FRC 8626 Cyber Sailors | 2024 Build Thread | Open Alliance

Welcome to the Cyber Sailors 2024 Open Alliance thread!

About us

This is our first year being part of the Open Alliance.
We are a High School team based in Scituate, MA.
2024 is our 3rd season in FRC. Our team has been growing each year from a handful of students to 20-30 active students this year.

Our Build Thread

This year we decided to share our experience with the community.
With this we hope to be able helping beginning teams. We are not one of those full year teams with a lot of resources (human and technical). Our objective is to show how a rather small high school team can try to build a decent robot with limited resources.

2024 Season Events

You will see us at the following New England district events:

  • March 8-10: Bridgewater State University
  • March 22-24: Greater Boston

Links

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The Cyber Sailors!!! Awesome group of people we got the pleasure to play with in 2023. Additionally they improved so much during the season, going from a robot that couldn’t score points to a robot that could score 5-6 game pieces a match and balance in auto in 2023.

Excited to see what y’all put out!

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After 3 years of being forever behind schedule, we finally got our act together this year and planned out our budget before the season started. We put in an order from REV Robotics to build up our inventory of parts and materials so we can hopefully begin prototyping as soon as possible instead of waiting for our components to arrive.

We ordered a second set of REV MAXSwerve Modules (with the motors and controllers), a whole lot of MAXTube, new MAXPlanetary gearboxes, and a bunch of extra parts that we always seem to run out of.

Today, we spent our time building a second drive base with the new swerve modules we assembled and fixing issues with our 2023 robot Goose after cleaning, reassembling, and lubricating its swerve modules.

As a closing note, we recognize that our benefit to OpenAlliance won’t be the same as some other teams, however, we want to show our experience to younger teams. Rookie teams, hang in there. It may take a few seasons to get everything ironed out (we still don’t have everything figured out), but it gets smoother each season.

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Kickoff 2024

Saturday

The majority of saturday for kickoff was spent discussing rules and game strategy. Ultimately, though significant debate, we landed on some key observations:

  • For autonomous:
    • There is a kind of “choke point” in the scoring area, as they are in the same small corner. The robot farthest from the speaker might struggle to score in autonomous mode.
    • Scoring in the amp in auto will require efficiency to do well. We will design autonomous programs for all three paths, but we would likely do best scoring in the speaker.
    • If we were the robot farthest away from the speaker, we would probably just pull out. Scoring from this position would need some kind of strong coordination with the other team.
  • For teleop:
    • This competition is unique in that the lower scoring zone (amp) gives a boost to the high scoring zone (speaker). We also anticipate most people to go for the speaker. Because of this, we are considering prioritizing the amp, as the amplifier is crucial to scoring large amounts of points. Each strong alliance is going to need an “amp guy”.
    • It has been argued that ground pickup would be strategically best, given the ample rings on the ground. However, we are leaving our options open and not restricting ourselves to this.
    • Ideally, we will try to do both scoring methods, and what we focus on will depend on our alliance.
  • For endgame:
    • It is extremely difficult to score in the trap, given that some force actually needs to be applied. We will not pursue this unless our final design can facilitate it well.
    • People scoring in the trap will probably have to be in the middle of the chain. In order for us to facilitate harmony, we should design our robot to hang on the sides of the chain.
  • In general:
    • Speed is extremely important in this game. The time constraint for the amplifier bonus is very tight, and at a high level teams will need multiple bonuses per game to win. As a general guide, we want to build a low and speedy robot.
    • Everything for the competition seems quite cramped. The stages take up lots of space, and the areas in which you can score are small and in the same corner. Being able to shoot in the speaker accurately at multiple positions will be important.

As of right now, we have a few odd ideas here and there, but we haven’t committed to them yet. We will begin prototyping today.

Sunday

We began by going over everything from yesterday, and rewatching the Game Animation. We began going over what capabilities we wanted to prioritize.

Priorities

  • Moving fast with swerve

  • Possibly going under the STAGE for faster cycles

  • Scoring into AMP

  • Semi-Autonomous alignment

  • Collecting a game piece of some sort

  • Picking up from the SOURCE

We didn’t have the time this weekend to begin prototyping due to working on the Field Elements.

Heres some rough ideas we’ve been looking into

Prototypes to come this week. Stay Tuned!

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Great stuff! Solid thinking process. Thanks for sharing. Looking forward to the next update.

7th day after the kickoff!

We are up to a productive start. Here is all what happened during the week.

Building Field Pieces:

Shopping on Saturday and we built all of them Sunday and Monday.

