Update: Weekend Work

Summary: The robot is on its way to being complete. It should be functional by tomorrow night.


Before the presentation we need to:

• Glue in the stepper motors
• Finish the gearbox
• Finish the shell
• Finalize code
• Make a poster? (I have a Trifold if we want it)

Full Group Meeting (11/24)- Lift Gears, Gearbox, and Body Assembly

 Summary: We designed the gears for the lifting mechanism, assembled the gearbox, and started cutting out a neater body.

We started work on our new slimmer body and planned out the interior layout. We also dry fit the gear box with a 114.7:1 ratio (still need to add in the longer axles), and updated our Solidworks models with the rest of the gears for the lifting mechanism.

 

Since the new body was underway, we decided to do strength testing for the original structure; coreboard and cardboard should hold up fine.

As we are wrapping up for the presentation in a little over a week, the remaining tasks are:

• Submit the gears for laser cutting, and attach gears to a shaft
• Purchase axles for both the gearbox and the lifting mechanism
• Wire battery packs and arduino board
• Assemble body and add holes to the sidewalls
• Build/attach a cup holder
• Finalize code

Update: Stair Climbing Code

Summary: Code for climbing up the stairs.

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#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMSb(0x61);

Adafruit_MotorShield AFMSt(0x60);

//Motors on bottom board:

// Stepper Motor on M1 and M2

Adafruit_StepperMotor *BMotor = AFMSb.getStepper(200, 1);

// Stepper Motor on M3 and M4

Adafruit_StepperMotor *FMotor = AFMSb.getStepper(200, 2);

//Motors on top board:

//DC Motor on M1

Adafruit_DCMotor *LMotor = AFMSt.getMotor(1);

//DC Motor on M2

Adafruit_DCMotor *RMotor = AFMSt.getMotor(2);

//Sets lift motor directions

int up = FORWARD;

int down = BACKWARD;

//Sets motor speeds

int liftSpeed = 50;

int moveSpeed = 50;

int count = 0;

Update: New Mounting Bracket

Summary: Resolved bracket issues and resized platform.


Brendan and I talked about modifying the 3D printed mounting bracket, and we decided that it would not be necessary. The erector set has four of these bracket pieces, that should suffice.

Additionally, if we cut down the platform so that the edge is .5 in from the rack holes, then we will reduce our axle size, and can used what we already have. This means we don't need to print those either. Then we can buy two hex axles for the lifting mechanism, to resolve the issue of the plastic not being strong enough.

Update: Lift Team Demo Code

Summary: Demo code for lift team is done.

It will need modifications to the timing values, but here is the finished demo code for the lift mechanism:

UPDATE: Changed the function set-up:

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#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor on M1 and M2

Adafruit_StepperMotor *BMotor = AFMS.getStepper(200, 1);

// Motor on M3 and M4

Adafruit_StepperMotor *FMotor = AFMS.getStepper(200, 2);

//Sets motor directions and speed

int up = FORWARD;

int down = BACKWARD;

int liftSpeed = 50;

int count = 0;

Update- Assembly and Parts Requested

Summary: Do not edit assemblies and the parts have been requested from the prototyping lab.

Jesse stayed up late last night fixing our broken assemblies and creating a change log to monitor the updates. In the interest of consistency and his sanity, when you model a new component upload it to the Google Drive with a separate assembly demonstrating how it fits together, and then Jesse will add it to the comprehensive file.

This morning I also requested parts from the rapid prototyping lab.

For 3D printing:
2 "shaft.SLDPRT"
2 "gearbox-axle.SLDPRT"
4 "Axle-bracket.SLDPRT"

For laser cutting:
8 "Actual Rack.SLDPRT"
4 "Actual Gear.SLDPRT"

If we need more parts, we need to submit them ASAP, especially if they are to be 3D printed.

One last note, remember we are not meeting tomorrow morning anymore, unless the parts are miraculously finished today. This does not mean we should not all upload some demo code to prove that we have not forgotten about the Arduino programing.

Full Group Meeting (11/19)- Little Bit of Everything

Summary: Assembling the body, finishing designs, and started coding.

We finished assembling our prototype body:

 Modeled more of the components:

We worked on finishing our slides for the presentation. See the Google Drive.

We began writing some demo code for the lifting mechanism, right now the motors do not turn in unison. I think it is because the first runs for 200 steps before the second one starts, but this is a start:

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#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor on M1 and M2

Adafruit_StepperMotor *BMotor = AFMS.getStepper(200, 1);

// Motor on M3 and M4

Adafruit_StepperMotor *FMotor = AFMS.getStepper(200, 2);

int UP = FORWARD;

int DOWN = BACKWARD;

int SPEED = 50;

void setup() {

 

  AFMS.begin();

}

void loop() {

 

  //Lift Up 

  BMotor->setSpeed(SPEED);

  FMotor->setSpeed(SPEED);

 

  BMotor->step(200,UP,DOUBLE);

  FMotor->step(200,UP,DOUBLE);

 

  delay(2000);

 

  //Hold Position

  BMotor->setSpeed(0);

  FMotor->setSpeed(0);

 

  delay(2000);

 

  //Lower Down

  BMotor->setSpeed(SPEED);

  FMotor->setSpeed(SPEED);

 

  BMotor->step(200,DOWN,DOUBLE);

  FMotor->step(200,DOWN,DOUBLE);

 

  delay(2000);

 

  //Hold Position

  BMotor->setSpeed(0);

  FMotor->setSpeed(0);

 

  delay(2000);

}

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(NOTE: You need the libraries I added to the Google Drive in order for this to work, unzip and place the whole folder inside C:\Users\Name\Documents\Arduino\libraries, this also contains a great example for using multiple motorshields together.)