WEEK 4 UPDATE

Software:
            At the start of the week, the software team split up into two separate groups. One group worked on attaching the shooter prototype to the drivetrain prototype. Members also improved the wiring and reduced slack on the wires to prevent them from getting caught in the wheels. The other group worked on the main drivetrain, where they set up a belly pan, CAN wiring, and CAN IDs for each of the falcon motors. On Tuesday, the shooter group worked on using a limelight sensor to align the front of the robot to a piece of reflective tape. The main drivetrain group worked on updating the REV and CTRE devices as well as adding power extensions. Students also improved the wiring from Monday so that it would not affect other subsystem placement. On Thursday, the limelight group tuned the values for the alignment system and fixed issues. Afterward, members implemented a PID so that the robot would not overshoot when tracking the target. The robot can now strafe around the target while still having the front of the robot aligned with the target. On Friday, students began to discuss the code for the climber subsystem.

Intake:
​        To start off the week, the intake group completed their CAD design by finishing up any remaining tasks from the prior week. On Thursday, members began manufacturing parts, starting with standoffs and the bars for the four-bar linkage system for collecting cargo. Students are going to continue manufacturing parts and assembling them as they wrap up the week.

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Climber:
​         This week, the climber subgroup finished almost all of the remaining CAD needed to design the dynamic hook, elevator, and static hook. Members started the week redesigning the dynamic hook and the elevator system and continued to make progress on the static hook. They split into two groups, one focusing on the static hook, and the other focusing on the dynamic hook. The dynamic hook group started to work on the belt system and bearing blocks. Meanwhile, the static hook group continued forming the geometry of the hook, as well as the point from which the hook would pivot. As the week progressed, students continued to make improvements to the CAD of both hooks. After completing the designs, the group held a subsystem design review. Afterward, members created a to-do list with remaining tasks to improve the hooks, which were completed by the end of the week.

Shooter:
      The shooter group began the week implementing modifications and final touches to the subsystem after completing a design review. Members improved the two-stage hood design and extended the walls that funnel the cargo. To help the intake subsystem, they redesigned a mount for better limelight positioning and finished lightening the side plates to reduce substantial weight. The group continued to manufacture parts, such as the pulley mounts, motor plates, and sensor mounting plates. Students also began the CAM design for the main two side plates, and will continue to work on it next week.