P18390: Translational Drift Robot
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Integrated System Build & Test

Table of Contents

Team Vision for Integrated System Build & Test Phase

Summarize:

During this phase our team wanted to finish up the complete system build and accomplish the tests associated with our competition robot. Overall this included ordering and adding timing belts instead of using the V belt drive system currently set in place. After this was to occur we were planning on getting the code squared away and ensure that it worked properly and then complete the associated tests. Additionally, we wanted to get some rough copies completed for our paper, poster and the beetle weight bot which we plan on presenting at ImagineRIT on April 28th, 2018.

Since our team has been using self funds and then receiving reimbursements with a long lead time we decided to utilize the Simone Center's purchase system, which since it was the first time we used it took a while. Ultimately we ended up receiving the pulleys although a little later than we wanted. In addition to this we also ordered the new timing belts, which ultimately were too large for the ordered pulleys. To remedy this we ended up 3D printing new pulleys to be able to utilize the timing belt ordered. Since we were not able to get the robot functioning as desired mechanically we were unable to complete any of the final level tests and software checks. Looking at the progress made on the paper, poster and models of the beetle weight bot, we ultimately created rough copies of the paper, poster and models. We will need to refine these for ImagineRIT and the end of the class. These are mentioned more below.

Test Results Summary

Test Plan

Test Plan

Updated Testing document. Minimal Progress due to shipping and finance delays on the part of the Simone Center.

Updated Risks

Updated Risks

Subsystem Integration represents a significant risk, as the robot has been disassembled and must be reassembled. However Timer and communication concerns have been resolved. Additionally, The weight of the bot is no longer an issue as Motorama has passed.

Imagine RIT/Final Deliverable Updates

"Featherweight Bot"
Magnetometer Timing Tests

Magnetometer Timing Tests

The Magnetometer Sample rate and communication speed were tested by toggling a pin on an off based on the status of the magnetometer communication. Upon the falling edge of the magnetometer's data ready pin, the teensy triggered an interrupt which set a flag and toggled a pin on. This Flag allowed the main loop to sample from the magnetometer and then toggle the pin back off.

Magnetometer Timing Test Waveforms

Magnetometer Timing Test Waveforms

The magnetometer was setup to sample at 200Hz. The microcontroller handled the communication in 1.788ms. This may be reduced slightly by ignoring two of the accelerometer axes and one of the magnetometer axes. However it may be advantageous to use that data to account for the tilt of the PCB within the robot.

Motor and Pulley Reconfiguration

Motor and Pulley Reconfiguration

Motor and Pulley Reconfiguration

Motor and Pulley Reconfiguration

Issues with Sintered pulley

Issues with Sintered pulley

Broken Portion of Sintered Pulley

Broken Portion of Sintered Pulley

3D printed replacement pulleys

3D printed replacement pulleys

Beetle Weight Bot

Beetle Weight Motor Selection

Beetle Weight Motor Selection

Motors were Selected for the Beetleweight version of the robot by using the askaaron reference document.

Beetle Weight ESC Selection

Beetle Weight ESC Selection

ESC's were selected based on their compatibility with SimonK firmware and their voltage and ampacity ratings.

Beetle Weight LIPO Selection

Beetle Weight LIPO Selection

Batteries for the 3lb bot were chosen based on voltage, ampacity, capacity, size and cost.

Looking at the beetle weight bot we have created a similar design to the full scale bot, although made it less lethal by:

The reason for this is since we do not want anyone to be injured during or after ImagineRIT.

Other changes which we have implemented include:

Below are a couple of drawings showing the assembly of this bot:

Beetle Weight Bot Top View

Beetle Weight Bot Top View

Beetle Weight Bot Isometric View

Beetle Weight Bot Isometric View

For both pictures, the parts are as follows:

Poster The poster can be seen below. Click for a larger image.

Imagine RIT Poster Rough Draft

Imagine RIT Poster Rough Draft

Problem Tracking

Below is our problem tracking.
Problem Tracking

Problem Tracking

Technical Paper

Below is a link to our technical paper on our google drive.

https://drive.google.com/open?id=1rVl5NTf8_T69rPn96cKBy_3tuM98kpGY0xe-VfNfG5I

Functional Demo Materials

Include links to:

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Plans for next phase

Use of the Magnometer for Heading Estimation

Early software tests show that reading the magnetometer on the LSM303DLHC chip we have can be performed at a relatively fast pace. As a result, it may be possible to create a heading estimation with only the magnetometer readings, if only at lower speeds. Doing so comes with a few caveats, however.

Individual Plans


Alex Howard
Rob Sokolowski
Jacob Harrell
Jimmy Kramer
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