Core Robot Development Team

This team is responsible for the main software that goes into making the robot function, including designing the algorithms and collaborating with the mechanical teams to develop program specifications.

Mentor Leads

• Mr. Albert
• Mr. Dunn

Student Lead

• Tim Lin

Core Team Member Assignments

Arden
	4-Bar Lifter Arm Sensors sensors want 4 (2 in practice) 9-deg sensors to provide arm angle relative to support pillar potentiometer failsafes -- will be used only if 9DF sensors don't work out No more hard limits. Use 9 deg freedom values as soft limits Actuators 1 CIM motors Wormed into winch - Allows to maintain position when powered off Code top/bottom range calibration Arm movement to be controlled by xbox joystick for a range of speeds (Preferably Right joystick) Want - preset positions (6-8 possible, check with Game) and manual move up/down hard software limits --> must satisfy needs to be able to detect if unspooling and stop motor
Fahim
	Claw/Grabber Pneumatic Implementation Sensors viewing camera Actuators 2 pneumatic pistons Code only 2 positions: open, closed when the claw is below a certain level off the ground (TBD), the claw must be in the closed position *Claw Open / Close on xbox triggers - Open on left Motor Implementation Sensors camera Actuators motor Code limits on motor extreme values
Josh
	Drive Train Sensors Lidar sensor to detect distance from back wall; used for autonomous ranging 2 encoders to tell distance, possibly turning Actuators 4 CIM Motors Code Increase joystick deadzone Joystick trigger press = straight motion. Possibility to use encoders to find motor speeds in closed loop. Hook Actuators small-stroke piston - open and close hook Code When the Arms is down, Hook MUST be in the closed position Actuated on xbox bumpers - Open on left
Andrew
	Input/Sensors Implement and manage sensors and human input for the entire robot. Manage the input and hand out button assignments (work with drive team). Camera Manage and process the camera input from any cameras decided to be mounted on the robot. Design Patterns Implementation Implement the general design pattern; design and implement the sensors interface within the project SmartDashboard Special Project Implement the Smart Dashboard (or a Swing equivalent) for display information to the drivers through the laptop. Manage SVN Project Hierarchy and Integration Coordinate integration when required and maintain the project hierarchy in subversion.

Schedule
Please see the google spreadsheet, which can be found ​here.

Technical Resources

Setup Instructions

• Setting Up a Computer for FRC Java Programming
• Setting Up a Driver Station
• Setting Up a New RoboRIO

Programming Aids

• ​FRC API Javadocs
• ​Merging SVN

Control System Elements

• Using CAN for Software
• Using the roboRIO's Serial Ports