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The Silly Billies (Team 11)

Members

  • Alex Rice - Electrical/Software
  • Vishakk Rajendran - Mechanical/Strategy
  • Cassandra He - Electrical/Software
  • Patrick Liu - Software/Strategy
  • Rohan Wagh - team mascot

Overview: THE RAM

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TODOs

  • depth (CV references, sensor fusion, CNN?)
  • PID tuning
  • control logic (find block --> do thing --> find more block)
  • mechanism prototype

Schedule

Week1

Day 1: 1/8

  • Top plate cut - Alex
  • Kitbot assembly started - Cassandra
  • NUC setup - Pat

Day 2: 1/9

  • Kitbot driving teleop - Cassandra
  • OpenCV examples on VM - Alex
  • NUC - Pat
  • Strategy - Vishakk, Rohan

Day 3: 1/10

  • Autonomous!
  • Rudimentary PID control working, having trouble following block in real-time "Why isn't it moving"

Day 4: 1/11

  • Inconsistent PID block following
  • Decoupled PID loop and camera framerate by abstracting through shared memory

Day 5: 1/12

  • Camera framerate increase --> PID following greatly improved
  • Encoders working
  • Larger chassis Lasercutting a larger chassis for the kitbot

Week 2

Day 6: 1/15

  • Kitbot reassembled with larger frame

Day 7: 1/16

  • Working homography
  • Lift mechanism laser cut from MDF

Day 8: 1/17

  • Script to toggle between auto drive mode and keyboard drive for ease of testing

Day 9: 1/18

  • Gripper mechanism CAD
  • New chassis to support arm
  • Lift mechanism attached

Day 10: 1/19 Mock Competition Day!

Tied for first (...out of 2 teams)

Week 3

Day 11: 1/22

  • Feedback motor working

Day 12: 1/23

  • Fine tuning collection mechanism

Day 13: 1/24

  • New gripper design
  • Block collection CAD
  • Autonomous state machine outlined

Day 14: 1/25

  • Block collection cut
  • Working autonomous block search and following

Day 15: 1/26

  • Stacking mechanism prototype

Week 4

Day 16: 1/29

  • Weight reduction from front of robot
  • Front scooper to position blocks for manipulator

Day 17: 1/30

steezy

Day 18: 1/31

  • Troubleshooting issues with collection near walls
  • New stacking mechanism designed Team color blocks stacked automatically, stack placed on the floor in the last 10 seconds

Day 19: 2/1

  • We can stack now!
  • New state machine for autonomous
    • Follow blocks no matter what color
    • Sort blocks once on the robot (stack or collect)