Team Nine/Journal

Contents 1 Daily Journal 1.1 Day 0 (1/5) 1.2 Day 1 (1/6) 1.3 Day 2 (1/7) 1.4 Day 3 (1/8) 1.5 Day 4 (1/9) 1.6 Day 5 (1/10) 1.7 Day 6 (1/11) 1.8 Day 7 (1/12) 1.9 Day 8 (1/13) 1.10 Day 9 (1/14) 1.11 Day 10 (1/15) 1.12 Day 11 (1/16) 1.13 Day 12 (1/17) 1.14 Day 13 (1/18) 1.15 Day 14 (1/19) 1.16 Day 15 (1/20) 1.17 Day 16 (1/21) 1.18 Day 17 (1/22) 1.19 Day 18 (1/23) 1.20 Day 19 (1/24) 1.21 Day 20 (1/25) 1.22 Day 21 (1/26) 1.23 Day 22 (1/27) 1.24 Day 23 (1/28) 1.25 Day 24 (1/29) 1.26 Day 25 (1/30) 1.27 Week 3 Goals

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