| 10 | | == [=#mechspecs]Core Team Member Assignments[[BR]] |
| 11 | | {{{#!th rowspan=2 style="color: green" |
| 12 | | '''Arden |
| 13 | | }}} |
| 14 | | |---------------- |
| 15 | | {{{#!td align=left |
| 16 | | == 4-Bar Lifter Arm |
| 17 | | ==== Sensors |
| 18 | | * sensors want 4 (2 in practice) 9-deg sensors to provide arm angle relative to support pillar |
| 19 | | * potentiometer failsafes -- will be used only if 9DF sensors don't work out |
| 20 | | * No more hard limits. Use 9 deg freedom values as soft limits |
| 21 | | ==== Actuators |
| 22 | | * 1 CIM motors |
| 23 | | * Wormed into winch - Allows to maintain position when powered off |
| 24 | | ==== Code |
| 25 | | * top/bottom range calibration |
| 26 | | * Arm movement to be controlled by xbox joystick for a range of speeds (Preferably Right joystick) |
| 27 | | * Want - preset positions (6-8 possible, check with Game) and manual move up/down |
| 28 | | * hard software limits --> must satisfy |
| 29 | | * needs to be able to detect if unspooling and stop motor |
| 30 | | }}} |
| 31 | | |---------------- |
| 32 | | {{{#!th rowspan=2 style="color: violet" |
| 33 | | '''Fahim |
| 34 | | }}} |
| 35 | | |---------------- |
| 36 | | {{{#!td align=left |
| 37 | | == !Claw/Grabber |
| 38 | | === Pneumatic Implementation |
| 39 | | ==== Sensors |
| 40 | | * viewing camera |
| 41 | | ==== Actuators |
| 42 | | * 2 pneumatic pistons |
| 43 | | ==== Code |
| 44 | | * only 2 positions: open, closed |
| 45 | | * when the claw is below a certain level off the ground (TBD), the claw must be in the closed position |
| 46 | | *Claw Open / Close on xbox triggers - Open on left |
| 48 | | === Motor Implementation |
| 49 | | ==== Sensors |
| 50 | | * camera |
| 51 | | ==== Actuators |
| 52 | | * motor |
| 53 | | ==== Code |
| 54 | | * limits on motor extreme values |
| 55 | | }}} |
| 56 | | |---------------- |
| 57 | | {{{#!th rowspan=2 style="color: red" |
| 58 | | '''Josh |
| 59 | | }}} |
| 60 | | |---------------- |
| 61 | | {{{#!td align=left |
| 62 | | '''Drive Train'''[[BR]] |
| 63 | | Sensors[[BR]] |
| 64 | | * Lidar sensor to detect distance from back wall; used for autonomous ranging |
| 65 | | * 2 encoders to tell distance, possibly turning |
| 66 | | Actuators[[BR]] |
| 67 | | * 4 CIM Motors |
| 68 | | Code[[BR]] |
| 69 | | * Increase joystick deadzone |
| 70 | | * Joystick trigger press = straight motion. Possibility to use encoders to find motor speeds in closed loop. |
| 71 | | |
| 72 | | '''Hook'''[[BR]] |
| 73 | | Actuators[[BR]] |
| 74 | | * small-stroke piston - open and close hook |
| 75 | | Code[[BR]] |
| 76 | | * When the Arms is down, Hook MUST be in the closed position |
| 77 | | * Actuated on xbox bumpers - Open on left |
| 78 | | }}} |
| 79 | | |---------------- |
| 80 | | {{{#!th rowspan=2 style="color: blue" |
| 81 | | '''Andrew |
| 82 | | }}} |
| 83 | | |---------------- |
| 84 | | {{{#!td align=left |
| 85 | | '''!Input/Sensors'''[[BR]] |
| 86 | | Implement and manage sensors and human input for the entire robot. |
| 87 | | |
| 88 | | Manage the input and hand out button assignments (work with drive team). |
| 89 | | |
| 90 | | '''Camera'''[[BR]] |
| 91 | | Manage and process the camera input from any cameras decided to be mounted on the robot. |
| 92 | | |
| 93 | | '''Design Patterns Implementation'''[[BR]] |
| 94 | | Implement the general design pattern; design and implement the sensors interface within the project |
| 95 | | |
| 96 | | '''!SmartDashboard Special Project'''[[BR]] |
| 97 | | Implement the Smart Dashboard (or a Swing equivalent) for display information to the drivers through the laptop. |
| 98 | | |
| 99 | | '''Manage SVN Project Hierarchy and Integration'''[[BR]] |
| 100 | | Coordinate integration when required and maintain the project hierarchy in subversion. |
| 101 | | }}} |
