Sprint 3 - Robot Assembly & Adjustments - Thomas & Rio

[Aletrioli]

Oct 28th:

• To start the sprint off, we wired up and configured our motors
• The robots movement was coded

Image of movement code:

Video of robot moving: https://github.com/user-attachments/assets/77b3e356-1be7-415b-9756-5d45b6b3b0de

[Aletrioli]

Oct 29th:

• Our specimen gripper was built incorrectly, so we fixed it, adding spacers and tightening it
• We removed our control hub and battery and began to plan how we would add our expansion hub
• The reason that we removed both components was because we wished to put the two hubs next to each other, and in order to do so the sides that the battery and control hub were on would have to be swapped

[Aletrioli]

Oct 30th:

• After receiving our expansion hub, we got to work integrating it into our robot
• We decided to use 35mm M3 Hex Cap Screws to fasten the hubs as they were the only screws long enough to reach from the C-Channel to the hubs
• We chose to position our battery vertically so that it would have 4 points of connection, as when placed horizontally only either the top or bottom could be fastened, not both
• The shape of the battery cage was changed slightly to support it more in its new vertical orientation

New position of control hub and expansion hub:

New position of battery:

[Aletrioli]

Oct 31st:

• The switch was quickly fastened to the extension the the right of the battery
• Rio and I provided some light assistance to our team members in attaching the second arm joint and intake
• We wired all motors

[Aletrioli]

Nov 1st:

• All of the motors in the new robot were configured
• All motors were tested
• Rough code was written for the servo-gripper and shoulder movement

[Aletrioli]

Nov 4th:

• All wires coming connecting to the extension hub (wheel motors, connection to expansion hub, connection to battery) were managed with zip-ties
• The intake and second joint were removed while this was done
• The specimen gripper was taken apart for realignment
• A touch sensor was added with the idea that it would allow the robot to know when the arm was at rest
• The intended use for this was preventing the motor from moving down while the arm was at rest to prevent damage to either the motor or the robot

[Aletrioli]

Nov 5th:

• The specimen gripper was put back together
• Shaft collars were added onto hex shafts where they were previously missing
• The second arm joint and intake were implemented onto the robot, but the way that the robot was arranged made it so that the arm could not extend properly

[Aletrioli]

Nov 6th:

• The arm couldn't properly extend, so we shifted the width of the intake and arm joint around
• The robot was too tall, so we needed to make it shorter HOWEVER, when moving pieces in, we found that the extension hubs would hit the drivetrain
• It turns out that half the robot was misaligned
• The left side of the robot was lowered to compensate
• The core-hex motor was moved from the inside to the outside of the arm to allow for a greater range of motion in the joint
• After long and arduous work, the robot could finally extend without issues

[Aletrioli]

Nov 7th:

• Unfastened screws from the previous night's overhaul were tightened
• A new driver hub was given to us, so we created a new configuration for it
• Code for the shoulder movement with the new arrangement was tested

[Aletrioli]

Nov 8th:

• Wire extensions were added to allow the motor on the joint and servo on the intake to be connected to the expansion hub
• More thorough code was written for second driver
• Code included servo grabbing, intake spinning, shoulder movement, elbow movement, and joint movement