NOTE intake:

We have been working on mockups.
The current plan is to intake over the bumper with a double belt intake.

We tried a few materials.

  • Bike tire inner tube gives a good grip and was an easy first material.
  • Polyurethane belt provided less grip in our tests compared to the inner tubes.
  • Solid Neoprene Rubber belt will be our material of choice. The 1/8th thick belt we have doesn’t bend quite enough around the shaft/rollers we ordered 1/16th belt to make our first intake iteration.

We found that driving towards the NOTE or pushing it against an obstacle is the best way to make it “jump” onto the bottom belt of the intake.
Slow contact doesn’t lift it into the intake.

NOTE Shooting:

Up towards the SPEAKER, downwards in the AMP.

2 options are still in our minds.

  • Compliant wheels on the side of the NOTE
  • Rollers above and bellow the NOTE.

Our flimsy mock ups show both could work. We’ll make first iteration of the shooter with both options in mind and run more tests.

The TRAP:

We are not designing a concept for the TRAP but we keep in mind avoiding choices that could limit the TRAP option later in the season.

Overall Concept:

We are planing to design a single “box” that includes both the intake and the shooter.

Working assumption is that this box will be attached to an extensible/orientable arm allowing for:

  • Stowed position for game start and travel through the field (Included under the STAGE)
  • Intake on the ground (intake from the SOURCE is tolled out with that concept)
  • Shoot to SPEAKER (possibly variable angle but first starting with a fixed position/angle)
  • Shoot downwards into the AMP


— Yes, that’s a lot of brainstorming information, we’ll clarify all of that on a future update —

Regarding the TRAP accessibility:

  • Chain to the bumper: Subsystems on the robot must be designed with a way to leave room for the chain to pass through. (This lines up with our concept of extensible/orientable arm)
  • Leveling: Hopefully the positioning of the battery on the robot will solve this. To allow placing the battery anywhere on the surface of the robot we opted for having the “belly pan” on top of the robot frame and electronics (except for the Radio and the main Breaker) under the belly pan protected by a sheet of polycarbonate.

Sponsor Display:
Current concept has 2 possible places for sponsors, the elevator arms or over the shooter box (though this might be the best place for sponge bob)

In terms of software we want to have driver aid features such as automatic alignment to the SPEAKER and the AMP. We have built pretty nice April Tags that should be reusable across the years and survive seasons better than plain paper tags!

We will start thinking more about LED behavior for indicating the drive team what’s going on (Intake ready, intake done, shooting alignment, ready to shoot… possible subsystem errors… of course alliance color and team color :heartpulse:)

What’s next:

  • Refine the CAD of the intake/shooter box, trying to keep it as compact as possible.
  • Work on geometry of the intake/shooter/arm
  • Work on the arm concept (elevate and extend)
  • Mockup climbers that could lift the robots bumper to the chain.
  • Refine wanted LED behavior.
  • Update Roborio/Driverstation/Radio to the latest 2024 releases…
  • Prepare subsystems in the code and related commands.
  • Start integrating April tag alignment into the software.
  • Start working on autonomous paths
    • Exit Starting Zone
    • One piece in Auto (SPEAKER)
    • One piece in Auto (AMP)
    • Two pieces in Auto (SPEAKER)
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Belly Pan Update

We are proceeding with the electronics under the belly pan and a polycarbonate protection underneath. Here is the current status of the CAD.

The design includes openings in the corners to accommodate with vertical tubing (1"x2" or 2"x2") at each corner for mounting the subsystems on the frame. We’ll most likely print covers for the remaining open gaps when everything is put together.

Most electronics (including Orange Pi 5, Buck Converter, Ethernet Switch) are under, except the radio. We a planning to offset one ethernet port from the switch to the top of the belly pan for practice field at competition using a surface mount ethernet connector.

Screen Shot 2024-01-14 at 8.08.51 PM

Some SparkMax Controllers will be closer to the NEOs on the robot to prevent encoder cable extensions.

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Geometry of the current concept

After last week’s discussions and mockups we put all information together working on the geometry for integration on the chassis.

The shooting angle looks good for SPEAKER.
The intake currently looks a little steep, we need to test that.
The Bottom of the Shooter with elevated/extended arm is at 31in from the floor which would let us shoot downwards into the AMP.

Note: The bottom of the TRAP is approximately at 28 inches above the bottom of the resting chain. We need to remeasure that distance when the robot is hanging and changing the geometry of the chain. It looks like we are a couple inches short…

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Belly Pan & Electronics

We talked a little about our belly pan earlier on. After 2 years of competition and struggling to fit electronics after the whole building process we decided to start building a platform the can accommodate with the electronics being accessible and regardless of the mechanisms being installed.
The decision we made was to have all electronics under the aluminum belly pan and to protect them with a sheet of acrylic.

