Robot Inspection Checklist Prior to Matches
 

Ok I've been tasked with making a Robot Saftey Checklist for use by our team prior to every match we have to ensure everything is in order and functioning properly, would any one have any ideas of what to include or maybe have a template that their team uses that i could have and make into my own. Please and Thank you.

Re: Robot Inspection Checklist Prior to Matches
 

Replace and secure battery
Check that purge valve is closed if applicable
Verify bumper color matches alliance color
Possible quick power up to make sure everything is getting power and pressurize pneumatic system

Re: Robot Inspection Checklist Prior to Matches
 

Our team also places our robot on blocks and quickly tests every function, such as drive train, arm, and minibot deployment. We also try to remember to charge our pneumatics with a used battery instead of the one that will go on the field just so we can save some power.

Oh, and make sure you have the right code and the right autonomous. :p

Re: Robot Inspection Checklist Prior to Matches
 

[quote=Arjun Namineni;1047199]
*cough* that's Illegal *cough*

<R34> The only legal source of electrical energy for the ROBOT/HOSTBOT during the competition is one MK ES17-12 12VDC non-spillable lead acid battery, OR one EnerSys NP 18-12 battery, as provided in the 2011 KOP. Batteries integral to and part of a COTS computing device are also permitted (i.e. laptop batteries), provided they’re only used to power the COTS computing device.

emphasis is mine.
By charging with one battery and swapping for a second, you would be breaking this rule.

Re: Robot Inspection Checklist Prior to Matches
 

[quote=wilsonmw04;1047209]There's nothing wrong with what they're doing. The rule you quoted simply details what batteries you can use in competition, not what action may be done with said battery. There's a rule about not needing power to get into starting configuration, but if they take care of that off the field it doesn't matter.

Re: Robot Inspection Checklist Prior to Matches
 

Charging the pneumatics system wouldn't add any electrical energy to the ROBOT.

Anyways, I saw many teams do this on the field while referees were around and the team members weren't chastised.

Re: Robot Inspection Checklist Prior to Matches
 

[quote=Colin P;1047217]I would take a position that what they are doing would affect the robot while on the field and there would be illegal. So you don't see this as using two batteries during a match: one to charge the system and another to run the robot and the compressor to keep the system charged?
Please defend that position. Seems cut and dry to me.

Re: Robot Inspection Checklist Prior to Matches
 

Agreed it doesn't add electrical energy, but stored "energy" that you received from a battery that you do not have on the robot. Therefore, you used two batteries on the robot for any given match.

Did they change the battery after charging as you stated you did?

Re: Robot Inspection Checklist Prior to Matches
 

First of all, the rule that you stated only limits what type and how many batteries you can use. We are only using one legal battery on the robot.

Second, I stated this earlier, but I will say it again. Charging the pneumatics system adds NO electrical energy to the robot (as far as I know). The rule says that you can only get ELECTRICAL energy from one battery. It says nothing about pneumatics.

Third, the teams that charged their pneumatics on the field took a "portable" compressor attached to a battery and charged it through the pressure relief valve. That is essentially what we are doing also.

Re: Robot Inspection Checklist Prior to Matches
 

I can't say for sure, but I believe Scottydoh means that the pneumatics are charged with an off-the-robot battery before each match. This would not in any way mean adding an extra battery during the match. It would be like me adding 47 extra batteries to our robot when it's not competing. It's not against the rules at all to have pre-filled air tanks. As for the rule stating about not pre-charged electrical things (or something like that), pre-pumped air has no electricity in it. It would be the same if we filled up the tanks with our mouths. And while that is completely legal, it would be stupid to do so. It would be hard to fill your pneumatic tanks to 60 psi by blowing in them.

Re: Robot Inspection Checklist Prior to Matches
 

We are pre-filling our air tanks before each match.

Re: Robot Inspection Checklist Prior to Matches
 

[quote=wilsonmw04;1047219]<R01> indicates the energy stored in the battery at the start of the match as separate from the 120PSI air stored on the robot.

<R34> serves to further restrict the battery clause of <R01> (as is directly indicated in that clause).

Neither <R01> nor <R34> provide any requirements as to how the 120PSI air gets in the tanks.

I can understand your interpretation, but I do not see it as cut and dry either way as you suggest. Perhaps a question for the Q&A?

Re: Robot Inspection Checklist Prior to Matches
 

I don't mean to "lawyer" the rules, but it does say electrical energy. Any other type of energy seems to be allowed (granted that it follows all other rules). I mean if I had a robot that had a pneumatics cylinder which activated and knocked a ball down a ramp and launched our minibot, it would be legal because the ball had potential energy but no electrical energy. This is the same idea. :D

Re: Robot Inspection Checklist Prior to Matches
 

It may seem silly but - continually check for loose screws! - with the battery disconnected of course

HTH

Re: Robot Inspection Checklist Prior to Matches
 

Off topic, sorry.

