Team WEWEW 🚨

(pronounced "weewhoo") Secret message: I love my team

• Bella Mazzucca
• Adelene Chan
• Tissany Chen
• Florida Cishesa
• Johlesa Orm

Note: we had rough roles on the team (and specific tasks on the day to day) but we also touched other roles too ... so fun!

Week 1

Day 1 - Kickoff & Kitbot

Bot moving; issue with one wheel to be resolved Camera/data; to be implemented

Day 2 - Strategy & CV

Discussed possible designs & worked on color/block detection

Day 3 - More Strategy & Prototyping

Honed in on a few final ideas and prototyped. Worked on our own ROS2 package.

Day 4 - Prototyping & Intake Ideating

Discussed, CADded, prototyped some ideas. Created nodes for computer vision.
A gatorade bottle and a spoon!

Day 5 - Prototyping, Rough Testing, & Nodes

Cardboard intake sketching and created node for cv to driving.

Week 1 Reflection

Having a lot of fun working with this team and definitely being challenged in all this learning and ideating. Spent more time strategizing, ideating, and prototyping than we thought but we think it'll prove helpful.

Week 2

Day 6 - Chassis CAD, Basket & Skewer, PID

Trucking through CAD and prototyping, figuring out PID

Day 7 - Basket Prototyping, Chassis, Camera Calibration, PID

More CAD, slow and steady work on the PID and camera

Day 8 - Basket & Skewer Talk, Servo, Feedback Motor

Still testing and tweaking CAD, added nodes for servo, updated Teensy for Feedback Motor support with encoders

Day 9 - Feels like we're doing the same thing ... but don't worry we're making progress

Still fixing Feedback Motor /TAMProxy Issues, 3D printing and lasercutting parts

Week 2 Weekend

Lasercut final chassis parts!

Week 3 (say what now)

Day 10 - Assembly, Reviewing Our ROS2 Structure

Today was someone's birthday! Also, great MicroMouse talk. Assembled robot, evaluated issues and places to adjust (like center of gravity, part tolerances). We might have a final name for our robot too. Having a great time working together :)

Day 11 - More Assembly + Adjustments

Made some adjustments to the chassis based on issues discussed yesterday: moved wheels up to better balance robot, widened slit for the skewer

Day 12 - Moreee Assembly + Adjustments :p

Robot Software: finally tuned block colors (yay), writing + testing out a state machine, writing a loading sequence to follow once cargo is acquired. Test angles for cargo tower doors and acquisition arm.

Day 13 - Re-cut Chassis ooh la la

This was tense but we did it to accomodate for the 20 in constraint and so that our intake wouldn't stick out like a sore thumb. Finally fixed Feedback Motor issues. Things are looking up.

Day 14 - Servo Time

Added buck converter to power servos. Lots of servo testing! More 3D printing all the time (thanks to Metropolis and our dorm craftroom). Planning out the state machine node structure of our iffy ROS2 package.

Week 3 Weekend

Implemented re-organization of node structure. Things are more organized and our state machine works (mostly so far) like how we want it between driving motors and servos. Our team still met Saturday and Sunday to work on things/debug. We also played Jenga. That was fun. We also have a bunch of names for our robot ...

...whoops
New team motto:

"If we make it work, then it will work!"

Week 4 (what now)

Day 15 - We're on the grind now ...

Continued tuning our values and got help on making the servos move while powering the motor (note to future people: ROS2 doesn't use loops). Had a random thought to do an elevator ...

Day 16 - Your Worst Nightmare

The elevator idea was haunting us ... we went for it. Bella, Tissany, and Florida brilliantly gunned for it. Johlesa continued grinding on the code and we started working on a pathfinder script based on the map. Adelene continued 3D printing/lasercutting meche team's hard work at night. Not gonna lie, we're tired ... but excited!

Day 17 - HELP! Almost there ...

Our team is locked in. We're testing. We're assembling the elevator and adjusting as needed. The goal is to finish the robot today!

We realized the high torque servo we used for raising the basket is stuck in continuous mode and we either need to switch it out or find a programmer for it. While trying to find a solution, we realized none of our servos were moving!

...we found that we switched the power and ground for one of the servos 😅

Milestones

Milestone Week 1 (eod Sun 1/14)

• Finish CAD (chassis, subsystems)
• ROS2 Nodes for computer vision driving

Milestone Week 2.1 (eod Wed 1/17)

• Sub-system manufacturing
• Tune HSV for blocks
• Servo & other motor nodes

Milestone Week 2.2 (eod Fri 1/19)

• Finish rough robot assembly (be ready to test!)

Milestone Week 3 (eod Wed 1/24)

• Finalize PID. Have working robot.