Worksession Recap: 02/10
10 days until Stop Build!
Design
Forklift
Found that mounting the release mechanism for the forks on the back of the tower interfered with the cable running in the same place, I’m yet to find a solution to this and progress wasn’t very possible during the work session without this issue fixed.
Climber
Mo parts mo problems.
Currently figuring the best way to design the hook, how to best secure the hook, and locations to put the eyehook.
Lift
We made a lift carriage pneumatic design that seems to work. Now we need to flush out the hard stops and fasteners.
Machining/Assembly
Continued machining the lift parts, we are unlikely to meet the target of a completed robot assembly by Sunday but hope to reach that early this week.
Gearbox
Partially assembled 4 gearboxes before putting on drivetrain.
Software
Two Cube Auto (Philip, Shadaj)
Today we finished pure pursuit for the 2 cube auto. We fixed a bug involving path segments that are shorter than the look ahead distance. We also found that the robot consistently missed the cube pick up by a foot. This was true even after we tried position tracking with Simpsons and circular tracking. In the end, we just adjusted the target to reach the cube by a foot, and got consistent results, completing the whole routine in 11 seconds.
Electrical
Went over the baseboard and revised any collisions it had to the other subsystems, such as running into the drivetrain’s protruding axles.
Field Elements
Finished the Ramp for the Cube exchange. Going to start work on the switch tomorrow!
