Difference between revisions of "Team 1640 2009 Summer Program"

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In order that we continue to develop knowledge and skills, Team 1640 is again engaging in a Summer program in 2009.  We will meet Tuesday evenings from 6:30 to 8:30 pm at [[Downingtown Educational Center]] starting 23-June through
+
In order that we continue to develop knowledge and skills, Team 1640 is again engaging in a Summer program in 2009.  We will meet Tuesday evenings from 6:30 to 8:30 pm at the [[Downingtown Educational Center]] starting 23-June through 18-August.  We will be meeting in the shop area.
 +
 
 +
The FRC team will be working on our summer projects to develop new knowledge through prototyping and testing.
 +
 
 +
==23 June Meeting - ''Goal Setting''==
 +
The team's missions for this summer were agreed upon:
 +
#Prototype and test a [[4-Wheel Pivot Drive]] chassis. 
 +
##Prototype should allow multi-mode drive:
 +
###Tank - Tank wheels on each side are parallel
 +
###Crab - Crab wheels pairs (front and rear) turn the same direction
 +
###Snake - Snake wheel pairs (front and rear) turn in opposite directions
 +
##Target a ½-scale prototype using Vex parts and follow-through with a hypothetical Autodesk Inventor chassis design in FRC-scale. (12*18" actual size)
 +
# Engage in a literature and paper study of arm, gripper and lift systems
 +
 
 +
In addition:
 +
* Paul K has a Vision control mission.
 +
* Alex H has agreed to learn Inventor.
 +
 
 +
==7 July Meeting==
 +
 
 +
[[Image:2009_Summer_Pivot_isometric_090705_csm.jpg|400px|right|text-top|thumb|Pivot Prototype - Basic Chassis (so far)]]
 +
We started building our prototype (for real) at this meeting.
 +
 
 +
Here are the drawings for fabrication & assembly (pdf format):
 +
:;[[Media:Pivot_Steering_Prototype_asm_090706_csm.pdf|Prototype Full Assembly dwgs]]
 +
:;[[Media:Pivot_Wheel_Unit_090706_csm.pdf|Detail of Pivot Wheel Unit assembly]]
 +
:;[[Media:Pivot_Wheel_Assembly_090706_csm.pdf|Reverse assembly dwgs for Pivot Wheel Unit]]
 +
 
 +
At this meeting we:
 +
:* Collected the parts we will need
 +
:* Identified parts (just a few) which need to be ordered
 +
:* Cut all of the metal parts which need cutting
 +
:* Started assembling the Pivot Wheel Units
 +
 
 +
==14 & 15 July Meetings==
 +
 
 +
Kenneth joined the team!  Welcome.
 +
 
 +
By popular demand, we are meeting Tuesday and Wednesday evenings.
 +
 
 +
At these meetings we:
 +
:* Built all of the Pivot Wheels Units
 +
:* Built the basic frame
 +
:* attached the first Pivot Wheel Unit
 +
:* Performed some gearbox repair on [[DEWBOT V]]
 +
:* Replaced missing pneumatic parts from [[DEWBOT III]]
 +
 
 +
==21 & 22 July Meetings==
 +
 
 +
Progress:
 +
:* Installed all Pivot Wheel Units
 +
:* Installed all Pivot Wheel Steering Gears & Drives
 +
:* Installed cRIO and Digital Sidecar
 +
:* The Prototype is Mechanically Complete
 +
 
 +
==28 & 29 July Meetings==
 +
 
 +
We're (mostly) wired.  We made something move (with a motor)!
 +
 
 +
:[[Media:Pivot-Wheel_Drive.pdf|'''Mathematical Analysis of the Pivot-Wheel System''']].
 +
 
 +
==4 & 5 August Meetings==
 +
 
 +
It's programming time.  'Nuf said.
 +
 
 +
Posted 9-Aug as a programming tool for Pivot-Wheel:
 +
:[[Media:Programming_a_Pivot_Drive_Robot.pdf|'''Programming a Pivot Drive Robot''']].
 +
:[[Media:Pivot_Practical_(0-5vdc).xls|'''Pivot Worksheet - based on 0-5vdc Potentiometer Output''']].
 +
:[[Media:Pivot_Practical_(0-1024).xls|'''Pivot Worksheet - based on 0-1024 Potentiometer Output''']].
 +
 
 +
==11 & 12 August Meetings==
 +
 
 +
Prototype drives in Automobile & Snake Modes.
 +
 
 +
Carly officially approves of Snake.
 +
 
 +
We still have some work to do to get this working correctly.  Plus there's the whole issue of drive orientation.
 +
 
 +
Great progress on a technically challenging project, but work to do yet.
 +
 
 +
==18 & 19 August Meetings==
 +
 
 +
Paul (on vacation) & Kenneth have been working hard together on the code. 
 +
 
 +
Crab Mode works.  A few small quirks, but basically solid.
 +
 
 +
Kenneth updated the Automobile & Snake setpoints logic so that the pivot angles are correct (with the inside-of-turn wheels pivoting more than the outside-of turn).
 +
 
 +
Wonderful progress on a challenging project.  The prototype drives beautifully.
 +
 
 +
==Summer Program Gallery==
 +
 
 +
<gallery widths=250 heights=250 perrow=3>
 +
Image:2009_Summer_Carly_Paul_vision_project_090707_csm.jpg|Carly & Paul work on vision project
 +
Image:2009_Summer_Pivot_Matt_pivot_units_090707_csm.jpg|Matt builds the prototype's pivot units
 +
Image:2009_Summer_Pivot_we_design_then_build_090715_csm_1.jpg|We design then we build...
 +
Image:2009_Summer_Pivot_we_design_then_build_090715_csm_2.jpg|...and we build what we design
 +
Image:2009_Summer_Pivot_Kenneth_&_Alex_090715_csm_1.jpg|Kenneth & Alex
 +
Image:2009_Summer_Pivot_Kenneth_&_Alex_090715_csm_2.jpg
 +
Image:2009_Summer_Pivot_Kenneth_090721_csm.jpg|Kenneth
 +
Image:2009_Summer_Pivot_Matt_&_Kenneth_090722_csm.jpg|Matt & Kenneth
 +
Image:2009_Summer_Pivot_mechanical_completion_090722_csm.jpg|Mechanical Completion
 +
Image:2009_Summer_Pivot_wiring_090728_csm.jpg|wiring prototype
 +
Image:2009_Summer_Pivot_Praveen_Matt_Alex_090728_csm.jpg|Praveen, Matt & Alex
 +
Image:2009_Summer_Pivot_programming_090728_csm.jpg|Paul & Kenneth programming
 +
Image:2009_Summer_Pivot_wired_090728_csm.jpg|wiring prototype
 +
Image:2009_Summer_Pivot_poster_ideas_090804_csm.jpg|Melanie collects recruitment poster ideas
 +
Image:2009_Summer_Pivot_Kenneth_Paul_090804_csm.jpg|Kenneth & Paul programming
 +
Image:2009_Summer_Pivot_Paul_programming_090805_csm.jpg|Paul working on Pivot Prototype program
 +
Image:2009_Summer_Pivot_programming_090805_csm.jpg
 +
Image:2009_Summer_Pivot_Paul_Praveen_090805_csm.jpg|Paul & Praveen
 +
Image:2009_Summer_Pivot_Paul_programming_090811_csm.jpg|Paul Programming the Pivot Prototype
 +
Image:2009_Summer_Pivot_Kenneth_Paul_programming_090812_csm.jpg|Kenneth & Paul programming
 +
Image:2009_Summer_Pivot_Melanie & Carly_090812_csm.jpg|Melanie & Carly working on media
 +
Image:2009_Summer_Pivot_Kenneth_Paul_Ben_090812_csm.jpg|Kenneth, Paul & Ben
 +
Image:2009_Summer_Pivot_driving_snake_090812_csm.jpg|Prototype driving in Snake Mode
 +
Image:2009_Summer_Pivot_Ben_Kenneth_Paul_McKown_driving_090812_csm.jpg|Ben, Kenneth (driving), Paul, Clem McKown
 +
Image:2009_Summer_Pivot_crab_090819_csm.jpg|Prototype wheels in Crab Drive
 +
Image:2009_Summer_Pivot_Praveen_&_Kenneth_090819_csm.jpg|Praveen watches Kenneth work through the LabView control code
 +
Image:2009_Summer_Pivot_crab_drive_090819_csm.jpg|Test drive - Crab Mode
 +
Image:2009_Summer_Pivot_test_drive_090819_csm.jpg|Test drive
 +
Image:2009_Summer_Pivot_crab_mode_090826_csm.jpg|Crab Mode
 +
Image:2009_Summer_Pivot_programming_team_090826_csm.jpg|Programming Team
 +
</gallery>
 +
 
 +
 
 +
----
 +
Catch up on other team information at [[FRC Team 1640]]
 +
[[Category:Robot]][[Category:DEWBOT V]][[Category:DEWBOT VI]][[Category:Drive-train]][[Category:Summer Program]][[Category:Photo Galleries]][[Category:Swerve Drive]][[Category:Projects]]

Latest revision as of 04:08, 29 October 2015

In order that we continue to develop knowledge and skills, Team 1640 is again engaging in a Summer program in 2009. We will meet Tuesday evenings from 6:30 to 8:30 pm at the Downingtown Educational Center starting 23-June through 18-August. We will be meeting in the shop area.

