Today, the mechanical subteam mounted the battery and weight to the robot frame and cut pieces for the 4-bar lift. They also took inventory of the gears and shafts. The electrical subteam corrected the left tote code, modified the autonomous plan and documented the gyros.

The electrical subteam began to write the Purchase Orders for the parts they will be needing. They prioritized the items to the ones they needed first and found providers and pricing. People worked on the autonomous if they were moving the left tote, looking at the horizontal and vertical movement needed to get into the Autozone. Other members continued to document the gyro. The Mechanical subteam inventoried the stock aluminum and then cut the frame pieces. Systems made the 2D drawings of the standoff and hook of the retrieval also they calculated the amount of torque needed to lift 2 totes and a recycling bin.

Today, the electrical and mechanical subteams created and worked on their sprint retrospective which started a whole new week of stories and tasks to be completed. The new scrumboard can be viewed in the link above. The electrical subteam is also developing a plan for the autonomous code.

The electrical subteam held their sprint review and planned stories for the third week of sprint. Stories were made for documentation, gyro, accelerometer, robot frame code, and testing major robot components. They also documented and tested the encoder code and the mecanum code and color coded it. The mechanical subteam finalized hook dimensions and measured the hook on the backboard. They also started testing the 4-bar lift, the hook, and the standoff on the step. The stability of the tote on the stabilizer was tested, and it was determined that the tote could be held securely without falling off. Today the systems subteam finalized the 3D frame and began discussion on where to put the encoder on the wheel axle. The business subteam finished designing this year’s FRC sticker and sent it in to be printed.

Today the electrical subteam tested the mecanum drive, adjusting the code for straighter strafing. They also made the coding for wide turns and practiced driving into the tote. Documentation for the camera and optical encoders were finished as well. The mechanical subteam tested whether the 4-bar lift could hold two totes and lift a tote higher than a stack of totes on the step. It could make the height but could not hold the hook in place. The systems subteam redesigned the frame to mount to planetary beambox and CIM motor better.

The mechanical subteam worked on testing the 4-bar lift today while fixing the prototype. Systems subteam calculated the amount of torque needed for the 4-bar lift system and the type of motor and gearbox needed to lift the system. Electrical subteam tested the camera on the robot and set the coding for the camera. They also mounted the electrical board to the new drive frame and tested it.  The business subteam worked on the templates for the January newsletter (which will be coming out later this month), designed the thank you cards for the sponsors and finished the daily blog posts for the past week.

Today, a big decision was made to establish the concept of a four-bar lift design and to lose the centering arms. Instead we will make use of camera for aiming. Electrical continues to test the pneumatics test bed using single and double solenoids. They are also working to troubleshoot the encoder because it is not printing to the Smartdashboard. Systems sub-team has begun working on the gearbox for the lift mechanism and figuring out what the deceleration of the lift arm should be so the totes don’t come off. The Mechanical team also focused on the totes moving figuring out how much force they would need to push the totes on the carpet. They angled the carpet until the tote moved to find the coefficient of friction. It was determined that the force of friction is 3.6 lbs of force. Because of the design changes made the stabilizer arms that Mechanical was working on have become obsolete.