a match.  We reviewed game rules to identify potential ways to play defense and discussed robot tasks that should be performed throughout a match. We have spent a lot of time this week understanding the game and the best ways to accumulate points.  As a team, we identified the technical aspects of the game and prioritized what actions we wanted our robot to do.  Based on the team's priority list we utilized KrayonCAD to illustrate design ideas.  We utilized a decision matrix to rank design ideas.  Two id...