This past week, the Software team revised existing code, installed the 2023 WPIlib suite (framework for developing robots), and updated CAN devices and hardware. Students debugged and updated Pathplanner code, which is used to create paths for the autonomous period of a match (the first 15 seconds of the match during which drivers do not have control of the robot). Members also coded a slow button for precise motions and imaged the RoboRio 2.0 (the robot’s processor) and updated the PDH (Power Distribution Hub) which distributes power to the robot’s electronics from the battery. They ended the week by working on Swerve Drive and drivetrain code.
This week, the intake group split into 2 groups to work as efficiently as possible. The first group worked on multiple proof of concept prototypes. Students created a funnel prototype to intake upright cones on Day 3. On Day 4, members created a double roller prototype with a bar in front to intake upright cones. This prototype was very promising and one that will be explored further. They also created a ‘weed wacker’ prototype that should center and reorient any downed cone. This prototype is still in progress, but the hope is that it can be combined with the double roller intake to create an intake that can pick up a cone no matter the orientation, center and reorient it and hand it off to the scoring system.
The second group worked on prototyping game piece manipulation mechanisms. Based on a Need/Want/Nice-to-have list, students were able to come up with two main ways to work and interact with game pieces. The group split up and investigated the different prototypes that could handle cones and cubes and could put them in a repeatable orientation. Towards the end of the week, the team had a few mechanisms that could successfully grab cones and cubes and began deciding which one was most compatible with a scoring mechanism.
The launcher group began the week by deciding whether a prototype design would prove if the system is feasible, and how fast and consistent the system could be. After considering different ideas with the group, members decided on a side-side flywheel to test the attributes of a shooting system for integration with the final robot, as it gave the most efficient results. Throughout the week, modifications were made to the design and prototype in order to achieve the best results. Students will continue to discuss how these systems will be developed in order to maximize scoring for the robot this season.
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