Captains Log

Captain's Log Stardate 2011.27 (Saturday)

This is the final log of the season and is a summary of the whole competition.

Thursday: We started out by setting up the new pit that was made and over the three days, it was absolutely incredible. Then the deployment was transferred over to the real bot. The next thing to do was start up the robot and try to get it working. When it was started up, everything was functioning code wise which I would like to point out how incredible that is to program without a robot, wow Hayden. Mechanically however we were a little dead in the water.

The new motor that was made to power the arm didn't work like it was supposed to. The main problem was that the gears didn't mesh together because the motor wasn't secured tight enough to the gear box. It was an entire day of trying to get it secured better with no success. Eventually we just took an old motor and placed it on there, this happened to be the old motor that we had burned out before, so it didn't work either. It was about this time that we took the bot over to inspection and also found out that the 1/16 of an inch was a problem and we had to shorten the entire bot. While this was frantically being done, we got another motor and tried attaching that at the same time. We ended the day in panic and confusion.

Friday: The first things to be done on Friday were to try and get inspection done. We decided to also shorten the width dimension as well just to be safe and re-attached everything. Going into inspection was nerve racking for everyone. Unfortunately, our fears were confirmed as we were informed that much of our wiring was done incorrectly. The rewiring caused us to miss our first match which ended up 0-0 anyways so no harm done at least. Our next match, we also ended up tying 0-0 and were not the big help we wanted to be. The main problems we faced were that we had to loosen the spring so that when the bot is off, the arm would stay inside our perimeter. This meant that the top row wasn't possible. Also we kept dropping tubes, on Saturday it was reviled we only had the motor at 50%, that was changed but we ended up not even trying it on Saturday as we were defense a lot. Anyways, we also slammed into the wall with the claw and bent it so much it wouldn't move. This was actually the easiest problem to fix of the competition. About noon, we began to get the mini-bot going up the pole and scoring some big points. It turns out that unless you had a bot that could get two logos on the top peg in 2 minutes, you were better off with just a good mini-bot, making us a good team member. At the end of the day, we were undefeated and ranked 6th out of 45. This can be credited to having good alliances unlike the last two years when we came in last and second to last but still had a good bot. Overall, the mentality that we might not even compete from Thursday night dramatically changed to very large optimism.

Saturday: It wasn't quite as today because we ended up losing 2 of our matches. At the end of qualifying, we were ranked 11th. But as the top 8 normally pick each other, we ended up 8th, and got to pick our own alliance!!!!! All of this happiness was somewhat lessened by the first match against the number 1 seed, ending 112-0, the highest score of the competition against us. Needless to say, we got killed the second time as well. Afterwards we packed up the robot and pit and then did something the people on this team really need to pay attention to.

The entire team with the exception of about 4 people, sat alone in the pits watching the finals on the screen rather than going over to see it and enjoying themselves. The entire team sat pouting in a corner. I'm not sure why, this was the highest ranked finish in the 4 years I have seen this team compete and we got to pick our alliance. Also losing in the quarter finals isn't anything new, we have lost there the last 3 years now including this one so it shouldn't be any surprise. We also have had less and less team spirit every year. We are always the team on the side, not in the middle, with one horn and 10 people cheering at best. The host has even called us out on that several times and while he is announcing the teams at the beginning of each match, told us to move to a better spot last year. I was very discouraged by everyone's attitude at the end of the day. This is supposed to be fun, that's why we do this.

Anyways, now I would like to change gears a little and talk about next year. You might be thinking why are we talking about something 8 months away? Well at the competition, it the perfect time to see what other teams do and I made it a goal to talk to them on how they operate, even if they don't have the best idea, just getting a working, clean looking robot needs to be something to strive for. Everyone knows 1619, Up-a-Creek Robotics, every year they are the best at the scrimmage with a robot that looks like it came off a factory line. I asked them how they go about their season and my favorite part was their motto, "It's not done until it's overdone." What they start our doing is spiting into teams as soon as they get the game and each team comes up with a fairly compete idea over 3 days. They then vote on the 3-5 ideas presented and build that robot, they don't combine ideas or come to mass compromise like we seem to do a lot. Do they have the best idea there? No, but they do have something that is complete and works. Next they split into teams and each team designs a component of the robot in CAD, each team then sends their model to a central team which puts all the idea together in one document. This is done at a week and a half in; afterwards, it is simply building what they already have made. Now I know we don't have enough people to split into 5 teams to design things, but what we can do it try and change a few things. Firstly, everyone on the team must learn CAD; we got a copy of it in the kit of parts, so people can put it on their computers and practice. We also need to stop making so many compromises to make everyone happy; it has hurt us hard in the past. I admit to these things as well, no one's perfect, but as a team we should try to be.

