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Electrical & Code 2019

Attendance

Note Info

Students
Mentors
Date & Time
Location & Author

  • Adam P.

  • 3/17/2019

  • 6 hours

  • Aquiferland

  • Adam P.

Guests

Jonathan
Solo

Work Completed

  • Converted hatch carriage alignment code to use limelight instead of light sensors
    • Installed GRIP, created new GRIP pipeline file to handle masking-out top/bottom of feed, so it ignores robot parts that are in view. New GRIP files are in Robot-2019/limelight/GRIP folder, including exported .ll file and PNG mask image we're using.
    • Updated LL pipeline (number 0) to use GRIP input
    • The "tx" value from LL is in degrees, which isn't ideal for this. Instead we enabled the "publish corner data", which posts the pixel coordinates of the corners of the target it sees. It's usually 4 corners, but can also be 3, 5 or 6, depending on the geometry it sees. To deal with this added robot code to just average the X value of all corner coordinates found. Seemed to work well.
    • Driver indicator of line value & red/green "valid target" on Shuffleboard remain unchanged, still work
  • Changed one climber motor to use 30a breaker instead of 20a.  Solved blown breaker problem. Earlier in season we measured the prototype climber as using up to 25 amps, so this makes sense.
  • Rerouted PDP battery cable to help keep it out of the way of the camera. Will need to do same on comp bot.
  • Detached new floating electrical plate with climber controllers. Identified where they should be moved to on robot frame, but didn't actually move them
  • Got Sam some climber & hatch practice.  Need MOAR
  • Solo shored up some DT stuff

 

Challenges

  • Night before spent lots of time troubleshooting front climber stopping

Work for Next Meeting

  1. Test climber encoder wires
  2. Relocate climber controllers to frame
  3. Find moutning point for Arduino
  4. Figure out climber sensing
  5. Ethernet switch has power wires run to it but they don't work. I don't know why, someone needs to troubleshoot it. For now the limelight's ethernet is running right to the radio. - Adam
  6. Continue the schematic for the electrical system using the schematic software stuff --> talk to Malia & Caden about this if you are interested

CODE:

  1. Test climber on hab and see how ultrasonics behave?. If they aren't reliable we may need to switch to using current sensing for front, then read DT encoders for determining when to raise back
  2. Iterate controls based on drivers' practice, preferences

On Schedule?

mostly