Logan Chassis - Programming

[Tanner]

So, I don't really know how to approach programming for the Logan Chassis.

From how I see it there are two things that need to be figured out:

• Holding the kicker up over bumps
• Detecting when the kicker is up/down
• Speed control over bumps

I don't think we can use speed control, as Logan's is pretty unique in how it drives over the bump - you pretty much need every power you can have, so limiting what you could drive would be a slightly bad idea. Going over too fast it the driver's problem, not much I can do about it without limiting power.

Holding the kicker up for arming and going over bumps could be accomplished using a simple limit switch, but I'm not sure how well a switch would do for a PID loop. We'd have to test that if there is time, if not... eh.... I don't know.

As for detecting when the kicker has kicked (i.e. - is touching the frame and the motor is starting to stall), I'm not sure how well a limit switch would work. For some I'm not sure where you would place it and I'm not sure how long it would last until the little metal switch snaps off or bends. If it bends or breaks during a match, we're kinda stuck as the motor would kinda blow up from stalling. Bad stuff.

Yeah, we might be able to use a encoder, but in my experience, if the shaft which it is mounted on rotates very fast, the encoder will not be able to count the pulses accurately. Hence, we'll loose our position and we'd need a limit switch to reset where we are.

Thoughts...?

-Tanner

[Sunny]

I think that you assume that the switch will need to put at the place where it hits the ball, but instead we can have it closer to the point of rotation. That'll reduce the impact on the switch. And as for the durability of a switch, the vex *bumper* switch are pretty durable. I'm not sure how well they work, but in '08 we used them for the ball picker upper.

As for the drive, as long as straight forward = straight forward, you should be alright.

I'm just a little scared as to what all we have to do after the scrimmage. I have no doubt that both robots will be functional, I'm just a little iffy as to if we will be able to get the bot ready in time. We might have to work on Sunday/Monday just to make sure that whatever chassis/kicker design we go with are properly built and fitted. Because we might go with Logan's chassis, but then we like the tubing kicker and then the proper adjustments will need to be made.

Speaking of which, I'm not sure, but do have another planetary gearbox to put onto Logan's bot for his roller?

And about the rollers. I think that if we can possibly *lower* the roller and bring to slightly above the middle, and also bring it into the robot a bit. then the roller will constantly spin the ball backwards, and the ball should spin in place. But I think that's only if the FP motor doesn't really hold the ball.

[Tanner]

I think that you assume that the switch will need to put at the place where it hits the ball, but instead we can have it closer to the point of rotation. That'll reduce the impact on the switch. And as for the durability of a switch, the vex *bumper* switch are pretty durable. I'm not sure how well they work, but in '08 we used them for the ball picker upper.

That could work. Have a bump switch below the axis of rotation and then another one above the axis of rotation. That should detect when it's kicked or up.

I'm just a little scared as to what all we have to do after the scrimmage. I have no doubt that both robots will be functional, I'm just a little iffy as to if we will be able to get the bot ready in time. We might have to work on Sunday/Monday just to make sure that whatever chassis/kicker design we go with are properly built and fitted. Because we might go with Logan's chassis, but then we like the tubing kicker and then the proper adjustments will need to be made.

As far as I am concerned, which is to have a working robot, mine seems to be the most progressed at the moment. Like, mine we've already got the kicker automated, life is going pretty good, but Logan's I haven't done much work on it, and right now its really just a drivetrain and a kicker. Not much to make sure it works automated. I could program it, but I'm not sure how well it will be kicking versus the other robot.

Speaking of which, I'm not sure, but do have another planetary gearbox to put onto Logan's bot for his roller?

No idea.

-Tanner