Some members of the programming team wrote code to stream video from the RoboRio to the Driver Station PC but found that the camera was not compatible. Others in the programming team found a motor controller that was wired incorrectly on the electrical panel for the prototype chassis. They also found some simple errors in their code. After correcting these errors, they were able to install the electrical panel on the prototype chassis and verify that they can turn the wheels.
The drive train team finished assembling the prototype chassis. Some problems relating to the alignment of the holes in the chassis tubes and the gearboxes were found and fixed.
One of the CAD team members worked on making manufacturing drawings based on a CAD model provided by a team in Minnesota. This hub allowed them to use pneumatic wheels that were more easily available. We will be asking one of our new sponsors, WPI, if they can manufacture some of these hubs for us.
The bumper team started disassembling some old bumpers to see what materials could be re-used.
The linear punch team continued working on their latest iteration of their prototype. They installed new punch guides, a new boulder punch plate and their new cocking/firing mechanism.
The collector team cut out pieces of their prototype and started assembly work.
The electrical team helped fix a broken PWM cable so that the programming team could continue testing the electronics panel for the prototype chassis. They also installed connectors on the new motors in the prototype chassis so that they could be connected to the electronics panel.
One of the members of the CAD team provided the dimensions of the current version of the 2016 robot so that the scaling could be tested with different winching points. This information was used to build a structure out of scrap wood to simulate the utility arm in the scaling configuration. The simulated utility arm was attached to the prototype chassis using … zip ties (what else?). Some team members scouted the school for locations to test the scaling where damage to the school building was unlikely. They selected a bank of metal lockers that provided a strong, durable surface that had the right height to simulate the castle tower and could accommodate the winch mechanism that had been installed in Octanis, our 2014 robot. The winch strap was thrown over the bank of lockers and the prototype chassis was winched up while several students provided ballast on Octanis. Here is the first video and here is the second video. It was found that a winch point near the rear of the chassis would cause the prototype chassis to slip and start to flip over when a small amount of weight was placed on it. This effect was also observed in the winching tests using Octanis (using a lower utility arm contact point). Switching the winching point to the front proved to be inherently stable, even when a large weight (a mentor) was placed on the chassis.