Integrated System Build & Test
Table of Contents
Team Vision for Integrated System Build & Test Phase
- Finish creating drawing for all parts and send out to selected machine shop.
- Finish integrating safety module into electrical system
- Polish high level code.
- Finalized mechanical designs.
- Mechanical drawing made for most parts.
- Awaiting correspondence with machine shop.
- Began integration of safety module
- High level code almost complete, needs telescope specifics and integration
Test Results Summary
- The Mechanical design has been completed
- Drawings for each of the subcomponents are being completed and sent to machine shops for fabrication.
Feature's of the mechanical design:
Fine tuning adjustments for the two plates can be controlled by push/pull screws. There are also slotted holes to allow for movement of components.
The assembly of the rotating and static structure incudes a bearing that will be used to offset some of the torque load on the gearhead. This allows for the design of using a reasonably sized gearhead and a heavy load.
- Safety module properly wired.
- Beginning to program module to operate properly in emergency situations.
- Wiring of all components organized.
- Developing display for Imagine RIT.
In order to connect the wires from the encoder to the Raspberry Pi, a Raspberry Pi hat was used. A header pin connects the GPIO pins of the Raspberry Pi to the PCB. This allows the wires from the encoder to be soldered permanently to the board. This results in a secure connection that will not break when installed in the telescope assembly.
All of the major functions of the motor controller have been implemented. It is able to receive RS485 messages from the Raspberry Pi. This controls how fast the motor will rotate and how many steps it will turn.
The USB to RS485 board successfully packages RS485 messages from the Raspberry Pi. There were some issues with proper communication between the Raspberry Pi and motor controller initially. However once the correct serial library was installed on the raspberry pi and the correct registers in the motor controller were written to, everything became operational.
These are the limit switches which will go on the final mechanical assembly. Due to the incorrect cables being ordered, they are not able to be wired into the safety module yet. We are currently waiting for the cables to be delivered. It has been verified that the switches open their contacts at the correct angle.
This is the safety module which controls how the k-mirror system reacts in an emergency situation. The connector for the power supply is currently waiting to be delivered. Once it has arrived, we will begin programming the module as specified by the customer requirements.
This is the emergency stop button. The correct cables are waiting to be delivered. Once they have arrived, testing will be done to see if they shut the system down effectively.
- PID loop parameters tuned to acceptable levels.
- Polished high-level user interface code.
Design Review Materials
The current test plans are available for download in the following formats:
Risk and Problem Tracking
The current Risk Management document can be found here: Risk Management
Some of our risks have manifested themselves as problems, they can be found here: problem tracking.
- Final Poster (4/19/18)
- Final Technical Paper (4/19/18)
- Edge Website Completed (4/24/18)
- Lightning Talk (4/26/18)
- Performance vs Requirements (4/26/18)
- Imagine RIT (4/28/18 at 10AM)
- Gate Review (5/1/18 at 2PM)
Future Work/Open Tasks
Team PlansWe are currently ensuring the customer has all of the required documentation to properly use our system after we are done with MSD. This entails writing documentation for each software module, properly documenting how the electrical system is wired, and ensuring the mechanical structure can be built properly. All of these documents will be stored on a Google Drive, which the customer will have full access to for future reference.
- Finish integrating safety module into electrical system.
- Update documents on how to program the safety module.
- Ensure all electrical documentation and schematics are up to date.
- Finalize software integration
- Document all software modules for future reference.
- Ensure all software is stored in a repository the customer has access to.
- Ensure all code for high level user interface is pushed to the repository.
- Document how to properly use the user interface for future reference.
- Ensure the BOM is up to date with the parts than need to be manufactured.
- Document how to assemble the mechanical components.
- Ensure all mechanical component drawings have been sent to the selected machine shop.