Re: Robot Inspection Checklist Prior to Matches
 

To comply with R69, our air compressor is onboard our robot, and used while in play. The only difference is we fill our tanks from an external battery before matches. We then place the robot battery on, take away the old ones, and are left with a completely legal robot, starting off with full tanks of air. It's 100% legal.

THE SUBJECT OF THIS THREAD WAS ASKING FOR OBJECTS ON AN INSPECTION LIST, NOT A DEBATE ON WHETHER OR NOT PRE-PUMPED AIR TANKS ARE ALLOWED. PLEASE EITHER STOP THE DEBATE OR MAKE A NEW THREAD FOR THIS. Thank You.

Re: Robot Inspection Checklist Prior to Matches
 

Check to see if things that could be loose are loose (if that made sense)
i.e. we have "licorice" or whatever you'd like to call it as intake, so we test that, as well as the tread on the tires, etc.

Re: Robot Inspection Checklist Prior to Matches
 

Our team makes (and iterates) custom pit & drive team lists every season, starting with what we notice is temperamental during build & pre-ship practice. It's saved us a lot of "do'h!" moments and definitely helps keep maintenance under control. Here's this year's.

Re: Robot Inspection Checklist Prior to Matches
 

Yes, the majority of a list like this will be robot specific. On 2175 it is known as the "Stupid" List because you feel real stupid when you lose a match because you didn't check something on it.

Re: Robot Inspection Checklist Prior to Matches
 

Regarding pre-pressurizing, I suggest reading these threads:

http://www.chiefdelphi.com/forums/sh...ght=compressor


http://www.chiefdelphi.com/forums/sh...ght=compressor


I believe the net is that using a second battery or even a second compressor is not permitted.

John Vriezen
Team 2530 "Inconceivable"
Mentor, Drive coach, Inspector

Re: Robot Inspection Checklist Prior to Matches
 

Using an additional battery or compressor is pretty clearly against the rules. I'm not so sure about the practice of swapping batteries between precharging the pneumatic system and running the match. You're never using more than one battery to run anything, so you don't run afoul of the rule requiring only one battery.

Can anyone find a rule that states the pressurized air in the robot at the start of the match must have been supplied by the exact same battery used to run the robot for that match? I don't think there is one.

Re: Robot Inspection Checklist Prior to Matches
 

I quite disagree.
There is no such rule.

The match begins on the field when the robot is turned on, not in some imaginary place like the pit or the queue.
(or in a previous match if pressure is left over)

Re: Robot Inspection Checklist Prior to Matches
 

I don't believe it says it directly in the rules, but I remember seeing somewhere that as long as you have a complete second system (battery, CRio, pressure switch, etc.) that is in fact legal. But stand by, I'm looking for a source now...

EDIT: Upon checking the rules, I retract my statement.

Re: Robot Inspection Checklist Prior to Matches
 

We pre-charged our pneumatics during the San Antonio Regional. I described exactly what we were doing (and in what order) to the inspector (since we had never left the pump off before) and he said we were in compliance. It is hard to believe it is against the rules to change to a fresh battery after charging pneumatics, testing the robot, pre-positioning arms etc. What purpose would such a rule serve?

Re: Robot Inspection Checklist Prior to Matches
 

I'm certain you won't find that written anywhere official. The rules are clear: the compressor must be controlled and powered by the ROBOT, not by an external system.

Re: Robot Inspection Checklist Prior to Matches
 

I'm sorry, did I say my answer was official?

Re: Robot Inspection Checklist Prior to Matches
 

We always try to have a checklist but this year it has actually been used every match because we put it on the back side of a piece of lexan on the robot and check it off with a dry-erase prior to each match. This allows us to have it on the field where stuff like turn it on and remove safety pin comes into play.

Re: Robot Inspection Checklist Prior to Matches
 

That is a really really good idea.

Re: Robot Inspection Checklist Prior to Matches
 

Our team has a checklist as well. We print off several copies then check off every item on it before each of our matches. Always make sure that everything is plugged in right on the electrical board. Sometimes one thing out of line here can make the entire robot stop working. We usually test our drive train before each match too, just to be sure that if all else fails our bot still has defensive capability.

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Our team has learned the hard way at the Week Zero and thursday at GSR, make sure every pnuematic end is closed.

Re: Robot Inspection Checklist Prior to Matches
 

In addition to always just checking for loose screws and such, we've found it helpful to actually list specifics on our sheet- figure out which things are more likely to ever come loose, so we make sure they always get extra special attention!

