Difference between revisions of "DEWBOT IX Control"

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(Modules)
(Caterpillar)
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== Caterpillar ==
 
== Caterpillar ==
{| border="1"
 
! Subsytem
 
! Name
 
! Type
 
! Qty
 
! Num I/O
 
! Note
 
|-
 
|Caterpillar Front Leg
 
|Foot
 
| Solenoid, Double Acting
 
|1
 
|2
 
| Up/Down, default down
 
|-
 
|Caterpillar Back Leg
 
|Foot
 
| Spring
 
|2
 
|2
 
|default down
 
|-
 
|Caterpillar Leg
 
| Claw
 
| Solenoid, Single Acting 
 
|3
 
|3
 
| Grab/Release, default Grab
 
|-
 
|Caterpillar
 
| Skid Extender
 
| Solenoid, Single Acting
 
|1
 
|1
 
|Extend/Retract, default Retract
 
|-
 
|Caterpillar
 
| Position Sensor
 
| Limit Switch
 
|4
 
|4
 
| Placed before each leg assembly, and one behind the rear leg assembly
 
|}
 
  
 
User story: driving up the pole
 
User story: driving up the pole

Revision as of 00:50, 1 February 2013

The control system is implemented by the Electrical and Programming teams, who are charged with providing motor controllers, sensors, and programming to enable the robot to meet competition goals. Control.jpg

("The Amazing Machine", The Franklin Institute)

2013 Control System

Modules

In Week 2, we brainstormed the software module breakdown:
Module-breakdown.jpg

  • Caterpillar
    • Caterpillar front leg (1)
    • Caterpillar back legs (2)
    • Skid Extender
  • Drive
    • pivot drive (4)
    • Ocelot
  • UI (User Interface)
  • Shooter
  • Feeder
  • Compressor

I/O

Caterpillar

User story: driving up the pole

  • When the robot is turned on, the foot is down and the claw is Grab.
  • Drive up to the pole, using camera to align the pole with the first caterpillar leg.
  • Drive up the pole.
  • Engage foot 0.
  • Press the climb button and hold it.
  • As long as the climb button is held, the robot will climb until it reaches the top.
  • If the driver lets go of the climb button, the robot will stop.
  • If the operator hits an emergency override button the robot will stop.

User story: manual intervention

  • Once the robot gets to the top of the pole, the driver will manually control the robot to get to the optimum scoring position.
  • If the robot gets unaligned during the ascent, the driver will be able to control the the skid extender, motor, and three legs.
  • We may give the foot and leg control to the drivers during the manual intervention. This will depend on the meetings we have with the drive team.


Leg Assembly

Shooter

User Stories

  • The motor can be turned on or off, and the velocity of the motor at its shooting speed is always the same.
    • The motor takes time to reach its correct shooting speed.
    • At the moment, no motor reversal is planned.
  • Press the trigger, and it shoots the Frisbee.
  • If you keep the trigger pressed, it will push out all of the Frisbees in the magazine as fast as possible (as it takes the motor to speed up again).
  • If you don't keep the trigger pressed, but press it again before the motor speeds up to the correct speed, it will not shoot until the motor speeds up.
  • If you set the elevation up or down, the shooter platform's elevation changes to each predetermined height.