Team 11044. Abstract class “Robot”

Engineering Process

Game strategy
TeleOp
Autonomous

Use AR to see in real life!
Use Vuforia View App

Lift Requirements
Tower 10-13 stones
The height should be lower than blue/red bridges
Minimize backlash in the extended state
Saving the maximum speed when sliding

One example: lift
Idea and requirements
We have experience in creating a similar design
Improve the existing design by creating custom parts
Creating a similar design
Creating a list of disadvantages of this design, the decision to abandon it

Development of a new concept, creation of drawings, mathematical calculations, selection of drives considering physical loads
Testing individual parts

Creating a 3D model, correcting errors
Building the first final version, testing in a real game situation
Fixing bugs, building the final version, testing

Something new?
Measuring tape
The axis of rotation of hooks below the Foundation level
Nuts with locking ring
Weight of the inverted structure

Simple – better!

Detailed 3D model

Wheelbase Requirements
Wheelbase must move in any direction
Max speed should be as fast as we can do by
using motors AndyMark Orbital 20
Mass should be as lower as we can but no more
the 4 kg
Wheelbase must contain:
electronics in bottom side
independent encoders inputs
phone mounting
Rev Slim Battery mounting
free space for lift

Foundation grab Requirements
The axis of grabbing hooks is lower than foundation
Foundation must have constant position
Rigid co
The foundation must not slip during longitudinal displacement

Autonomous grab Requirements
Must consist of no more than 10 parts
In a top position should crawl under skybridge
The module must have good lateral strength
In a horizontal position grabs a stone

Grab Requirements

Building Tape Requirements

CapStone Requirements

Team structure

Before match – check-list!

Main structure of our program part:
Abstract class “Robot” with all basic methods (telemetry; work with files; hardware map…)
Class “Robot2019” with all methods and devices for this season
Inheritance
All Autonomous and driver-controlled classes
Object

Core features in driver-controlled period:
Grouped controls for connected actions (WB control and stone grabbing)
Rotation Matrix for WB control.
Smooth movements with quadratic formula (y = x )
Proportional regulator for lift motors.
Smooth rotation of robot at the trigger.
2

Core features in autonomous period:
Several autonomous programs.
Dynamic coordinate calculation (with gyro and independent encoders inputs)
Vuforia video vision.
PIDs for WB movements.

About tests and tuning:
Method tests with telemetry and logs
Autonomous and Driver-controlled periods tests
Google tablets with results Analysis of statistics
Analysis of game records
Special math for PIDs tuning on competitions

About version control:

How to solve problems?
Right lead-up
Our experience from previous years
Other teams experience
Prototyping
Final development Weekly meetings
+
Testing + choosing best solution
Industrial solutions