We always check wires and connections, too, as well as clearances- if say a zip tie broke off and now a wire is hanging in the path where your rotating arm travels... just things like that. But checking for clearances could apply to a number of things anyway.

Then, Bumpers! Just to make sure we have the right color for the next match! And then this also helps us to keep track of matches when we check to see our next alliance, the times are right next to it if matches are still on schedule.

Most of the rest of our checklist is specific to our robot, but like some others have said, just restoring whatever needs to be restored, making sure hostbot and minibot batteries are fully charged (part of this check is to actually use a multimeter for us at least), and even making sure your driver station is ready to go, would all probably be beneficial.

Good luck! :D

Re: Robot Inspection Checklist Prior to Matches
 

As I recall, our checklist, which is robot-specific, went something like this:

- Bumpers correct color
- Bumpers right side up
- Elevator cables correctly seated in pulleys
- Radio plugged in
- Battery plugged in and strapped down
- Robot on
- Minibot on robot
- Minibot battery connected
- Minibot switches in correct position
- Electronics Hatch secured
- Minibot Deployment Arm retraction hard stop locked in place
- Minibot Deployment Arm cotter pin secured.
- Beak closed on ubertube in correct orientation
- Robot properly aimed for auton (check at least twice)

Some of these are not going to be applicable for you, but they're ideas.

Re: Robot Inspection Checklist Prior to Matches
 

Before every match I make sure that I have zip ties and a 7/16ths wrench and ratchet in my pocket in case I see any issues. I also check the driver’s station to make sure that the controller and joystick are read by it

Re: Robot Inspection Checklist Prior to Matches
 

For the Robot:
-Make sure PWM's are connected and haven't fallen out. It is quite tough to drive if you don't have all of your wheels connected.

-Check battery voltage.

-Make sure crimps stay crimped and wires have not fallen out of the crimp.

-Bumpers!

-Make sure your Arm is in starting configuration if it ended the last match out of starting configuration.

-Make sure your Radio is plugged in the right port.

-If your sponsor logos are detachable, make sure they are on the robot.

For Driving:
-Make sure the joysticks are plugged in.

-Make sure your classmate is charged and able to be turned on. If the classmate is not charged, be prepared to plug it in immediately in the driver station.

-Make sure your drivers are present.

Thats all I have from my experience.

Re: Robot Inspection Checklist Prior to Matches
 

We dind't have a checklist this year, and I wish we had.
I would include:

New, legal battery in and secured. (Minibot and robot)
Any stored energy springs set
No broken parts (We had a piece of steel wire connecting a servo to our deployment latch which nobody checked. Our minibot didn't deploy, and we lost the match
Bumpers are secured and of the right colors
Parts are within the starting configuration
Bolts are tightened
Chains/belts are tensioned

Almost all of those had been problems for us either in our testing or in the competition. Having a checklist probably would have put us in position to pick alliances at our regional, due to an unsecured minibot battery hanging off the back while it was climbing.

Re: Robot Inspection Checklist Prior to Matches
 

Shure. This is what our team used for two regionals this year:

1. Check Bumper Color
2. Change the Robot's battery
3. Is everything plugged in? (it listed specific line items)
4. Turn Robot on, with the tether
5. Retract the arm to starting configuration (specific instructions followed)
6. Make shure the robot moves
7. Robot off
8. Fresh minibot battery
9. Fresh robot battery
10. Check loose screws (listed specific locations)

We've done checklists for two years now. We've found it helps alot, when we actually use them. Probably the best example to use is the emergency checklists for airplanes. All small airplanes have an about 20 page series of checklists for normal operations. This is all well and nice, but 20 pages is too long, seeing as we don't have all the time in the world. Look at the language of the plane's emergency checklists. We try to emulate that.

Example checklist: http://www.atlasaviation.com/checkli..._checklist.htm

(granted, it's not in the real format, but it'll give you a good idea)

mabye this'll help for you too?

Re: Robot Inspection Checklist Prior to Matches
 

We started the season with no checklist, lost some matches to stupid reasons (minibot not securely fastened, not turned on, etc...), made one before qualification matches started, and went 8-2 with absolutely no stupid mistakes made!

Re: Robot Inspection Checklist Prior to Matches
 

Come hell or high water, we WILL have a checklist next year! A improperly seated (and easily checked) connection to a minibot motor cost us a spotin the Dallas Regional finals. And of course this happens in the same game where our teammate gets their arm beat up in the autonomous period and their minibot is turned off by the uber-tube falling on it - arghhh.

Re: Robot Inspection Checklist Prior to Matches
 

Team 599 has a particularity exhaustive set of checklists. They broke it up in several checklists based on subsystem and when the check is being performed. Each checklist had a place for two people to write their names and check.

