Stronghold Meeting -07-Feb-2016

From DEW Robotics
Revision as of 19:22, 16 February 2016 by Laura2014 (talk | contribs) (Programming)

(diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)
Jump to: navigation, search


Competition Season Meeting

Meeting Date Meeting Time Location Attendees
TCHS Brandywine

CAD & Design

Tonight we continued work on electronics board.


During driving practice, one of the 1/2" hexagonal flanged bearings (bearing the end of a gearbox output shaft) failed catastrophically. Failure originated in the inner ring of the bearing, which cracked at the hex points. These are natural weak points. This was repaired by replacement on the running drive train (Deux). On Prime's drive train, which was being assembled, the decision was made to turn the ends of the hex drive shafts down to 1/2" round so that stronger round flanged bearings could be used in lieu of the hexagonal bearings. This was completed during the meeting and Prime's drive sides assembled, excluding belts. Mass of drive side is 14.7 lb.

Tested the SuperGrip belts on Deux. First time these were installed. Also our first belt change. SuperGrip surface greatly increases difficulty in steering, apparent both by driver feedback and visual observation of the robot being driven. Amp draw by the motors is also much higher: up to 80 amps per motor. This was just turning; stall testing was not attempeted. In contrast, stall testing with T-cover belts maxed out at 50 amps (when the belts slipped on the floor).

Belt changing procedure is straightforward and was not difficult:

  1. Break both (L&R) 1/4-20 x 0.5" FHCSs securing the rear idler wheel axle
  2. Remove both (L&R) above-mentioned bolts
  3. Push back rear idler wheel to release tension on belt
  4. Lift up side of robot - remove belt
  5. Place new belt on rollers - with the belt's self-tracking guides in the idler wheel grooves, lower the robot side
  6. Position new belt with self-tracking guides in all idler wheels and drive pulley
  7. Pull rear idler wheel to retension belt (help needed here to hold the robot)
  8. Replace both (L&R) 1/4-20 x 0.5" FHCSs securing the idler wheel pulley - take care not to cross-thread.


- After testing the Bang-Bang controller for vision lineup, we implemented a PID to hopefully increase accuracy.

- We spent some time tuning, with no luck.


Field Elements


Recorded by: Date: Journal Editor: Date: