Difference between revisions of "Team 1640 2009 Summer Program"

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The FRC team will be working on our summer projects to develop new knowledge through prototyping and testing.  
 
The FRC team will be working on our summer projects to develop new knowledge through prototyping and testing.  
  
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==23 June Meeting==
+
==23 June Meeting - ''Goal Setting''==
 
The team's missions for this summer were agreed upon:
 
The team's missions for this summer were agreed upon:
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#Prototype and test a 4-wheel pivot drive chassis.   
+
#Prototype and test a [[4-Wheel Pivot Drive]] chassis.   
 
##Prototype should allow multi-mode drive:
 
##Prototype should allow multi-mode drive:
 
###Tank - Tank wheels on each side are parallel
 
###Tank - Tank wheels on each side are parallel
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==21 & 22 July Meetings==
 
==21 & 22 July Meetings==
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−
:''Unfinished'' [[Media:DRAFT_Pivot-Wheel_Drive.pdf|'''DRAFT Analysis of the Pivot-Wheel System''']].  (unfinished due to McKown computer problems).
 
  
 
Progress:
 
Progress:
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We're (mostly) wired.  We made something move (with a motor)!
 
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==  
 
==Summer Program Gallery==  
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Image:2009_Summer_Pivot_programming_090728_csm.jpg|Paul & Kenneth programming
 
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_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
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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>
 
</gallery>
  
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----
 
----
 
Catch up on other team information at [[FRC Team 1640]]
 
Catch up on other team information at [[FRC Team 1640]]
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[[Category:Robot]][[Category:DEWBOT V]]
+
[[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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