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+ \begin{Meeting}[Preseason]
+ {Programming Chassis Suitable to Test Localization}
+ {August 19-25}
+ {20 hours}
+ {\Signee{Nicolas}, \Signee{Zachary}}
+ {
+ \TaskInfo{First Iteration Mecanum Drive Module}
+ {aug19: programming chassis first draft}
+ {First attempt at lightweight chassis, worked well but could be made more compact}
+ \TaskInfo{Second Iteration Mecanum Drive and Integration into Chassis}
+ {aug19:programming chassis second draft}
+ {Second attempt is more compact and stronger}
+ }
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% meeting summary, or meeting goal
+% high level description of the goal of the meeting, in a paragraph following the command
+\MeetingSummary
+
+The goal of this week is to develop new technology for the season. We
+focus on Mecanum wheels, which we have not used for a long time. Our
+immediate goal is design a platform to learn to program encoder
+wheels. We also want to gain experience in using bear motors, namely
+motors without internal gear boxes.
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% NEW TASK: First Iteration Mecanum Drive Module
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ %1 Strategy; 2 Design; 3 Build; 4 STEM; 5 Software; 6 Team
+\Task{2}[3]
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\Section{Goals}
+\begin{itemize}
+ \item Design a mecanum chassis to use for testing localization and autonomous driving.
+ \item Use the chassis to validate (or invalidate) new design ideas (bare motor drivetrain).
+ \item Low cost.
+ \end{itemize}
+
+\Section{Design Process}
+
+First, we plan components to use for the drive train. We do so by
+first considering our design goals for this robot in order of
+importance, then assessing how we can best accomplish these
+goals. Often, one design choice can satisfy many factors
+simultaneously.
+
+\begin{DescriptionTable}{Factors}{Solutions}%
+ {Design goals for the programming chassis}{table:aug19:goals}
+ %
+ \TableEntryTextItem{Testing New Designs}
+ {
+ \item Incorporate odometry wheels (for position tracking)
+ \item Prototype use of motors without gearboxes (With external reduction)
+ \item Test mecanum wheels
+ } \\ \hline
+ %
+ \TableEntryTextItem{Low Cost}
+ {
+ \item Use motors without gearboxes: this will allow us to use
+ our classic Neverest 20 motors (which we decommissioned due to
+ their fragile gearboxes).
+ \item Design with mostly plywood, EuroBoard, and 3d printed parts.
+ \item Use Nexus mecanum wheels (already on hand).
+ \item Use EMS22Q Bourns encoder for odometry wheels (least
+ expensive compatible encoder that satisfies the design
+ constraints). } \\ \hline
+ %
+ \TableEntryTextItem{Analogous to Typical Competition Robots}
+ {
+ \item Make the robot lightweight, so we can add weight to match
+ any future robot?s weight for testing
+ \item Use Mecanum wheels (we already have test tank chassis, and
+ are looking to experiment with mecanum) }
+ %
+\end{DescriptionTable}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\Section{CAD and Build}
+
+A complete chassis requires 4 identical wheel modules, which contain a
+mecanum wheel and its motor. The CAD model is shown in
+\FigureRef{aug19:first cad}. We CNCed the parts as well as 3D printed
+the large pulley. The result is shown in \FigureRef{aug19:first
+ build}.
+
+\ExplainedPictFigure{src/aug19/first-cad.jpg}[0.4]%
+ {CAD model of mecanum wheel module (first iteration)}{aug19:first cad}
+ {
+ \begin{compactitem}
+ \item Nexus mecanum wheel
+ \item Single belt reduction from bare motor to wheel
+ \item Adjustable tensioner pulley
+ \item EuroBoard side plates
+ \item Churro standoffs
+ \item Extremely compact
+ \end{compactitem}
+ }
+
+\PictFigure{src/aug19/first-build.jpg}[0.4]%
+ {Prototype of mecanum wheel module (first iteration)}{aug19:first build}%
+ [\Callout{-8, 4}{Unsupported Idle Pulley}{-0.5, -0.5}]
+
+\begin{DescriptionTable*}{Works}{Need Improvement}%
+ {Conclusion after first build}{table:aug19:improvement}
+ %
+ \TableEntryItemItem{
+ \item Wheel runs smoothly
+ \item Press fit bearings in wheel work flawlessly
+ \item Motor standoffs work well
+ \item EuroBoard is a fantastic prototyping material - cuts easily on the CNC
+ } {
+ \item Cantilevered idler bearing deforms the EuroBoard under load - %
+ needs support from both sides
+ \item EuroBoard is not very strong - not suitable for competition %
+ robot drivetrain, but works for light
+ }
+\end{DescriptionTable*}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\Section{Conclusion}
+
+The module looks promising, and has already successfully demonstrated
+the effectiveness of using EuroBoard as a prototyping material, though
+we should avoid using it structurally on a competition robot. The
+idler pulley needs to be redesigned with support on either side, and
+we can likely make the entire module even more compact by using a
+slightly shorter belt!
+
+
+With these small modifications, the module is ready to be used on the
+programming chassis. We now need to design the chassis itself, as well
+as mounting points for all the sensors.
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% NEW TASK Second Iteration Mecanum Drive and Integration into Chassis
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+\Task[\TaskRef{aug19: programming chassis first draft}]{2}[3]
+
+\Section{Goals}
+\begin{itemize}
+ \item Suggested improvements from \TaskRef{aug19: programming chassis first draft}.
+ \item Design odometry wheel modules.
+ \item Design complete chassis.
+\end{itemize}
+
+\newpage
+
+\Section{Design}
+
+Using the feedback from \TaskRef{aug19: programming chassis first
+ draft}, we redesigned the CAD model for the wheel module, shown in
+\FigureRef{aug19:second cad}. We reused an odometry design, shown in
+\FigureRef{aug19:odometry cad}. The full chassis consists of 4 wheel
+modules and 3 odometry modules. The Chassis CAD is shown in
+\FigureRef{aug19:chassi cad}.
+
+We CNCed the parts as well as 3D printed the large pulley. The result
+is shown in \FigureRef{aug19:first build}.
+
+\ExplainedPictFigure{src/aug19/second-cad.jpg}[0.4]%
+ {CAD model of mecanum wheel module (second iteration)}{aug19:second cad}
+ {
+ Improvements:
+ \begin{compactitem}
+ \item Idler Bearing supported from both sides
+ \item Shorter plate layout
+ \item Slightly smaller pulley on the wheel to avoid scraping on the mat
+ \end{compactitem}
+ }
+
+\ExplainedPictFigure{src/aug19/encoder-cad.jpg}[0.4]%
+ {CAD model of odometry wheel}{aug19:odometry cad}
+ {
+ Features:
+ \begin{compactitem}
+ \item 38mm omniwheel
+ \item 1024 ppr direct mounted encoder
+ \item Shielding to protect encoder
+ \item Spring-loaded against the mat for improved reliability
+ \item Accurate mounting holes
+ \end{compactitem}
+ }
+
+\ExplainedPictFigure{src/aug19/chassi-cad.jpg}[0.4]%
+ {CAD of entire Chassis}{aug19:chassi cad}
+ {
+ Features:
+ \begin{compactitem}
+ \item Lightweight simple chassis
+ \item Fast Mecanum wheel base
+ \item 3 odometry omniwheels
+ \item 2 light sensors facing the mat
+ \item Plywood base - easy to manufacture
+ \end{compactitem}
+ }
+
+ \PictFigure{src/aug19/build-pict.jpg}[0.7]%
+ {Building of full chassis (second iteration)}{aug19:second build}
+
+
+\end{Meeting}
+
+
+