We received the belly pans today and started assembling our 2024 robot.
It’s turning out pretty well so far.


And the great practice field Ethernet Plug:


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CAD Update & Positions

We have been working on ou CAD a lot in the last week.
We are reaching now end of week 4 and we have a pretty complete CAD of out 2024 robot. This includes the concepts tested in the past, sorry we havent posted anything on those yet, it will come.

We have checked geometry of the overall assembly for our current objectives: Floor Pickup, Amp, Speaker and Climb. Trap is still something nice to have and will definitely be a last minute change/addition.


Game Start the whose assembly is within the frame perimeter. We will definitely not stay long in that position, this is purely for game start.


Floor Pickup is our preferred ed way of grabbing NOTES. Test show that we could maybe catch NOTES from the SOURCE but definitely not something we want to risk during games.
The same geometry will be used for Shooting, adjusting the exact position of the shooter after further testing/tuning.


Amp Shoot will be done by reversing the arm and shoot dowards into the AMP chute. That position is the trickiest on in terms of balancing which took us quite some time to refine the rotation point of the arm.


Stow/Travel is the position we will be using across thje field. This position is low (can go under the STAGE) and stable (Low center of gravity). This should also be very close to the intake or shooting positions reducing time to go from a position to another.


This is beginning of a Climb using hooks on the arm to pull ourself of the ground. This allows to grab the chain up to 36" of the ground but doesn’t lift us enough for accessing the TRAP yet. More to come on climbing and possible TRAP access.

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So this ethernet cable is cool, but I would be afraid of this being too rigid and things having a higher chance of breaking because of it. We tend to err on the side of caution using a short extender on the RIO and plugging a long cable without the clip (or a weakened clip) into it so nothing on the bot gets damaged/ripped off if it does something unexpected.

Also it looks like you are using the second port of the radio, this is known to be a problematic port, you’re better off plugging the RIO into the switch and the switch into the RPM.

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Thought about that too… if it becomes an issue we can still plug an Ethernet cable right into the connector without the clip.

Thanks for letting us know about the problematic port on the radio, we were worried about the ethernet switch losing power and then losing connection to the roborio. We’ll probably end up swapping it anyways, because having only one cable to the radio is more convenient.

Another CAD Update with the Assemblies

It is end of wk4 and pur CAD is getting close to final.
Here is a little description of the current plans. We have started cutting parts. The Intake/Shooter Assembly will probably require another iteration.

Since we liked 6328 way of presenting their assemblies, we might have used a similar way to show them!

Drive Train

Since last year we have been using RevRobotics MAXSwerve modules.
NEO as driving motors, NEO 550 as turning motors and SparkMax as controllers.

Chassis size is 24"x24".

As mentioned in another update, the belly pan is over the frame an we have a polycarbonate cover underneath since electronica will be under the belly pan.

We used a lot of rubber wheels last year, like A LOT…

We are definitely not using rubber wheels this year. We finished last season with Thrifty Bot Aluminum Wheels (TTB-0063) and 1" Neoprene Rubber Thread. This worked perfectly. This will be the plan this year.

Frame

The Frame is the main element connecting the arm mechanism to the drive train.
Geometry was defined bye looking at the possible arm reach in each position.

The main rotation of the arm assembly is driven by 2 NEO motors with gearing TBD and # 25 chains to sprockets on the rotation axle.

One chain on each side and the 2 motors driving a common shaft to prevent torsion. We will insert an absolute encoder to have a reading of the arm rotation angle.

Arm

The Arm is the link between the Frame and the Intake/Shooter Assembly. The arm has a single stage extension driven by ropes and pulleys.
A NEO motor (gearing TBD) will drive the assembly using an encoder to measure rotation on the reeling shaft.

Intake/Shooter

This assembly is definitely the most critical of the whole robot this year.
The overall geometry has been driven by our prototyping and learning from Ri3D teams.

Intaking from the floor over the bumper is done by a mechanism driven by 2 NEO 550 motors geared at 12:1. Each NEO 550 drives a 2" Wide, 1/16" Thick Neoprene Rubber belt. The front shafts are equipped with compliant wheels in the middle to lift the NOTE into the Intake. Once the NOTE is picked up, the belts will carry the NOTE into its “Storage” position. We still have to add 2 IR Beam sensors for detecting presence of the NOTE and stopping it before reaching the Shooter.

