Build & Test Prep
Table of Contents
Team Vision for Build & Test Prep PhaseMechanical:
- Get all necessary mechanical components, stock, etc.
- Finish machining parts for final competition bot.
- Assemble Bot
- Assemble and test subsystems
- Implement full system on test bot platform
- Work with Simone Center to use funds for the remainder of our expenses.
- Complete preparations for Motorama.
- Test Bot to check functionality
Progress Over Winter Break
MechanicalWe received the orders that were placed at the end of the Fall semester. This consisted of our McMaster-Carr orders and Robot Marketplace orders. We were able to begin machining parts for our final battle bot. Our progress can be viewed below:
For a video detailing the cutting of our damping layer click here.
To see how we machined our Wheel Brackets click here.
We are planning on beginning the Aluminum Chassis machining on January 26th, for a video of the toolpath we plan to use click here.
Original accelerometer for determining robot vertical orientation, now replaced by LSM303DLHC which contains both a magnetometer and accelerometer.
Original magnetometer for orientation error correction, now replaced by LSM303DLHC which contains both a magnetometer and accelerometer.
Mounting Hardware for Second Prototype, To allow usage of thee BLDC motors and larger (6S, 2000mAH) batteries.
Motors were mounted underneath the mounting plate to allow more clearance between the frame and the wheels.
Mounting Holes were added to attach electronic hardware to the plate.
The motor controllers, battery, and motors were wired together using 8 gauge stranded copper wire.
A second layer was added to the prototype robot to hold the control hardware, in the near future this will be replaced by a PCB holding the control hardware.
This short video shows control of the LED light strip, that is to be used for the POV display. this firmware will be updated to use a feedback loop based upon accelerometer data.
The old magnetometer was not supported on the teensy3.2 and was unresponsive when tested on a different microcontroller. Therefore a slower, but better supported magnetometer was chosen. Additionally, this unit contains an accelerometer, reducing the total number of components by one.
Additionally, PPM will be used for speed control of the motors since they do not support RPM control from an analog signal and the UART library has been abandoned. This could end up being advantageous, as the teensy3.2 has a native PPM library and the PPM control on the motor controllers has onboard PID speed control.
An example of the higher speeds achievable with the higher voltage battery. The motor is able to reach about 22000-24000rpm without a load.
Test Plan Summary
ScheduleOur tentative schedule is listed below:
For the most up to date schedule click here.
Risk and Problem Tracking
Overall our risks have minimize and we are on the right track with our robot being on the right track to being finalized for the competition. Below is the snapshot of our updated risk assessment.
The reason we were able to alleviate many of the risks is because they were all related to our build. Since we have begun building and are going at a good pace most of the problems associated with time and hiccups in the build the likelihood of them has decreased. Additionally, we have spoken with the Simone Center and gotten more information for both reimbursement and finances taken care of.
Additionally we have the most up to date copy of the Risk Assessment accessible here.
Design Review MaterialsInclude links to:
- Presentation and/or handouts
- Notes from review
- Action Items
Plans for next phaseTeam
Our plans focus on the competition, Motorama in Harrisburg, PA on February 16-18. We are planning on competing in the featherweight (30lb) weight class, and hope to do quite well hopefully winning quite a few battles. Since the competition is so close we have been focusing our priority to final assembly and machining. Our plan is to finish the build by the end of next week. This would leave us about two weeks to do the tests prior to the competition.
We are on the wire and overall everything is coming together, and we plan to continue on that track and finish up build for February. Individual
- Finish machining final bot.
- Assemble final bot
- Test final bot
- Finish machining parts for our final bot.
- Test bots electrical components.
- Verify programming and outputs.
- Go to Motorama and compete.
- Assist Jake in program design
- Assist Jake in program implementation
- Assist Jake in program testing
- Assist all in robot testing
- 3D print electronics cluster case after obtaining final PCB dimensions
- Help in machining as needed
- Help in assembly of final bot
- Complete tests - determine if any changes needed to make product meet requirements / within specs
- Documentation on Edge
- PCB Design and Fabrication @ Construct for control circuitry
- Firmware work for Magnetometer, accelerometers, etc.
- Transfer electronics to final chassis, double check everything
- Assist in overall software design
- Go to Motorama, win?
|Stephen Pasek||Jimmy Kramer||Alex Howard||Rob Sokolowski||Jacob Harrell|