Changes between Version 42 and Version 43 of RobotDevelopment
- Timestamp:
- Jan 30, 2015, 7:43:35 PM (10 years ago)
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RobotDevelopment
v42 v43 14 14 |---------------- 15 15 {{{#!td align=left 16 '''4-Bar Lifter Arm'''[[BR]] 17 Sensors[[BR]] 16 == 4-Bar Lifter Arm 17 ==== Sensors 18 18 * sensors want 4 (2 in practice) 9-deg sensors to provide arm angle relative to support pillar 19 * potentiometers for backup - Outputs a resistance level based on angle 20 Actuators[[BR]] 21 * 1-2 CIM motors 19 * potentiometer failsafes -- will be used only if 9DF sensors don't work out 20 * 2 limit switches (top & bottom hard limits) 21 ==== Actuators 22 * 1 CIM motors 22 23 * Wormed into winch - Allows to maintain position when powered off 23 Code[[BR]] 24 * Top and Bottom limit 25 * Possible preset positions / height 24 ==== Code 25 * top/bottom range calibration 26 * preset positions (6-8 possible, check with Game) and manual move up/down 27 * hard software limits --> must satisfy 28 * needs to be able to detect if unspooling and stop motor 26 29 }}} 27 30 |---------------- … … 31 34 |---------------- 32 35 {{{#!td align=left 33 '''!Claw/Grabber'''[[BR]] 34 Sensors[[BR]] 35 * SUBJECT TO CHANGE 36 * Camera 37 * encoder 38 * infrared for possession sensing 39 * infrared for sensing the distance between fingers 40 Actuators[[BR]] 41 * 2-4 inch stroke pneumatics (60 psi) OR 42 * Denzo motor 43 Code[[BR]] 44 * If use motor, set limits on opened and closed positions 36 == !Claw/Grabber 37 === Pneumatic Implementation 38 ==== Sensors 39 * viewing camera 40 * magnetic sensors inside the pistons 41 ==== Actuators 42 * 2 pneumatic pistons 43 ==== Code 44 * only 2 positions: open, closed 45 46 === Motor Implementation 47 ==== Sensors 48 * camera 49 * angle sensor (potentiometer or encoder) 50 ==== Actuators 51 * motor 52 ==== Code 53 * limits on motor extreme values 45 54 }}} 46 55 |---------------- … … 52 61 '''Drive Train'''[[BR]] 53 62 Sensors[[BR]] 54 * Lidar - Detects distance from back wall 63 * Lidar sensor to detect distance from back wall; used for autonomous ranging 64 * 2 encoders to tell distance, possibly turning 55 65 Actuators[[BR]] 56 * 4 CIM Motors , 4 Talon SRX66 * 4 CIM Motors 57 67 58 68 '''Hook'''[[BR]] 59 69 Sensors[[BR]] 60 * Not specified70 * possible limit switch 61 71 Actuators[[BR]] 62 * small-stroke piston - Open & Close hook on bin72 * small-stroke piston - open and close hook 63 73 Code[[BR]] 64 74 * When the Arms is down, Hook MUST be in the closed position … … 79 89 80 90 '''Design Patterns Implementation'''[[BR]] 81 Implement the general design pattern and design small-scale patterns for use91 Implement the general design pattern; design and implement the sensors interface within the project 82 92 }}} 83 93
