pic: Team 610 - 2013 Electronics Board

[nuggetsyl]

Originally Posted by androb4

The smiley is covering SOOMMETHIIINNG..

No the robot is just happy that after build tonight its going to Tim Hortons.

[Nick Lawrence]

Originally Posted by nuggetsyl

No the robot is just happy that after build tonight its going to Tim Hortons.

Where's the Chief Delphi "like" button?

Be right back, getting a large double double from the timmies around the corner.

-Nick

[TheMadCADer]

Originally Posted by Nick Lawrence

Where's the Chief Delphi "like" button?

Be right back, getting a large double double from the timmies around the corner.

-Nick

Oh, why do you taunt me so? Here I am stuck in Texas with no Timmy's to be found for over a thousand miles...

[fox46]

Looks good! Very elegant PTO setup.

Oh, why do you taunt me so? Here I am stuck in Texas with no Timmy's to be found for over a thousand miles...

I've got a tin of coffee in my pantry and shipping to Texas is only $10.35 via Canada Post. The offer is out there!

[IKE]

Originally Posted by TheMadCADer

Oh, why do you taunt me so? Here I am stuck in Texas with no Timmy's to be found for over a thousand miles...

Michigan has Timmy's Of course, we drive South to go to Canada...

[philso]

Originally Posted by TheMadCADer

Oh, why do you taunt me so? Here I am stuck in Texas with no Timmy's to be found for over a thousand miles...

I'm in Texas too. The last time we flew out of Vancouver, we bought a big box of TimBits from the Tim Hortons in the Departure Lounge. My wife (from Toronto) and I debated auctioning them off, individually, during the flight since it would be a long time before many of the other passengers would be able to get their fix again. We ended up eating them all ourselves

[Lil' Lavery]

Krispy Kreme > Tim Hortons.

And it's not even close.

[Kyler Hagler]

Where did you get the air tank holder? On another note, great looking drive train!! Looks really clean.

[Ian Curtis]

Originally Posted by IKE

Michigan has Timmy's Of course, we drive South to go to Canada...

Maine has them too. Here in Washington I have to drive up across the border to BC for an iced cap. If it wasn't for border patrol getting super suspicious of going through all that hassle for a beverage I'd do it more often. (The Canadians understand though)

[Jhultink]

Originally Posted by androb4

The smiley is covering SOOMMETHIIINNG..

I think it is just a battery tester

[kenavt]

For a more relevant question... How is the new 2CAN working for you, and CANbus in general, so far in 2013?

[Andrew Schreiber]

Originally Posted by kenavt

For a more relevant question... How is the new 2CAN working for you, and CANbus in general, so far in 2013?

I'm not 610 but I can tell you that 79 hasn't had any problems with either the 2CAN or the CANbus in general this year. The only major problem we have is that our electrical team has a nasty habit of pull Jags off the bus that we still talk to and it introduces a stutter into the system. Despite our best efforts we have not been able to rectify this problem (the electrical team removing Jags, the stutter is fixed by not writing to that Jag).

[Mr. Lim]

Well, another Saturday in the books. Figured I'd post a quick response before a night-time Timmie's run...

I can't really comment about the drivetrain, other than the fact that I really like it, and that student designer Ryan Tam (Gr. 11) deserves a tons of recognition for the design and manufacture of it. He worked under the mentorship of Mr. Stehlik, and there are a lot of neat little details in it that just don't show up in this picture... (i.e. all 4 side plates are identical, how the square channels are securely connected to the side plates with only one fastener, the in-between CIM "floating" encoders + mounts)

It's not flashy, but it's really well thought out, with a ton of detail to maximize ease of machining, assembly, and maintenance.

To answer some questions:

Yes, the smiley is covering something. We noticed one of the frisbee manipulating components got into the picture, and needed to be covered up.

The air tank holder is custom cut 1/4" lexan on our CNC router, again designed by Ryan Tam. It is basically four holes, as the tanks have a nice raised boss at each end that you can support them by.

As for CAN, it worked well for us last year, but we had a few hundred lines of code dedicated to CAN Error Recovery. Without it, we would have been dead in the water. We used the black serial adapter last year, and this is the first year we are using the 2CAN. It's still a bit early to give any meaningful feedback, as all we've done is some light open-loop driving.

[Andrew Schreiber]

Originally Posted by Mr. Lim

Well, another Saturday in the books. Figured I'd post a quick response before a night-time Timmie's run...

I can't really comment about the drivetrain, other than the fact that I really like it, and that student designer Ryan Tam (Gr. 11) deserves a tons of recognition for the design and manufacture of it. He worked under the mentorship of Mr. Stehlik, and there are a lot of neat little details in it that just don't show up in this picture... (i.e. all 4 side plates are identical, how the square channels are securely connected to the side plates with only one fastener, the in-between CIM "floating" encoders + mounts)

It's not flashy, but it's really well thought out, with a ton of detail to maximize ease of machining, assembly, and maintenance.

To answer some questions:

Yes, the smiley is covering something. We noticed one of the frisbee manipulating components got into the picture, and needed to be covered up.

The air tank holder is custom cut 1/4" lexan on our CNC router, again designed by Ryan Tam. It is basically four holes, as the tanks have a nice raised boss at each end that you can support them by.

As for CAN, it worked well for us last year, but we had a few hundred lines of code dedicated to CAN Error Recovery. Without it, we would have been dead in the water. We used the black serial adapter last year, and this is the first year we are using the 2CAN. It's still a bit early to give any meaningful feedback, as all we've done is some light open-loop driving.

Im interested in the CAN Error Recovery stuff. Could you elaborate?

[Mr. Lim]

Originally Posted by Andrew Schreiber

Im interested in the CAN Error Recovery stuff. Could you elaborate?

We coded our robot in Java using the Command-based template.

Within each subsystem that used a Jaguar, we ensured that whenever we caught a CANTimeOutException, we called a subsystem-specific recovery method to re-initialize and verify the configurations of all Jags within that subsystem.

This ended up being a bit tricky for some sub-systems, as we switched Jaguar configurations depending on the task we were doing. i.e. the drivetrain could be in VBus, Position, or Speed mode at different times in the match. We had to keep track of these states, and restore them gracefully.

We had to handle the deadlock condition as well, because sometimes the error recovery would cause more CANTimeoutExceptions if the affected Jag wasn't ready to be re-initialized. Gracefully handling this condition without stopping your entire CAN communications bus was a bit tricky.

At worst we only wanted a single sub-system to "pause" just long enough to gracefully re-initialize the Jaguars after an exception. All the other sub-systems had to keep going as if nothing happened.