Rubix's Cube Solution

[cdyoder]

11/14/14

Progress on the Rubix's cube solver has been made as of Friday. The image below is the current solver iteration next to the current Simon solver.

The Rubix's solver needs a second solenoid on the top printed piece in order to properly hold the cube for rotation. See issue #212

[cdyoder]

Update: A mount has been made and the Rubix's cube has been mounted to the new chassis in the location discussed last night. An image is below:

The motor should be able to be controlled electrically at this stage. Please use low torque when using the motor to turn the rubix's cube as it will over-torque the cube easily. Also, the grippers will need to be finalized to properly secure the cube in place.

Currently, Mark's previous 3D printed part is mounted on the robot. I need advice on how easily the robot can release the cube and pull away after actuating. There is another actuation method we can use instead, but I want to see how difficult this method is before switching methods.

[asatish127]

Flowchart for movement of the bot for the rubiks cube part of the competition: Bot moves towards the cube---> Stops when the bot reaches the box(assume that the rubix cube is placed far enough into the box that the bot's gripper can reach it)---> The rotator starts of being parallel to the bot so it has to rotate 90 degrees either clockwise or anti-clockwise-->The gripper closes and pushes cube into place for rotation(The rotator should be perpendicular to the side of the bot so that the cube can slide into it)---> The rotator turns 180 degrees---> Gripper opens---> bot moves sideways to the right to dislodge cube--> The rotator turns 90 degrees in either direction so that it is parallel to the bot--> The bot then moves backwards till all of the back IR's sense white(The main track).

[AhmedSamara]

I've begun working on the abstraction class for this.

The abstraction can already turn a servo, but hardware/motor.py was missing some information about how to use it. Specifically, it just mentioned a single GPIO pin being used.

Obviously it had to be connected to the H-bridge, but the wiring was not specified in the spec.

The H-bridge controller we had at our disposal was the L298N, which required two inputs. http://tronixlabs.com/news/tutorial-l298n-dual-motor-controller-module-2a-and-arduino/

Once I get this working, I'll also update the motor.py documentation.

[AhmedSamara]

I finally found the exact part and not just a similar board that uses a similar chip!

https://solarbotics.com/product/k_cmd/