Looking back on the competition, my belief is that we did much better this year because we had a consistent driving team with a person being swapped out here and there but not a new team every time. Unfortunately, the attendance was very low this year, almost as low as the 2009 season which only had two people consistently come. But also the spirit was at a record low and a few things that were suggested were we maybe take the jester theme further, with something better than a plastic vuvuzela and a few hats. Maybe getting some real horns, a chant, getting down on the front floor when we compete, making a real effort. I know Nina wanted to try and get some more spirit going, she could continue on that during the off season. Also, during the off season, we should try some more recruiting. I don't think we need to have requirements of everyone to bring a new person, but everyone should try more advertising at the least.

To sum up the season, I would say that I am very proud of the team for such a good season and that even though we have a few things to work on, we still made a good robot that was able to get on the field and score some points. Great season everyone! This is Jeremy, signing off.

Captain's Log Stardate 2011.22 (Sunday)

This weekend was very productive overall. The nuts and bolts were packed up (for the main robot, the mini bot parts will be determined by which one we use). In case you didn't know, there is a second mini bot that is functional!! I attached the video of it going up the pole.

In the video, it is going at a 1-1 ratio of gear speed so it is the same exact speed of the other one. Originally, there was a 3-1 ratio but that was too much for the motors to handle. We never did try a 2-1 ratio but it seems probable because the 3-1 was fine without the battery. Now there are several advantages and disadvantages to each mini-bot. As on now, speed isn't different in either because the weight of the 1st mini bot has been reduced by adding magnets to get the wheels to grip tighter. Anyways, the first mini-bot is done and has most of a deployment done. this is the main reason we would use this one. The other mini bot still needs some tweaking and needs to be made compatible with the deployment we have now. But, the advantages to the new one are that it is easy to place on the pole. The one side with magnets means you don't have to get it in a 2in window to place it on. It also will never ever fall off like the other one. With the magnets, if the bot does go off course, all that happens is the magnets then take over and it sticks to the pole and doesn't move. Hopefully the 2-1 ratio will make it go faster but that isn't confirmed yet. It still is unclear which one will be used so we will have to see.

The mega pit 2011 has made great progress lately. All of the panels were put together with hinges and make our pt space, it also had the first coat of paint applied. Things still need to be added like shelves, tables, hooks and the paint finished as well.

There is still a to-do list:

Modify new mini bot
finish deployment for at least one mini bot (the deployment has changed on the first one)
Finish list of materials to include the deployment, whenever that might be done
finish blue bumper covers
finish mega pit 2011

We only have two more weekends, four days, to do all of this it is getting to another crunch time.

Captain's Log Stardate 2011.20 (Saturday)

Sorry about the never doing the last log for the build season. My only excuse was I was quite busy at that time and I also left early so I wasn't sure if I was going to miss something. My apologies.

But now I need to get caught up. On that Tuesday way back when, it was a scramble to get the parts finished. The bot was packaged up but it was a rush of different things to get done. Over the three days I didn't account for, the claw was modified so that the tubes no longer stick inside of it anymore so it should be easy to get in and out. Also, the motor was replaced so now it is faster and nearly killed me in the process (with my safety glasses on, which don't help your shoulder). The only problem was with the code, which after scratching our heads for a few hour finally relieved itself when two different motors weren't working which the code, but when hooked up to a battery, worked fine.

On the last night, of all times, the new, new, new motor (in other words, try number 4) was attached. The idea is that it has the gear box from the window motor, so it will lock in place unlike the one we had at the scrimmage, and the motor from the scrimmage, which has a higher torque. The bad news, as there always is, was that it didn't get tested so we will be in for a real treat at the competition when we unwrap the robot.

I should also mention that the bumpers got done . . . kind of, as I am told. They are together and functional but still need the team number and the blue cover. That should cover the last few days of the build.

More recently however . . . the shop was cleaned as towards the end, despite Brian's best efforts, was more like the aftermath of a fight scene. The amount of organization was absolutely amazing. The next week, things were gathered up for the "Mega Pit 2011". All of the tools are ready to go as well as all of the electrical. Today, the bill of materials was, for the most part, filled out with the exception of the deployment, which got done today.

Over these few weeks, progress has been made on that and today it was tested. It does work nicely, but the mini bot is extremely temperamental. Every time we deployed it, it fell off and kept twisting itself into a wreck. This is the point where a few people have asked me to put things in capital letters. PEOPLE WHO WORKED ON THE MINI BOT NEED TO COME IN AND FIX IT. The reason for this is because that dropping not only is annoying, but not reliable, one of the pieces bent 90 degrees at one point; it was the off switch. From my personal experience, here is what I have herd from others working on it. It is done, but it needs to be tightened, and packaged, and a few pieces are loose so we need to figure out how to fix that. As of now that needs to happen, because a few people are starting on a new design that has worked well at other regionals.

Also some urgency has been placed on the T-Shirts. We had some back and forth on that today and people asked me to change my idea a little, which is included. From here Nina said she would like to modify it how she feels and get some feedback from the team tomorrow at the meeting. Also, I included the photoshop documents here, and in the dropbox if anyone has that and wants to do there own modifications. Regardless, a design is being taken to the maker (at least a prototype is) so that we have something.