The Shooter is made of 2 horizontal shafts each ran by a NEO motor Velocity controlled.
On shooting, the NEO motor will be launched to target velocity then the NOTE will be pushed by the Intake belts.

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I will be interested to hear about your experience with this approach by end of season. We have considered it but never done it. I’ve heard a variety of perspectives on the pros and cons.

Make sure you’re using polycarbonate, not acrylic. Acrylic will crack/shatter easily.

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Carpet Marking

New to us this year!
We received a carpet donation from one of our sponsors.
We now have 2 rolls of 12ft x 20ft of carpet, that should allow us to have close to a half field for practicing our autonomous routines and driving.

While some of us were working on assembling the robot and other attending a Math meet (yes they dare do something else than robotics!) a couple students worked on marking the carpet.

Here we go, Starting Area, Speaker, Amp and Notes markers!

We meant polycarbonate. Our bad.

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Anodizing the Plates

95 Grasshoppers like to say everything looks better in green, we think pink :two_hearts: makes robots look better. We have been looking at the different ways to get our junction plates pink this year. Basically 2 options there:

  • Spray Paint: Easy process, reliable result and gonna chip probably quickly.
  • Powder Coating: More durable than just spray paint but we don’t have access top an oven.
  • Anodizing: More complex process, need more material BUT… We have a chemistry teacher at school! And who doesn’t want to try it?

We went to the chemistry teacher, she said she would help us doing it!
Our mentor went to buy spray paint just in case…

Here is a little bit of the process we followed, conclusion at the end of the post.

Cleaning the parts

The whole process starts with removing all contaminant from the aluminum parts using a bath of Akanox and Distilled Water. And drying everything.

Hanging the parts

This is probably one of the most laborious part, hang all the parts with Aluminum wire on top of the container in a way that they don’t touch

Anodizing

This is simply mixing Sulfuric Acid with some distilled water to have a good electrolyte… Poor it in the container with the plates.
The Cathode (-) is made of Lead sheeting one of us grabbed from his roof!
The Anode (+) is the Aluminum side (Aluminum wire and parts to be anodized)

Set Power Supply to 16V, 5A. That what we needed based on the surfaced to be anodized. Let it Bubble 45min.

Neutralizing the Acid

After 45min the Acid needs to be neutralized.
3 extra baths there: Distilled water, Sodium Bicarbonate and, Distilled water again.

Dying

Last step: plunge the parts in the Dye for 15min preheated at 60C

Then rince in boiling water

The Result…

So… We had some parts really coming well out of this process.
Some didn’t get any color :face_with_raised_eyebrow:

We are going with it for the season anyway, this was a fun experience.
8626 will be Pink Camo this year :rofl:.

Conclusion

We didn’t want to bother our chemistry teacher too long nor have her come another night (or 2, or 3…). So we tried to make all the plates at once.
That was probably a big mistake here.

First of all during the anodizing process, the power supply was not always at the required amperage, not saying lining up all the plates was really challenging.

Second we skipped etching the plates with Lye before anodizing. Literature said this could be optional, we should have done it to increase our chances of success.

Finally the Dye recipient was too small and plates were touching, preventing the dye to go through evenly across the plates.

Will we do it again? Yes probably, this was an interesting process. Now we have a better knowledge on it and should be able to learn for it for a more uniform result!

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Pink camo sounds perfect, can’t wait to see it in person!

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Week 5 Recap

We have finished the assembly and wiring for our competition robot. Ready to begin full tests in the upcoming weeks.

IMG_8420

Mechanical
We finished assembly for the robot apart for the elevator which we need to print new pulleys for. We originally chose to use strong braided fishing wire but it was too thin and cut through the layer lines of our PLA Pulleys.

This weekend we will print new pulleys out of Carbon Fiber Infused Nylon and finish the assembly of the Elevator.

We are also going to 3D print caps to cover the corners of our top belly pan to prevent screws, nuts, etc. from falling onto the polycarbonate bellypan pan.

Software

The Alpha version of our robot code is ready to be deployed and tested next week. We also finished working on a new driveToPose command this week for shooting auto-alignment.

Wiring

We finished the wiring for our robot. We decided to not use cable sleeves this year to make it easier to change wire configurations as necessary.


We also have a little bit more organization and cleaning to do on the underside electronics, we’re receiving shorter ethernet cables next week which will help tidy it up a bit.

We still have yet to make a separate climber for our robot. We are planning on making a tape measure climber next week. So far we are able to hang from our arm but it is not ideal if we are planning on doing the trap.

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Cool write up on the anodizing process. The pink adds a great touch to the robot.

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