Post Match Electronics Checklist:
Check Battery Voltage / New battery
6 awg wires are secure to DB board
All fuses are present on Distribution board
Wire connections to distribution board are secure
Power wire to cRIO are secure
Power cable to camera is plugged in on both ends
Power to digital sidecar (both) is plugged in on both ends
pneumatics module is in slot 8 of cRIO
Analog module in slot 1 of cRIO
Digital Sidecar 4 in slot 4 of cRIO
Digital Sidecar 6 in slot 6 of cRIO
shifter solenoid in pneumatics mod. 2
claw solenoid in pneumatics mod. 4
minibot solenoid in pneumatics mod. 5&6
PWMs in digitical sidecar 4 are secure and in straight
PWM in victor is secure and all in all the way
Power to victor is secure and plugged in to DB
Victor connection to lift motor is secure and plugged in
PWM in relay is secure
Power to relay is plugged in and secure
relay connections to compressor are plugged in and secure
PWM in jaguars are secure and plugged in
Jaguar connections to motors are secure

Post Match Drive Checklist
Screws on the wheel shafts are tight
shafts are sitting properly in the wheels and chassis
Feathers and other components are secured on the chain
Chains are present and tension is AWESOME! :D
chain path is clear
bolts holding transmissions are tight
Gearbox plates are sitting properly and bolted tightly
Bolts are tight on bearing blocks
Bearings are sitting flush against bearing blocks
Wheel treads in good condition
Wheels are secure and are linked to drive chain

Post Match Chassis Checklist
Bumper color (red/blue) correct for next match
Front bumper securely mounted
rear bumper securely mounted
Left bumper securely mounted
Right bumper securely mounted
Bumper brackets tight
Battery mount screws tight
Pins looped through bumper
fresh battery

Lift Checklist
Lift motor temperature is normal
Drum and encoder shafts are unbent and undamaged
Top outer-rail bearing mounts aligned
U-channel is unstressed
Bearing mounts are undamaged
Rope is undamaged
Bearings have freedom of movement (where possible)
Springs are at correct position
Bolts and nuts are tight for top bearing mounts
Bolts and nuts are tight for top bracing
Bolts and nuts are tight for lift bracing
Bolts and nuts are tight for top inner rail
Bolts and nuts are tight for bottom of lift
Bolts and nuts are tight for encoder and line sensor mounts
Bolts and nuts are tight for drum and motor mounts

Post Match Claw/Arm Checklist
Put the finger safety on
All the bolts on the metal bar are tightened
Lexan pieces do not have cracks
The pool noodle has no tears
Pistons do not have cracks
There are 4 zip-ties on each lexan piece holding the pool noodles
PWM cables are connected to the piston solenoid on the arm, and there are no tears in them.
PWM cables are connected to the piston solenoid on the carriage and there are no tears in them
Make sure that all the bolts on the carriage are tight
The axles that hold the pistons in place have an e-ring on each side
The pneumatic tubing on the claw is completely plugged into the pistons, solenoids, and connectors.
Bolts connecting arm to backstop are tight
Bolts on the rider are tight
Bolts Connecting bearing to rider are tight
E-clips on shafts on rider are tight
E-clips connection rider to pivot point on arm are tight
Shafts are in good condition.

Post Match minibot/Deployment checklist
All mounting screws holding deployment are tight
Make sure deployment is tilted (check vertical blue lines)
Stop is tight on both sides
Stop stops the deployment slide and bearings one centimeter away (adjust bearings if necessary)
'Liftoff' poles are tight
Screw holding the surgical tubing is tight

Post Match Pneumatics Checklist
All tubes are secure
all solenoid wires are plugged in
solenoid screws are tight
Tanks are secure, nice and tight
Pistons are connected to their tubing
Pressure release valve is closed
Rejoice, hi-5, then kumba-ya

Pre Match Driver Station Checklist
Driver Station is on
Driver station is in "Driver" user id
Stop button is disabled
PSoC chip is recognized by Driver Station
Drive joystick is plugged in and recognized
Lift joystick is plugged in and recognized
Score button is active (press to check)
Pickup button is active (press to check)
Minibot switch is active (flip to check)

Re: Robot Inspection Checklist Prior to Matches
 

Oh, for a second I forgot what this thread was about.

Also, check all electrical connections, breakers, fuses, etc. Be sure to include the fans on victors, the 5 volt regulated output (if used for a camera) and the 12 volt regulated output on the power distribution board, and the breaker in the spike that controls the compressor (the other spikes should have fuses which are a bit more secure since they don't stick out. Also, check to see if any chains have come off their sprockets and for any other type of misalignment.