Richard the Robot(2017-2018)- Robot Specification.

Our robot, named Richard, will be roughly around the maximum requirements for the size a robot can be in the competition, which is approximately 2 ft. (24 in.) tall and 3 1/3 ft. (40 in.) long.
There are five sub-systems for Richard the Robot: Drive train, Climber, Gear Basket, Camera, and LEDs.

  

Build Specification

Drive Train

  • Mecanum – 4 wheels, each being omnidirectional which offer high mobility

    Initial CAD Design before the massive redesign
  • 16 to 1 – CIM (the black motors)
    • Motor turns 16 times = 1 wheel turn
    • Gives enough torque to move sideways
    • Move across the field rapidly

Climber

  •  Mini CIM motors (30:1 each motor)
    • Put velcro and spins in any direction to climb
      • Forward and backward
      • Fixed speed (mapped triggers)
      • 2 buttons for teleop controlling – one for forward and one for backward
  • Nylon rope
  • Made from aluminum alloy (6061)
  • 50 points for climbing rope in teleop

Gear Basket

  • Funnel at top guides gear into basket
  • 2 doors rotate 90 degrees
    • Open / close –  helps drives away (from airship) cleaner
  • Slanted so gear falls onto peg

    • It was challenging and it took us forever to get the right height
  • Why is it efficient? Was tested on the field and was reliable

Camera

  • Was mounte
    d at the base of the gearbox for the driver to see how to position
  • USB camera was connected to the RoboRIO

LEDs

  • Decoration
  • Help camera illumination

CAD Designs

Robot Code Design

The code consists of three subsystems that control different parts of the robot which was programmed in Java. These subsystems include movement, winch motion, and gear-basket door motion. We also coded for three other subsystems, fuel shooter, fuel gatherer, and computer vision, but sadly we could not implement these subsystems due to time constraints and the inability to function correctly. Our movement code and mecanum wheels allow for omnidirectional mobility. The winch motion code allows for both clockwise and counterclockwise movement. The gear-basket door motion code keeps the door at a closed state until a button is pressed, the doors open to a 90 degree angle. There are two main parts of our code that use the subsystem code to function. These parts are the autonomous and teleoperated sections of the code. The autonomous code operates without human interaction, while teleoperated is controlled by human interaction.

Many struggles went on through the process of developing the code. One of the first issue we encountered was with the gyroscope. Determining the angles that the robot needed to turn had proven itself a difficult task. To solve this problem, we used a trial and error method using a demo robot that team Mech Tech had leant us. Another problem we faced was obtaining the correct values to put in the autonomous code, so the robot could function properly.

Competition Strategy

Autonomous

  • Focusing on gears
  • Go to airship using ultrasonic, open gear basket, back away

Teleop

  • Gears strategy – Keep gears flowing to the airship to rack up points
    • Points for rotors, not just gears
    • Bring the gears to the pilot to have them turn on the rotor
      • Turning rotors are worth 40
      • All 4 rotors turning = extra points plus a ranking point
  • Climb in the last 30 seconds of the match for 50 points

Extra Pictures of building the robot

Deburring the Channels

      

Our Chassis in Progress