Beta CAD
Brendan is continuing to push the Hardware Design team forward, although it's slow going. We're racing to finish CAD faster than fabrication can make parts. There are a lot of mistakes to avoid on an elevator, and the team hasn't built once since 2019 (not to mention a big arm which we haven't made since 2016).
All of the major subassemblies are present and their powertrains are in-place, but there are still interferences and unfinished details. This is the first really difficult push of the season.
All of the major subassemblies are present and their powertrains are in-place, but there are still interferences and unfinished details. This is the first really difficult push of the season.
Everybot Intake
There's been active debate online for the past few days about what the Everybot "should be," but what's clear is that the Everybot's intake cooks. So, we're giving it a shot. Taye laser cut out a quick copy and mounted it to a dolly. We tried about a dozen types of wheels at a few different angles, and got to a point we're happy with.
Findings:
- For picking up cones a 2in center-to-center with compliant wheels on either side worked best. We found that the inner wheels being 4 in while the front wheels being a mix of 2 in complacent and 1.5in McMaster wheels (2477K31) worked well.
- For the cubes we used the same 4in wheels with a back row of 2in complacent wheels to pick the cubes up. We also had a polycarb back to stop the cube from flying out the back of the intake.
- We found that 47 degrees worked best for the intake with 3:1 reduction from the falcon to the intake. The middle bar has a slight increase in speed to help pull in cones. The other ratios are 1:1
- The polycarb back does not have to that big, we found that 1in from the tangent line of the 2 cube wheels worked fine.
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This intake is now strongly in contention, along with our previous design (the crossbow/pinball wizard). The biggest downside of this design is that the intake doesn't center the game piece. We're going to see if we can put ultrasonic sensors on the sides of the intake to determine how far left or right the game pieces are, so that the robot can compensate in software for autonomous placement.
Beta Electrical
Rohan and the electrical team started actual work on Beta.
- Routed the front half of it, but couldn't route the back due to a lack of the battery plate which was necesary to route that
- Nevertheless, the swerve modules on the back were given extension cables which were neatly packaged in a 2x2 grid pattern pillar of anderson wires for easier routing the following day.
- Worked on the Ultrasonic Sensor project
- Got design to install the battery plate, which permitted us to finish routing most of the bellypan of Beta.
- We wired all swerve drives to power, and connected the main breaker and the rest of the components currently onto the bellypan to power, and almost finished the CAN loop.
- CAN loop still needs to be fixed, but after that we should have a pretty much complete bellypan, minus a few re-routing/recrimping we need to do.