The FRC team will be working on our summer projects to develop new knowledge through prototyping and testing.

23 June Meeting - Goal Setting

The team's missions for this summer were agreed upon:

  1. Prototype and test a 4-Wheel Pivot Drive chassis.
    1. Prototype should allow multi-mode drive:
      1. Tank - Tank wheels on each side are parallel
      2. Crab - Crab wheels pairs (front and rear) turn the same direction
      3. Snake - Snake wheel pairs (front and rear) turn in opposite directions
    2. Target a ½-scale prototype using Vex parts and follow-through with a hypothetical Autodesk Inventor chassis design in FRC-scale. (12*18" actual size)
  2. Engage in a literature and paper study of arm, gripper and lift systems

In addition:

  • Paul K has a Vision control mission.
  • Alex H has agreed to learn Inventor.

7 July Meeting

Pivot Prototype - Basic Chassis (so far)

We started building our prototype (for real) at this meeting.

Here are the drawings for fabrication & assembly (pdf format):

Prototype Full Assembly dwgs
Detail of Pivot Wheel Unit assembly
Reverse assembly dwgs for Pivot Wheel Unit

At this meeting we:

  • Collected the parts we will need
  • Identified parts (just a few) which need to be ordered
  • Cut all of the metal parts which need cutting
  • Started assembling the Pivot Wheel Units

14 & 15 July Meetings

Kenneth joined the team! Welcome.

By popular demand, we are meeting Tuesday and Wednesday evenings.

At these meetings we:

  • Built all of the Pivot Wheels Units
  • Built the basic frame
  • attached the first Pivot Wheel Unit
  • Performed some gearbox repair on DEWBOT V
  • Replaced missing pneumatic parts from DEWBOT III

21 & 22 July Meetings

Progress:

  • Installed all Pivot Wheel Units
  • Installed all Pivot Wheel Steering Gears & Drives
  • Installed cRIO and Digital Sidecar
  • The Prototype is Mechanically Complete

28 & 29 July Meetings

We're (mostly) wired. We made something move (with a motor)!

Mathematical Analysis of the Pivot-Wheel System.

4 & 5 August Meetings

It's programming time. 'Nuf said.

Posted 9-Aug as a programming tool for Pivot-Wheel:

Programming a Pivot Drive Robot.
Pivot Worksheet - based on 0-5vdc Potentiometer Output.
Pivot Worksheet - based on 0-1024 Potentiometer Output.

11 & 12 August Meetings

Prototype drives in Automobile & Snake Modes.

Carly officially approves of Snake.

We still have some work to do to get this working correctly. Plus there's the whole issue of drive orientation.

Great progress on a technically challenging project, but work to do yet.

18 & 19 August Meetings

Paul (on vacation) & Kenneth have been working hard together on the code.

Crab Mode works. A few small quirks, but basically solid.

Kenneth updated the Automobile & Snake setpoints logic so that the pivot angles are correct (with the inside-of-turn wheels pivoting more than the outside-of turn).

Wonderful progress on a challenging project. The prototype drives beautifully.

Summer Program Gallery

  • Carly & Paul work on vision project

  • Matt builds the prototype's pivot units

  • We design then we build...

  • ...and we build what we design

  • Kenneth & Alex

  • 2009 Summer Pivot Kenneth & Alex 090715 csm 2.jpg

  • Kenneth

  • Matt & Kenneth

  • Mechanical Completion

  • wiring prototype

  • Praveen, Matt & Alex

  • Paul & Kenneth programming

  • wiring prototype

  • Melanie collects recruitment poster ideas

  • Kenneth & Paul programming

  • Paul working on Pivot Prototype program

  • 2009 Summer Pivot programming 090805 csm.jpg

  • Paul & Praveen

  • Paul Programming the Pivot Prototype

  • Kenneth & Paul programming

  • Melanie & Carly working on media

  • Kenneth, Paul & Ben

  • Prototype driving in Snake Mode

  • Ben, Kenneth (driving), Paul, Clem McKown

  • Prototype wheels in Crab Drive

  • Praveen watches Kenneth work through the LabView control code

  • Test drive - Crab Mode

  • Test drive

  • Crab Mode

  • Programming Team


Catch up on other team information at FRC Team 1640

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