Stronghold Meeting - 17-Jan-2016

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Competition Season Meeting

Meeting Date Meeting Time Location Attendees
TCHS Brandywine

CAD & Design

-Initial over-the-bumper intake geometry was determined by using Crayola CAD. With this, the mechanical team can begin construction and pass on any changes necessary.

-Theoretical tread drive CAD was developed with heavy influence from our Oregon friend's successful tread drive.


-Progress was made on multiple shooter fronts:

-The dual-axle wheeled shooter was completed. Initial testing showed a significant improvement over the single-axle prototype. It was able to shoot into the high goal with reasonable speed and accuracy, but it did sometimes come up short if the boulder wasn't fed properly. Also, after a few shots, significant boulder wear was noticed, raising concerns about performance degradation with worn boulders.
-The catapult was completed and able to fire the boulder in a repeatable manner, even after the wheeled shooter ate our boulder. However, more tuning is required, specifically in terms of the launch angle and spring tension.
-A linear punch was prototyped, but the springs that we had took too much force to retract fully.

-The AM14U2 kitbot was improved with angle aluminum added as a chassis stiffener under the bellypan and one side of the drivetrain complete. There was a slight issue with locating bearings for the wheels, but, after searching all previous gearboxes, one of the mentors was able to find enough 3/8in ID x 1.125in OD ball bearings for all the wheels. The other side still needs the improvements.


- We developed a new system for selecting the drive type.

-This year, arcade/tank, gyro correction, auto aim, and (if necessary) anti-tip will all be supported.
-At any time, all of these may be turned on. We needed a way to allow for different features to be prioritized. For example, anti tip takes priority over the vision auto aim.
-We decided to store the priority in an integer. Each bit of the integer would be if each feature was on / off. The highest bit would be the highest priority. This code became much more streamlined and robust than simply using if statements for every feature. Adding a feature becomes very easy.

- We also worked on having our code start GRIP instead of manually. This way the drivers would not have to start it before each match.

-After trying many different things, we were finally able to get the program to run GRIP. However, we then noticed that GRIP was eating up quite a bit of RAM.

Field Elements

-Construction began on the ramparts, the last of the Category B and D defenses, as well as the seesaw.

Recorded by: Date: Journal Editor: Date: