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This week's goal was to start on the grabber manipulator. The first step was to create the frame of the grabber and to make the brackets that will hold it in place. Before we broached a hex in the ball retriever wheel and installed it into the grabber frame we had to decide what type of wheel had the best grip on the trackball.
Next we created air cylinder pivot brackets to attach the pneumatic pistons to the frame. We had to decide what angle and what position to install the air pistons so the ball won't get in the way. Finally, we created the crossbar brackets and started working on the elevator frame.
Now we are working on the chain slide pulley blocks and started on our design for the elevator transmission. And our week ended like this: Wendy went on a die-t, Ryan cut his hair, Wilson got old, John got even more angry, Li Xi was a part of the parade, and Helen went missing.
Week 4 was terrific! We gained a better understanding of where we are heading with the robot program/code as well as the electrical equipment for this year. However, we also ran into problems such as dealing with encoders, interrupts, and deadbands.
In terms of the encoders, we ran into a dilemma when we tried to apply our prototype encoder code into the 2008 default FIRST code. When we tested the prototype code in the 2005 code, it worked. However, when we put it into the 2008 code, it did not work. Basically, the conclusion was that the default 2005 code is somewhat different from the default 2008 code. So finally, we solved the problem by looking at an IFI manual that explained the differences between the new 2008 program and the 2005 file; from there, it was simple to fix the issue because we understood the differences.
Secondly, we worked with deadbands this week. Upon leaving our robot alone without touching any thing, the wheels would move by themselves. This made it evident that there was a need for a deadband. So, we set our deadband to 117-137 for both the axes on the joystick we are using.
The electrical board was further modified this week when the encoders, speedcontrollers, and team light were tested and add onto the board. Our electrical team also tested the possiblilty of using fisherprice motors instead of CIM motors for the drive on the robot.
We still kept documenting the events of week 4 using our cameras and camcorders. These pictures and videos will (hopefully) be forever preserved for future teams.
We fixed the mentors page due to several complaints about there being no biographies. Most of the links and little glitches were fixed as well and we also added some more sponsors. We also killed some links as well.
And we have good news! We finally got our regular video to start working and we uploaded it on Google video. So, thanks for waiting and enjoy!
This week, we finished the model for the control panel. The model was to be sent to Min Plastics and Supply, Inc. for construction. Before using Inventor, we all had to use dial calibers and rulers to measure the controller panel because we were given dimensions, but not the "thickness."
We began the model by designing the frame and to accomplish this, we separated the frame into parts. We did this to simplify the work, and so we needed to assemble all the pieces last. While designing the frame, some of the given dimensions were off; therefore we had to substitute in new measurements. Also, during the process of making the frame work, we had trouble making the hinges. Thus, we had to use the hinges made for last year's controller panel. But other then that, we finished the model and printed out the schematic drawing.
We also finished the stand for the steering wheel. The measurements were off, and to solve this problem we changed the measurements from the original one. More specifically, the given angle would not work unless one of the corresponding sides was changed.