Goals: Finish the hanging system
Things we did/Why we did it:
Problems: The elastic assist was too strong, when unneeded, but too weak when needed
Results: Objective failed, decided to give up hanging
Misc. Notes: N/A
Future Plans: Perfect the funnels
Today, we made a last ditch attempt at constructing the hanging system
We first had two main goals. The first was creating a better hanging mount, and the second was removing what we had currently. While we were removing the old system (cutting string, unscrewing 4 screws), the other group gathered an aluminum channel and cut rail ends. Using these pieces, we created a U shaped bar which should have bypassed the cortex. Once the hanging system was removed, we took the sprocket and linear slide components and attached it to the U shaped bar, then mounted it to the intake similar to before. The group that was detaching the mount now focused on adding additional rubber bands throughout the robot
Before, when the robot rose to full height, the linkage support could not keep the intake up when the string became taught. Because of this, slack was created, and the intake system would not deploy. So, we reasoned that by adding rubber bands to the intake and deployment, we could maintain lift height and keep a consistent expansion.
We first added rubberbands to the deployment itself. We attached rubberbands from the furthest standoff, looped it by the sprocket, and attached it onto the linear lift. We experimented with the hole placement and rubberband amount for about 20 minutes, and determined that we should use about 4 rubberbands, 13 holes away. With this arrangement, the system would fling up with the slightest agitation, so we reasoned that force decay should occur quick enough by worlds. While this occurred, we realized that one side had rubber bands strung around the bare standoff, and the other side had rubber bands through the standoff. Because the side with rubber bands around the standoff was slightly too strong, we copied the other side.
We tested the system again, and we still saw that the intake was bending backwards. The linkage support on the intake was not doing it’s job. So we added more rubber bands and slowly tightened the zip tie until it maintained height. However, by the time the linkage would support the intake, it supported it too well. The hanging system would deploy easily when the lift is up, but when the lift is dropping, the lift would bend forward. This became so bad that the chain on the chain bar actually snapped one time.
With time quickly running out, and knowledge of worlds coming soon, we decided to give up on hanging and stick to the original goal of dominating autonomous and equalizing in driver control. We removed the hanging system, but kept it assembled if all goes well.
Photos: 1. Driver practice 2. Amanda Overseeing the Hanging system 3. Close up of U shaped bar 4. Elastic Assist on Intake linkage 5. Right Side Funnels In dimension 6. Rubber banding
Goals: Perfect the funnels, Stabilize the intake, Driver Analysis
Things we did/Why we did it: Replace the right side funnel mount. Apply proper spacers, replace axles, Analyzed various scenarios in driver control,
Problems: The right funnel does not retract all the way due to chain tension.
Results: The funnels had a more professional feel, and became faster. However, the right funnel has problems fully retracting
Future Plans: Hold officer elections, hold officer training, Continue Driver Practice, Create Autonomous Code
Today, we focused on maximizing the funnels performance. The funnels were opening and closing at acceptable rates, however the funnels cannot retract completely, so we focused on numerous small details in hopes to boost the funnels performance.
The first thing we did was change how the funnels were mounted. Rather than using a full 8” rail, we found cut rails from previous years and swapped out the rails. This resulted in a lighter, more compact profile. Since we lose points of connection, we then placed a total of 4 standoffs to connect the funnels to the drivetrain, increasing stability.
Next, we then inspected the bearings. We noticed that some axles were bent, sprockets were missing spacers, and holes were missing pillow blocks. We removed axles from the bearings of interest and applied pillowblocks for a rounded mount, and replaced the bent axles with straight ones. As we applied the straight axles, we inspected the position of the gears and carefully added spacers to keep the system in place. Then, we sealed the system off with collars. While this was going on, we also applied 1 by 25 from the chain bar mount of the funnels, onto the initial joint of the arm. This eliminated cantilevering.
After these changes, we tested the funnels. The left side of the funnels retract very well, however the right side of the funnels do not. After closer inspection, we noticed 5 things. One, the right side of the drivetrain is missing a standoff, causing the funnels to wobble greatly. Two, the chain had a lot of slack. Three, the motor mount for the funnels is bending greatly due to the cantilevered mount. Four, the right side of the drivetrain had a loose locknut. And 5, the inner right side rail was completely missing screws.
Because of this, we took away a chain link, looked for a standoff, added a second support to the cantilevered mount, tightened the locknut, and replaced the screws. We could not find a standoff, but the other four changes did not allow the funnels to retract completely. If we find a standoff, and replace chain with a ziptie, the funnels should retract completely
In addition to this, we studied up on scenarios which occurred at U.S. Open. Using the competition videos we found, we developed possible driver control strategies to counter the defensive techniques we've seen, as well as catalyze our own strategy. To do this, we've created a series of steps which we need to execute, as well as a procedure for our ally.
To close this up, we also attempted a custom power curve for our driver. Unfortunately, it was not successful. After talking with our programmers, we believe that they may have used the wrong channels.
Photos: 1. Top View of the Bot, 2. new brace for the funnels, 3. View of the funnels expanded 4. New Spacers on the Left funnel 5. Loose locknut on the right side of the drive train 6. missing screws on the right side of the drive train 7. Missing standoff on the right side of the drive train 7. Severely Bent axle on the left funnel 8. New Funnel Joint 9. Top view of right funnel stored 10. Close up of the intake's linkage support mounting holes 11. Another view of linkage support mounting 12. Another view of linkage support mounting 13. Linkage Support all the way down 14. zoomed out view of linkage support 15. Rats nest, what we have to deal with if we decide to move the motor 16. Close up of the rats nest
Buggy Power Curve
Custom Formula, Courtesy of Mu Alpha Theta
Goals: Presidential Elections
Things we did/Why we did it: Presidential Rap/Tradition, Presidential Debate/info, Cast Ballots, Tally Votes
Results: To be determined
Misc. Notes: We got emails from Middleton and Tampa Prep High School saying that we can visit them and use their field
Future Plans: create advertisements, develop worlds autonomous, practice driving, practice for interviews, refine/maintain robot, repair the intake
Today, we had Presidential and Vice Presidential elections.
This year, 4 members ran for positions: Eric Barker, Ivy Bennett-Ford, Louis Leon, and Amanda Organ. They continued the tradition of rapping, and gave a whopping 6 minute bout. Unfortunately, because the rap contains a lot of inside jokes and sniping comments, we will not make the recording public. However, before this rap was created, the 4 agreed that this rap doesn't reflect the member, nullifying future resentment.
Due to the number of members that were absent this meeting due to other competitions, absentee ballots will be submitted at the start of Monday's meeting. With this, the co-presidents, and vice president elects will be determined