Now out new list is:

Finalize deployment to be placed on the bot
Pack up nuts and bolts (tools and electrical are done)
make new or modify mini bot
Come to decision on T-Shirts
Finish "Mega Pit 2011" (I don't know what this consists of or what the design is, Steve has just introduced me to the term)

Note: Since some regionals have already happened, taking a look at youtube might not be a bad idea to see how we need to do things.

Captain's Log Stardate 2011.14 (Saturday)

I think this log is best suited as a story.

Once upon a time there were a few programmers that didn't have school one Friday and decided to come in and work on the robot. They played around with code and when it seemed like they were making progress, disaster struck and they set the robot on fire. Magic electrical smoke went everywhere and the little motor that could no longer could move the arm out and had to be replaced. Though much difficulty, the deed was done taking all of Friday night and 2 hours past the end of the meeting time.

Meanwhile, the Wizard was stirring up a concoction know as a gear box in order to drive the solder joint promising that the spring would not be needed. The spring was definitely needed. Just when it seemed like it was working, more disaster struck and we found out the small motor, although geared down, didn't have enough torque to stay in one place and it is apparent that we cannot hang anything with it.

The entire night was spent trying to get the robot to run again. We huffed and we puffed and we got it to the point where it was functional, but it was never the same as it was on Wednesday.

When dawn came, all of the little critters came out in a magical town called Golden joined the dwarfs in their Mines. It became apparent of what needed to be fixed and the whole day turned into a programming day rather than a practice day. Now the FIRST team 443 has to go on an adventure that will be perilous and very difficult that only the brave can fair. Stay tuned . . .

In all honesty, we cannot lift the arm with this motor because the extremely small torque won't hold the arm once it lifts it. We can use part of the gearbox and the motor we had before so that we get the best of both designs. Also the claw motor, which has been in the kit of parts the last few years, wasn't in the kit of parts this year and must be replaced with a legal one. That will have two advantages, it will be much faster and it won't attempt to cripple itself due to excess torque. On the downside, it won't have a death grip on the tube anymore. Also the claw grips around the tube very nicely now but that makes it hard to get off. To fix this, the claw might need some editing to not have the arcs anymore because other teams did just fine without those. Finally, the illegal bumpers need to be redone on at least one set and finished overall tomorrow. This gives a list of:
-replace motor to open claw
-replace motor to drive arm
-re-do bumpers
-edit claw arcs
-finish deployment
-package mini bot

Event though the meeting time is from 1-5, Club Workshop is open from 8a.m. to 11p.m. and several people have already planned to be there all day so if anyone can in addition, this would go a lot smoother.

Captain's Log Stardate 2011.13 (Wednesday)

Another great night! But it isn't without it's share of bad news also.

We were able to hook up the motor for the claw and made the wires extendable. It doesn't close very fast but it does close tightly. Couple that with the rubber pads on it and that allows for us to place the tubes better.

The motor on the arm does continue to work, but it did heat up a lot last night so we are building a gearbox to give it some more torque and stability. (There's only one person building it and I think they deserve a good mention but I'm afraid I might butcher his name). Anyways, that should be done easily tomorrow. We still might want to add a tensioner to the chain which seems to be a trial and error but the world won't end if we don't install it. But it will if the bumpers don't get done, they are about 40% done at this point and we have one night left to build the rest.

The Chairman's award was also finished tonight. It is just that little thing extra that puts our team out there to be recognized for the effort. I would like to say thank you to Anthony for doing that.

Mostly, everything that has to be done is tweaking. We are not putting in limit switches, but are using timed values that the motor is on and using that to calculate the distance it has traveled so it can be used to stop us from killing the robot and for autonomous. Also the little things like which buttons do what and how fast everything moves all can be adjusted how we want.

The deployment was also worked on and it has become far simpler than before, unfortunately, only a miracle will get it done before the scrimmage but there is a slight possibility that it might be attached before shipping).

Kyle took a video of tonight's tests and put them on our youtube page (yes we have one from like two years ago) which can be found here http://www.youtube.com/user/team443#p/a/u/0/z1rLJnzJ4Ao as you will see, the motor to drive the arm gets caught on the battery wires which is another thing to do a quick fix on. You will also see a tube be grabbed and we later found out we popped it. Fortunately, it was a white one which we have more than one of. Also, the triangle is a little smaller around so we might need to file the claw pieces a little.

The long to do list of small things is this:
-permanently mount spring (with adjustable holes)
-finish bumpers (we might even start to panic on those now)
-add something to protect battery wires
-finish and mount geared motor
-tension chain (we may not need to depending on the new gearbox)
-tweak small things in programming
-file claw pieces to grab red triangle
-Finish deployment
-Package mini bot
-add sponsor stickers on the side of the robot
This is actually the order of necessity for the scrimmage. We are now a team that actually tests things before we go to the scrimmage so we should be in great shape overall.

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