Week 2 Recap
For our elevator, we started with 4 ideas, a scissor lift, a 4 bar, a dual custom virtual 4 bar (more explanation below), and a telescoping arm. A 3-stage pivoting elevator was suggested, which is currently still being discussed in comparison to the telescoping arm.
We removed the scissor lift idea first, as in the past, a scissor lift has proven to be not stable as well as difficult to wire.
We combined the 4 bar and the custom 4 bar teams, as they were both the same basic mechanism.
Another claw design we are looking at is the passive wrist idea from Ri3D Redux Passive Wrist Manipulator 2.0 and Pneumatic Tips | Ri3D Redux 2023.
These designs were ultimately chosen to work on. Based on our team size and the prototypes that came out we have decided to make 2 different upper mechanisms this year. Both mechanisms allow for reaching all levels of the Hub and had promise so we decided to move forward with both. We are still working on our claw design, but here are our designs for an pivoting elevator and virtual four bar.
Dual Custom Virtual Four Bar:
This virtual four ball had a quite promising prototype which you can see below.
This design should be relatively simple mechanically, but the programming will likely be the difficult part of this one. Controlling linked arms seem to me that it’ll have more complexity than it seems, but I’m not necessarily sure where the complexity might lie.
For the elevator, we may need a pivot point to help raise the mechanism. There will be a some sort of claw at the end to manipulate the game piece.
This design is more complex than the virtual four bar and I also think it’ll be harder to program. Controlling a pivoting elevator will likely be difficult because you’ll have to account for the differing force of gravity and the position of the claw mechanism. The elevator will also face differing amount of resistance as the angle changes, which is suspect will affect the PID. Our team hasn’t done an elevator in a while, so this is just mostly speculation of what I believe will occur.
The 6-wheel and swerve drive chassis are both fully assembled, and electrical boards for both are being made.
The code has been written and tested in simulation, but we hope to get the swerve chassis fully running by this weekend.
Some interesting notes about our chassis and design in general this year. The electrical board that is being built will be able to transferred between both the swerve and tank drive with just a few screws (this is because we only have one spare RoboRio). Both upper mechanisms are also being designed to fit both chassis, so in theory we should be able to have two functional robots at the end of this season.
I’ll detail this more in a later post, but because we are building both a tank and swerve chassis as well as two upper mechanisms we are doing some finagling to make the software work.
A quick explanation of the IO structure, each IO layer is a hardware abstraction layer which allows us to set whether it should exist or not based off variables that are set in the code. Therefor, by only adjusting a few variables in the code, we should be able to easily migrate between robot structures.
Located at: https://github.com/pittsfordrobotics/ChargedUp2023/blob/master/src/main/java/com/team3181/frc2023/Constants.java
Additionally, both of these designs seem like they’re going to have fun control structures, as fast and precise control on both of these mechanisms will likely be somewhat difficult.
-Hayden and Michael