Electrical & Code 2019
Students
Mentors
Date & Time
Location & Author
David S.
Aquiferland
Bryn G.
Work Completed
- David & Eddy continued the schematic of the electrical system but ran into some difficulty when trying to open the files or something?
- Continued wiring the electrical board, it now has the circuit breaker, roboRIO, PDP, VRM, & 6 motor controllers (for the drivetrain) and should be ready to go to run the motors on the gearboxes
- Edited code to comment out anything to do with encoders so the code doesn't throw a fit when we try to run the motors tomorrow
- Mounted encoders to drivetrain 1
Challenges
- Schematic software which couldn't open the files...
- Some small issue with Github that was fixed
- 3-D printed encoder gear did not fit on the encoder shaft... heated it up so that it was malleable and then it fit
- Gearbox issues
Work for Next Meeting
- Using the electrical board and run the motors on the gearboxes...
- Directly tether the roborio to the computer to avoid dealing with the radio
- Deploy code
- Will need to invert some of the motors as 1 needs to run in the opposite direction as the other two on each gearbox
- And then run using the controllers
- Verify Roborio (gyro, actually) will be close to center of rotation on robot. Rearrange layout accordingly.
- Make list of all the general & subteam specific electrical components on the robot (FRC4096 --> 2018 - 2019 --> Build Season --> Electrical folder --> Electrical components)
- Wire encoders that are on DT1 gearboxes
- Continue wiring the DT1 once it is done being assembled by mechanical (should be sometime this coming week)
- Keep in mind that we need someplace for...
- The breaker
- The new ethernet switch
- Two PCMs
- Solenoid blocks, etc.
- Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested (or maybe eddy)
- Figure out the pneumatics situation
- How many pistons?
- Which pistons can be run together off of one solenoid?
- How many double solenoids will we need then? ... if more than five, we will need another block ... if more than four we need another PCM on the robot
- Will our compressor be strong enough to handle this all?
- Get drivetrain code to work on the debugger (may just need to add the physics and sim files to the code???)
- Build a set-up to run a motor when testing and making prototypes
- Adam bought a 4-AA battery holder with on/off switch. Hook this up and try using it to supply the +5v power to the new motor tester
- Vision
- Now that the gyro is working again, this should be worked on some more...
- Drive robot towards vision target so the target is in view of limelight; then have robot drive to a specified distance and turn to a specified angle from the vision target (using a calibrated position and the tx & ty from the limelight)
- Get Rotate_To_Angle_Limelight command working on Poly again. PID will need tuning.
- Continue learning how to use limelight
- Specifically learn what all of the different values on the network table are and how they can be used
- Continue to look into the Limelight documentations
- Go to specified range from target (check case studies on limelight website & documentation)
- Go to specified range and aim at target (again check case studies)