frc830 / 2023-tasks Goto Github PK

Stuff to organize:

• put shelving up in loft
• organize stuff onto shelves
  • get a metal shelf upstairs
  • get containers to organize stuff

Status update in

• #12

@WJiarong and @Ethancrumrine worked on a prototype claw/grabber/manipulator in the first few build weeks

They ended up:

• laser cutting some wooden arms from birch - eventually these will probably be plexiglass or milled aluminum
• cnc milling a 2"x2" square aluminum tube to pocket it and make space for bearings
• selecting a small pneumatic cylinder to actuate the arms in/out
• selecting a small Neo brushless motor to spin end-effector wheels to help grabbing cones and squares
• selecting/finding a set of bearings and chain to connect the motor and wheels
• assembling the claw/grabber so it could be tested with cones and cubes

In the end, pneumatic testing (maybe at twice expected pressure) broke the birch arms

Add pneumatic arms to static intake

• wood with pneumatic pivots

This is a container task for the Vision sub-tasks for detecting and using AprilTags to guide/position the robot.

This code is mostly being implemented in Python in the https://github.com/FRC830/vision-2023 repo, which also is tracking issues

Design the new frame

• #34

CNC Mill the new frame

• #42
• #43
• #54
• #55

Jeffrey and Ethan requested parts for a 2nd Swerve drive

Whiteboard plan:

https://www.firstinspires.org/robotics/frc/playing-field

FIRST
Playing Field
This page hosts links to a variety of ways FIRST Robotics Competition® community can experience the FIRST Robotics Competition playing field. FIRST is grateful to the supporters that created these assets. Assets from the 2022 season have been archived here.

This wiki page set up to review FRC videos and track the types of robots/devices being demonstrated

https://github.com/FRC830/2023-Tasks/wiki/FRC-Team-Robots-Pros-&-Cons

Lots of Swerve controls stuff needs to happen but this is some of it

• #5
• #10
• #21

Status update in:

• #12

Created Google Form here: https://forms.gle/ZVap3DLNbiGUMffKA
Sent out messages on Discord and to the Google Groups rat-pack-robotics@ and ratpack-mentors@

Ryan is leading/guiding team members to assemble a test-bed for pneumatics

• this will be using a new RoboRio v2 that needs to have firmware flashed
• this board also has:
  • a new Power Distribution Hub (which may also need firmware flashed)
  • an old(er) Pneumatic Control Module
  • a pneumatic solenoid module
  • a dual-pressure gauge
  • a small pneumatic pump and tank
  • pneumatic tubing and connectors
  • a power switch and battery connector

Build Swerve modules

Status on 2023Jan24

• #12
  • 3 Swerve drive modules complete, 4th and backup 5th modules still to build/complete

Task for each Swerve module (maybe unnecessary)

• #36 - completed ~Tuesday 2023Jan24
• #37 - completed ~Tuesday 2023Jan24
• #38 - completed ~Tuesday 2023Jan24
• #39 - completed ~Thursday 2023Feb02
• #40 - still in progress
  • the last Swerve modules needs more 3D-printed motor pinion spacers
  • the original spacers were printed in blue PLA by Jeffrey

Wheel tread for Swerve modules

• #51

Install Swerve modules onto frame

Unencrypted Manual available on gDrive in the [RatPack Robotics 830] folder here:

• https://drive.google.com/file/d/1Bw9oVbI7rgWR51vRWRskqzxwk7M2VXhW/view?usp=share_link

Configure /etc/dhcpcd.conf on the RPi to serve a static IP address on the ethernet eth0 interface

• IP address = 192.168.8.30

Confirm that the IP address is correct by connecting it to a notebook via ethernet, probably with an IP address alias of 192.168.8.1 and confirm that one can SSH to the RPi using it's static address

Also test routing to internet - provided that the connected notebook is sharing its internet connection and is routing traffic properly; also need the gateway in /etc/dhcpcd.conf set to use (probably) 192.168.8.1 as the gateway IP address

These Plan items have been converted to tasks:

ECS Team / Programming

• #27

Left from last Week #4

• #21
• #22
• #23

Mech Team

• #40

Field Elements

• #45

Other Projects

Left from last Week #4

• #28

Still Have Questions

• #29
• #30
• #31

While at U of M for kick-off, after reading the manual:

• analyze game to understand scoring opportunities
• brainstorm and work through possible game strategies
• guesstimate which strategies might be used by best teams
• decide on which drivetrain to use and other robot elements
  • decided on Swerve Drive

Status update in:

• #12

Put double-sided tape / sticky pads to the test carpet so it can be laid down in the hallway and not move when the robot is driving on it.

Setup a motor test board that can be used to test standard motors with our without motor controllers, and CAN motors

We found a motor switch box that allows simple on/off motor testing but does not provide variable output without a motor controller

RPi tasks for communication with RoboRio

• Setup static IP on RPi ethernet interface
• Setup WPI network tables to exchange/receive data from the RPi
  • including target coordinates and video from the USB cam connected to the RPI

Connect to RPi via notebook and get network tables running so that the RPi can run it's camera client software and provide coordinates and video to the notebook/driver station, and eventually send this data via network tables to the Rio.