diff options
author | Karl Berry <karl@freefriends.org> | 2019-02-05 22:00:10 +0000 |
---|---|---|
committer | Karl Berry <karl@freefriends.org> | 2019-02-05 22:00:10 +0000 |
commit | 3602727bc992898e5097359493e7ffe838e01c5a (patch) | |
tree | 593d3bd9ce83ee8c654f3d552f8d1f74a35f873a /Master/texmf-dist/doc/latex/ftc-notebook/src | |
parent | b457041f040adf9c96aba1534e3cc2614a8878a8 (diff) |
ftc-notebook (5feb19)
git-svn-id: svn://tug.org/texlive/trunk@49950 c570f23f-e606-0410-a88d-b1316a301751
Diffstat (limited to 'Master/texmf-dist/doc/latex/ftc-notebook/src')
13 files changed, 283 insertions, 0 deletions
diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19.tex b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19.tex new file mode 100644 index 00000000000..d932e99a268 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19.tex @@ -0,0 +1,210 @@ + \begin{Meeting}[Preseason] + {Programming Chassis Suitable to Test Localization} + {August 19-25} + {20 hours} + {Nicolas, 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} + + + diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/build-pict.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/build-pict.jpg Binary files differnew file mode 100644 index 00000000000..a4430eb5232 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/build-pict.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/chassi-cad.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/chassi-cad.jpg Binary files differnew file mode 100644 index 00000000000..66cf1d79f02 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/chassi-cad.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/encoder-cad.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/encoder-cad.jpg Binary files differnew file mode 100644 index 00000000000..3c7ce1ac8d2 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/encoder-cad.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/first-build.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/first-build.jpg Binary files differnew file mode 100644 index 00000000000..dc5d30fed7e --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/first-build.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/first-cad.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/first-cad.jpg Binary files differnew file mode 100644 index 00000000000..37904c28868 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/first-cad.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/second-cad.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/second-cad.jpg Binary files differnew file mode 100644 index 00000000000..9e061400380 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/aug19/second-cad.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/bio.tex b/Master/texmf-dist/doc/latex/ftc-notebook/src/bio.tex new file mode 100644 index 00000000000..4afd71143d2 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/bio.tex @@ -0,0 +1,19 @@ +\begin{Bio} + + \BioEntry{Mitsiky}{Member since 2015}{Team Mascot}{Hoping to become a Therapy Dog so + I can participate in the team’s outreach, too!} + {src/bio/mitsiki.jpg} + {% + I am a 4 1/2 year old Coton de Tulear and have been team mascot for + two years. I am a wonderful distraction. I take seriously my job, + doing my best to make everyone smile. In fact, my name, Mitsiky, means + "My Smile" in Malagasy. My favorite hobbies are visiting chipmunk + holes, playing tug-of-war with my toy bunny, and just being cute. \vspace{3mm} \\ + % + My goal this year is to earn my credential as a Therapy Dog so that I + can participate in the team’s outreach and make everyone feel good by + flashing my warm smile. Also, I hope to finally catch a squirrel. + } + +\end{Bio} + diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/bio/mitsiki.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/bio/mitsiki.jpg Binary files differnew file mode 100644 index 00000000000..ad44c336b57 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/bio/mitsiki.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/images/aug18.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/images/aug18.jpg Binary files differnew file mode 100644 index 00000000000..052116dbf10 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/images/aug18.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/images/logo.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/images/logo.jpg Binary files differnew file mode 100644 index 00000000000..d61b9c9689b --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/images/logo.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/images/robocracy2018.jpg b/Master/texmf-dist/doc/latex/ftc-notebook/src/images/robocracy2018.jpg Binary files differnew file mode 100644 index 00000000000..0dddbfd6690 --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/images/robocracy2018.jpg diff --git a/Master/texmf-dist/doc/latex/ftc-notebook/src/story.tex b/Master/texmf-dist/doc/latex/ftc-notebook/src/story.tex new file mode 100644 index 00000000000..182f00cfa9d --- /dev/null +++ b/Master/texmf-dist/doc/latex/ftc-notebook/src/story.tex @@ -0,0 +1,54 @@ +\begin{TeamStory}{Resilience through Innovation \& Simplicity} + +We are a fourth year 4-H team with 3 new members. We are a diverse +group of 11 boys and girls, in grades 8 to 12 from 6 different school +districts, and while we may speak up to 6 different languages, we are +united by a common passion for STEM.\\ \vspace{3mm} + +\RawPict{src/images/robocracy2018.jpg}{.6}{} \\ \vspace{3mm} + +Our theme this year is resilience through innovation and +simplicity. Last year, after finishing first place at our Hudson +Valley Regionals, we came back dead last from Eastern +SuperRegionals. We took this opportunity to take a hard look at our +process. After last year’s season, where we strove for innovation for +the sake of having a cool cutting-edge design, we have learned from +our mistakes and are now striving for resilience through innovation +and simplicity. + +For the first time, we kick-started our season with the “build a robot +in 36 hours” challenge. During this time, we were able to efficiently +flush out a design and develop an intuition for the game. Because of +this, we were able to break down our process and make sure to have +deliberate design decisions that focus on resilience and efficient +simplicity, in addition to innovation. Our process emphasizes analysis +of competing ideas, developed by competing design groups, which are +considered head to head until the stronger idea wins. + +We maintain our process for sustainability which we cultivated last +year, to become a more efficient and sustainable team. We each strive +to learn two new skills during the season and we have a strong culture +of mentoring each other. This protects the team from losing skills +when someone graduates from the team. + +An important part of being a member of Team Robocracy is making time +for our robust outreach in the community. We seek to empower other +kids to develop skills that they can use for the rest of their lives, +thereby building their own resilience. We also share our expertise and +skills where we can have a positive impact in the lives of others. We +run multiple afterschool enrichment programs targeting underserved +communities, run robotics camps, 3D print prosthetics, and recycle +computers to donate to third world schools. + +We are very grateful for our membership in 4H. 4H provides for us an +excellent platform for our outreach and has enabled us to reach many +communities that would otherwise not be exposed to STEM and +robotics. 4H also gives us access to important resources such as +advertisement, Lego Mindstorm kits, and their liability insurance for +our workshops! Our Off The Streets and Amazing Afternoons programs in +Mt. Vernon Elementary Schools are both conducted through 4H. As the +only STEM-based 4H club in our area, we also take seriously our role +of promoting and inspiring interest in STEM at fairs and all of the +outreach we do. + +\end{TeamStory} |