Add sensors to the winch subsystem

jcorcoran commented 10 years ago

There will be two additional sensors in the winch subsystem to help control and monitor its position.

An encoder (Same kind as on the drivetrain) attached to the winch gearbox.
A potentiometer attached to the pivot point of the catapult.

The encoder will help us control the speed at which we wind up the catapult winch.

The potentiometer will provide position information for the catapults angle. This could allow us to determine when a fire cycle is completed, or when the catapult has been lowered completely (reloaded).

Add the following to the Catapult Winch subsystem:

class variable for the encoder (see the drivetrain subsystem and it's associated variables in RobotMap. Use the AverageEncoder class.
class variable for the potentiometer. Use the AnalogChannel class.
Methods to get the speed (RPM), raw ticks, and reset the encoder
Methods to get the angle, raw voltage, and zero the angle of the catapult

More details to follow on the catapult winch gear ratios and drum diameter.

jcorcoran commented 10 years ago

Catapult winch parameters

Gear ratio (winch drum:encoder) = 1:1
Diameter of drum = 2"
Strap thickness = 3/32"

Since the strap will stack on itself while the drum is rotating, the diameter will increase by 3/16" each complete rotation. Equation for approximating the drum diameter:

Diameter = + floor(/360) * (2*)

NotInControl commented 10 years ago

Why do you need to calculate drum diameter?

How do you plan to use that information?

Sent from my Galaxy S®III

-------- Original message -------- From: James notifications@github.com Date: 02/14/2014 12:36 PM (GMT-05:00) To: Team2168/FRC2014_Main_Robot FRC2014_Main_Robot@noreply.github.com Subject: Re: [FRC2014_Main_Robot] Add sensors to the winch subsystem (#54)

Catapult winch parameters

Gear ratio (winch drum:encoder) = 1:1 Diameter of drum = 2" Strap thickness = 3/32" Since the strap will stack on itself while the drum is rotating, the diameter will increase by 3/16" each complete rotation. Equation for approximating the drum diameter:

Diameter = + floor(/360) * (2*) — Reply to this email directly or view it on GitHub.

jcorcoran commented 10 years ago

If you wanted to control rate of travel of the catapult, you need that. If you are just trying to control drum speed you don't need it.

Sent from mobile. On Feb 14, 2014 3:21 PM, "NotInControl" notifications@github.com wrote:

Why do you need to calculate drum diameter?

How do you plan to use that information?

Sent from my Galaxy S(R)III

-------- Original message -------- From: James notifications@github.com Date: 02/14/2014 12:36 PM (GMT-05:00) To: Team2168/FRC2014_Main_Robot FRC2014_Main_Robot@noreply.github.com Subject: Re: [FRC2014_Main_Robot] Add sensors to the winch subsystem (#54)

Catapult winch parameters

Gear ratio (winch drum:encoder) = 1:1 Diameter of drum = 2" Strap thickness = 3/32" Since the strap will stack on itself while the drum is rotating, the diameter will increase by 3/16" each complete rotation. Equation for approximating the drum diameter:

Diameter = + floor(/360) * (2*)

Reply to this email directly or view it on GitHub.

Reply to this email directly or view it on GitHubhttps://github.com/Team2168/FRC2014_Main_Robot/issues/54#issuecomment-35120942 .

Benmw99 commented 10 years ago

I added a few methods into the winch subsystem and put parameters into the RobotMap, I just need someone to look over it and tell me what needs to be done I'll try to figure out more in the meantime

Team2168 / 2014_Main_Robot

Add sensors to the winch subsystem #54

Diameter = + floor(/360) * (2*)