Team Nine/Journal
From Maslab 2015
Daily Journal
Day 0 (1/5)
- Brainstormed multiple methods of picking up and sorting blocks
- Brainstormed drive train ideas
- got started with edison
- successfully ran some sample programs
- began cadding ideas
Day 1 (1/6)
- Created state machine outline
- Created general software outline
- Received shop training
- Began working with sensors on Edison
- Soldered voltage regulator to battery pack for use with Edison
Day 2 (1/7)
- assembled servo shield and mounted on Edison
- successfully captured color video with camera with OpenCV
- printed kit bot and began assembly
- fixed voltage regulator
- Tested motors with motor controller
Day 3 (1/8)
- fully assembled kit bot with wiring
- got kit bot moving
- calibrated our sensors partially
- wrote test program for testing kit bot
Day 4 (1/9)
- calibrated ir sensors
- fitted IR sensor data
- gyroscope hooked up
- got communication between edison and gyroscope
- kit bot drives around avoiding walls
Day 5 (1/10)
- 66% of hardware team arrives
- Initial hardware brainstorming
- Naps
Day 6 (1/11)
- Day of rest
- Naps
Day 7 (1/12)
- Full team arrives
- CAD begins: turntable (Tratt), stack canisters (Jordan), base plate layout (Kurtzy)
- Software dev: openCV (Sandy Cheeks), encoders (Lerner)
Day 8 (1/13)
- Continued CAD: turntable (2am Tratt Attack), claw (E.J.)
- Fabrication begins: laser cutting of stack canisters (Jordan, Tratt)
- Software: robot test for square path using gyro, PID test with forward bias, failsafe created
Day 9 (1/14)
- CAD: claw, plate 2
- Fabrication: turntable pusher and ramp created, assembled
- Software: formatting for all files
Day 10 (1/15)
- CAD: turntable attachments to bot for turning, 4-bar linkage geometry created
- Fabrication: claw created and tested, plates cut
- Software: power handler, red follower open CV, sensitivity tuning for colors, output of color values for interfacial testing
Day 11 (1/16)
- Fabrication: turntable motor assembly
- Software: colors into list, read function, color sensor testing, color follower, PID gyro to follow red, camera gets own thread
Day 12 (1/17)
- CAD: finalized assembled model and plates
- Assembly: 4-bar linkage assembly
- Software: added desktop rgb object tracker, resize resolution
Day 13 (1/18)
- Big Papa assembly: plates and supports from plates 3-4 cut and added
- Software: blob tracking on Edison, IR testing, IP address reporting works, stacked cube tracking, flood fill algorithm
Day 14 (1/19)
- mock-up: Big Papa is too fat --> decided to go for Little Mama
- Discussion: new plan - make smaller robot base, better claw with more space efficiency, improve everything
- Software: motor test, touch sensor hits, servo shield with DC motor
Day 15 (1/20)
- CAD: Little Mama's plates and supports, more robust claw, take off top plate for Little Mama
- Fabrication: 3D printing of servo horn attachments, bushings, shaft collar
- Software: color sensor range testing, sleep added
Day 16 (1/21)
- laser cutter fire
- CAD: Little Mama's plates and supports, more robust claw
- Software: range changes on servos, motor stop, test synthesis of color sensor, servo and turntable motor
Day 17 (1/22)
- mission Find New Laser: success - EDC will let use (ask for Dave or Gavin)
- Fabrication: Drawings compiled for all new components
- Software: color sensor range calibration
Day 18 (1/23)
- Fabrication: EDC laser cutter cuts all new components minus stacks
- Assembly: new claw, full robot plates and supports for Little Mama
- Software: servo range testing, motor speed check, gripper test
Day 19 (1/24)
- Assembly: finishing touches on shafts, servos, motors, general assembly of Little Mama
- Fabrication: 17.25" stack canisters modified and drawings generated
Day 20 (1/25)
- Assembly: motor controllers, wiring, Edison, all electronic components placed
- Software: distance PID implemented, encoder PID testing, encoders to block tracking
Day 21 (1/26)
- Fabrication: cut new 17.25" stack canisters
- Assembly: stack canisters, stack doors, wiring of robot with IR sensors finished
- Software: lightning speed (real time) color detection updating, servo shield test, analog range fix, pin changes, IR sensor check, increased encoder support
- Testing: Tested integrated assembly for turntable, arm, drive paths
- mock competition--not ready yet to do anything with robot, pics taken in lab
Day 22 (1/27)
- SNOW STORM!
Day 23 (1/28)
Day 24 (1/29)
Day 25 (1/30)
- competition day
- status: won 1st place and $6500
Week 3 Goals
- Have final chassis replace kitbot by Monday
- Entire robot CAD complete by Sunday
- Be capable of driving toward and aligning with a stack of cubes at mock competition
- Zero electrical shorts over the next week